An Object-Oriented Modeling and Simulation Environment for Reactive Systems Development1

An environment to support the modeling, analysis, simulation, and development of state transition models, SMOOCHES (State Machines for Object-Oriented Concurrent Hierarchical Engineering Specifications), is presented. SMOOCHES allows the hierarchical construction, analysis, and simulation of state transition models in an object-oriented distributed environment. Statecharts (see Harel, 1987c), a powerful mechanism for state transition specification, are fundamental to the development of SMOOCHES. To assist in the specification of hierarchical state transition models for distributed and reactive systems, statecharts are extended by introducing the concept of exit-safe states. SMOOCHES allows the specification of objects in the system with hierarchical state transition models and the derivation of new classes of objects through inheritance. A graphical monitoring system has been developed to represent and simulate the object state lifecycles and monitor event generations. The example presented illustrates the modeling and simulation of different state lifecycles of an assembly robot.