A Case Study on Model Checking and Runtime Verification for Awkernel

In operating system development, concurrency poses significant challenges. It is difficult for humans to manually review concurrent behaviors or to write test cases covering all possible executions, often resulting in critical bugs. Preemption in schedulers serves as a typical example. This paper proposes a development method for concurrent software, such as schedulers. Our method incorporates model checking as an aid for tracing code, simplifying the analysis of concurrent behavior; we refer to this as model checking-assisted code review. While this approach aids in tracing behaviors, the accuracy of the results is limited because of the semantics gap between the modeling language and the programming language. Therefore, we also introduce runtime verification to address this limitation in model checking-assisted code review. We applied our approach to a real-world operating system, Awkernel, as a case study. This new operating system, currently under development for autonomous driving, is designed for preemptive task execution using asynchronous functions in Rust. After implementing our method, we identified several bugs that are difficult to detect through manual reviews or simple tests.