Real-time embedded systems are becoming increasingly complex, especially in applications like self-driving vehicles, where ensuring both correct functionality and real-time performance is essential. Runtime monitoring provides a lightweight verification method by validating system behavior during execution with monitors derived from formal specifications. However, the adoption of this technique has been mostly limited to experts primarily due to the complexity of formal methods. To address this issue, this paper introduces the GROOT framework, which automates the synthesis of hardware and software monitors from pseudo-English specifications. By distinguishing between functional and timing requirements, GROOT allows for tailored verification suited to each type. To evaluate the capabilities of the proposed framework, hardware monitors are applied to a lightweight cryptographic system to detect potential malicious attacks or faults.