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11		-[[image:attach:Robot-Picture5.png]]
	11	+[[image:attach:Robot-Picture5.png]][[attach:Robot-Picture5.png]]
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19	19	[[image:attach:robot-synchron1.png]][[attach:robot-synchron1.png]]
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	23	+There are three regions, called Main, HandleEmergency and HandleMotor. Depending on whether the bumper sensor input is true or not, we enter one of the two inner regions. In the case the bumper sensor was activated, the HandleEmergency region will be executed, in the other case HandleMotor is active. In the collision case, the robot writes an error log file, which is represented by a host code call to errorLog(). Also the motor output is set to false. In the other case the robot drives, given its accelerator button is pressed, which is represented by the accelerator input and then it takes a picture.
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	25	+What we cannot detect in this picture is any information on whether this implementation is correct as to the timing specification. Does the worst tick of this model take longer than 300 time units? To answer this question the modeler would have to generate code from the model and invoke a timing analysis tool on the code. The analysis tool would return a (single) time value. If this time value is too high, the modeler has to return to the modeling process and go on. Additionally there is no information as to where the most time consuming parts of the model are to be found. To relieve the modeler of such a tedious process, we developed the Kieler Interactive Timing Analysis (KITA). Its central idea is to interactively feed back timing information to the image of the model. This can not only be done for the model in general but more detailed for model parts. Additionally we highlight the costly regions of the model with different shades of red, according to their contribution to the overall worst case execution time for one pass of the tick function for the SCChart:
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	29	+[[image:attach:robot-synchron3.png]][[attach:robot-synchron3.png]]
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Confluence.Code.ConfluencePageClass[0]

Id

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1		-14516369
	1	+14516371

URL

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1		-https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/14516369/Interactive Timing Analysis (KITA)
	1	+https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/14516371/Interactive Timing Analysis (KITA)