The primary goal of this work is to provide an easy and systematic way of developing safe soft real-time systems. To achieve this goal, we propose a method of generating real-time programs from formally verified models written as systems of timed automata. The models are verified using UPPAAL model checker prior to be processed by our code generators. A characteristic of our code generator is that the generated code runs in a non-real-time environment, i.e., a runtime environment without inherent real-time schedulers. To realize this, the code generator weaves timing checking code fragments within the generated programs. The generated code explicitly checks the real-time clock of its runtime to obey the timing constraints specified in the model. In this paper, we describe how to generate Java/C programs from UPPAAL timed automata and show the benefits of our method using a robot controller case study.
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