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Deterministic Replay Debugging of Embedded Real-Time Systems using Standard Components
Publication Type:
Licentiate Thesis
Publisher:
Mälardalen University Press
Abstract
Men and women make mistakes. They always have and they always
will. Naturally, software engineers are no exception to this
rule. When software engineers make their mistakes, these manifest in
the form of buggy software. Luckily, men and women often strive to
correct the mistakes they make. In software engineering, this process
is called debugging.In simple sequential software, debugging is fairly easy. However, in
the realm of embedded real-time software, debugging is made
significantly harder by factors such as dependency of an external
context, pseudoparallelism or true parallelism, and other real-time
properties. These factors lead to problems with execution behavior
reproducibility. When a failure is discovered, we need to be able to
reproduce this failure in order to examine what went wrong. If the
erroneous behavior cannot be reproduced, we will not be able to
examine the process leading to the failure.Previous work has proposed the use of execution replay debugging in
order to solve this problem. Execution replay is a general term for a
set of methods to record system behavior during execution and to use
these recordings in order to reproduce this behavior during debugging
sessions. This way, we may achieve a reproducable execution behavior
for non-deterministic systems. Historically, many replay methods have
been highly platform-dependent, craving specialized hardware,
operating system or compilers.In this thesis, we describe a replay method, called Deterministic
Replay, able to run on top of standard components. We also describe
the Time Machine, which is the implementation of the Deterministic
Replay method. Further, we give an in-depth description of the method
for pinpointing interrupts used by the Time Machine. In addition, we
present results from two case studies where the Deterministic Replay
method was incorporated into two full-scale industrial real-time
systems. These results show that our method of debugging
multi-tasking real-time systems not only is applicable in industrial
applications, but also that it can be introduced with little effort
and small costs regarding application performance.
Bibtex
@misc{Sundmark646,
author = {Daniel Sundmark},
title = {Deterministic Replay Debugging of Embedded Real-Time Systems using Standard Components},
number = {24},
month = {March},
year = {2004},
publisher = {M{\"a}lardalen University Press},
url = {http://www.es.mdu.se/publications/646-}
}