Integrated Modeling and Development of Component-Based Embedded Software in Scala

Programming of embedded systems is challenging due to the low-level design patterns normally applied in the implementation of such systems. Furthermore, programming languages normally considered suitable for this level of programming, such as C and C++, are themselves low-level compared to more modern programming languages. We report on an effort exploring modeling and programming of embedded systems in modern high-level programming languages combining object-oriented and functional programming. We present an integration of four separate internal DSLs (libraries), considered useful for embedded program- ming, in the Scala programming language, for programming and testing component-based systems. These include a DSL for defining components and their connections, and a DSL for programming the individual components as hierarchical state machines. Two additional DSLs support testing, and include a DSL for writing temporal logic flavored test oracles for monitoring program executions, and a DSL for rule-based test input generation. The paper discusses the gap between Scala as used here and the needs for embedded systems programming.