Debugging Cyber-Physical Systems with Pharo
Matteo Marra, Elisa Gonzalez Boix, Steven Costiou, Mickaël Kerbœuf, Alain Plantec, Guillermo Polito, Sté́phane Ducasse · 2017
Cyber-Physical Systems (CPS) integrate sensors and actuators to collect data and control entities in the physical world. Debugging CPS systems is hard due to the time-sensitive nature of a distributed applications combined with the lack of control on the surrounding physical environment. This makes bugs in CPS systems hard to reproduce and thus to fix. In this context, on-line debugging techniques are helpful because the debugger is connected to the device when an exception or crash occurs.