The Realizable, Reconfigurable, Unobtrusive Unit (R2U2) is a stream-based runtime verification framework based on Mission-time Linear Temporal Logic (MLTL) designed to monitor safety- or mission-critical systems with constrained computational resources.
Given a specification and input stream, R2U2 will output a stream of verdicts computing whether the specification with respect to the input stream. Specifications can be written and compiled using the Configuration Compiler for Property Organization (C2PO).
If you would like to cite R2U2, please use our 2023 CAV paper (.bib) and 2025 NFM paper (.bib).
The following dependencies are required to run C2PO:
- Python 3.8 or greater
- (Optional) To enable satisfiability checking, install Z3
- (Optional) To enable equality saturation, first install Rust then install egglog via the
compiler/setup_egglog.shscript.
The following dependencies are required to run R2U2 C version:
- Make
- C99 compiler
The following dependencies are required to run R2U2 Rust version:
- Rust 1.82.0 or greater
To build R2U2, run make from monitors/c/:
cd monitors/c/
makeThis only needs to be once, regardless of the specifications you wish to monitor.
To build R2U2 from source, run cargo build --release from monitors/r2u2_cli:
cd monitors/rust/r2u2_cli/
cargo build --releaseThis only needs to be once, regardless of the specifications you wish to monitor.
***There is also a r2u2_cli Rust crate available to run C2PO and R2U2.
Running R2U2 requires a specification and an input stream. To monitor the specification
defined in examples/simple.c2po using
examples/simple.csv as an input stream:
- Compile the specification using C2PO
python3 compiler/c2po.py --output spec.bin --map examples/simple.map examples/simple.c2po -
Run R2U2 using the compiled specification and the input stream
a. Run R2U2 C version:
./monitors/c/build/r2u2 spec.bin < examples/simple.csvb. Run R2U2 Rust version:
./monitors/rust/r2u2_cli/target/release/r2u2_cli run spec.bin examples/simple.csv
The output of R2U2 is a verdict stream with one verdict per line. A verdict includes a formula ID, timestamp, and truth value. Formula IDs are determined by the order in which they are defined in the specification file. Verdicts are aggregated so that if R2U2 can determine a range of values with the same truth at once, only the last time is output.
The following is a stream where formula 0 is true from 0-7 and false from 8-11 and formula 1 is false from times 0-4:
0:7,T
1:4,F
0:11,F
Example specifications and traces can be found in the examples/, test/,
and compiler/test/ directories.
The benchmarks/ directory includes sets of larger specifications taken from various
sources. See each sub-directory's README for its description and source.
The documentation for R2U2 can be found here. The documentation includes user and developer guides for both R2U2 and C2PO.
If you believe you have found a case of unsound output from R2U2, please refer to CONTRIBUTING.md and open a bug report issue.
Licensed under either of
- Apache License, Version 2.0, (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
- MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)
at your option.
Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.