Li Tan, Jesung Kim, and Insup Lee. The third workshop on Runtime Verification. Boulder, Colorado, 2003. Electronic Notes in Theoretic Computer Science, Volume 89, No. 2. Elsevier Science.
We propose an integrated framework to test and monitor code generated from hybrid models for embedded systems. The framework consists of the following elements: First, we create testing automata as a controlled environment to produce test traces achieving the desired testing criteria; Second, we synthesize monitoring automata from the behavior specification to check the run-time behavior of the tested system in response to the test traces; Finally, since both automata are encoded in the same language as the system model, the same code generator may be used to generate a tester and a monitor from the testing automata and the monitoring automata, and link them with the code generated from the system model. Our approach yields self-testing and self-monitoring code which may be run both on the simulation level and on the code level. We discuss our approach in its full details through an example on a SONY AIBO robotic dog.