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Understanding these properties can get hard. Using a high level language as opposed to just C is very helpful (we review the code of flight systems with sometimes 4-5 people in the room and it's not trivial at all what it is doing or to show that it is correct). But even streams can sometimes be hard to understand for very complex monitors. We've also built Ogma (https://github.com/nasa/ogma) so that people can write properties in structured natural language, or transform other languages into Copilot (and then C/whatever).
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We are very happy to announce the release of Copilot 3.10. Copilot is a runtime verification system implemented as a Haskell DSL that generates hard-realtime C99. You can learn more about it at [1], [5].
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