A blueprint for system-level performance modeling of software-intensive embedded systems

Exploration of design alternatives and estimation of their key performance metrics such as latency and energy consumption is essential for making the proper design decisions in the early phases of system development. Often, high-level models of the dynamic behavior of the system are used for the analysis of design alternatives. Our work presents a blueprint for building efficient and re-usable models for this purpose. It builds on the well-known Y-chart pattern in that it gives more structure for the proper modeling of interaction on shared resources that plays a prominent role in software-intensive embedded systems. We show how the blueprint can be used to model a small yet illustrative example system with the Uppaal tool, and with the Java general-purpose programming language, and reflect on their respective strengths and weaknesses. The Java-based approach has resulted in a very flexible and fast discrete-event simulator with many re-usable components. It currently is used by TNO-ESI and Océ-Technologies B.V. for early model-based performance analysis that supports the design process for professional printing systems. Keywords: Embedded system; System-level modeling; Performance analysis; Simulation; Design space exploratio