This paper discusses a full model-based design approach in the applicative development of Cyber Physical Systems targeting the fast development of Logic controllers (i.e., the “Cyber” side of a CPS). The proposed modeling language provides a synthesis between various somehow conflicting constraints, such as being graphical, easily usable by designers, self-contained with no need for extra information, and to leads to efficient implementation, even in low-end embedded systems. Its main features include easiness to describe parallelism of actions, precise time handling, communication with other systems according to various interfaces and protocols. Taking advantage the modeling easiness deriving from the above features, the language encourages to model whole CPSs, that is their Logical and their Physical side, working together; such whole models are simulated in order to achieve insight about their interaction and spot possible flaws in the controller; once validated, the very same model, without the Physical side, is compiled and into the logic controller, ready to be flashed on the controller board and to interact with the physical side. The discussed language has been implemented into a real model-based development environment, TaskScript, in use since a few years in the development of production grade systems. Results about its effectiveness in terms of model expressivity and design effort are presented; such results show the effectiveness of the approach: real case production grade systems have been developed and tested in a few days.
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