Table Of Content

Real-Time Systems and Programming Languages INTERNATIONAL COMPUTER SCIENCE SERIES Consulting Editor A D McGettrick University of Strathclyde SELECTED TITLES IN THE SERIES Concurrent Systems: An Integrated Approach to Operating Systems, Database, and Distributed Systems (2nd edn) J Bacon Essentials H E Ba and D Grnne Programming Language Programming in Ada 95 (2nd edn) J G P Barnes Java Gently (3rd edn) J Bishop Software Design D Budgen. Concurrent Programming A Burns and G Davies Ada 95, Real—TimeJava and and Programming Languages: Real—TimeSystems Real—TimePOSIX (3rd edn) A Burns and A J Wellings Wilson and Clark, updated by Clark (3rd edn) Comparative Programming Languages, and Design (3rd edn) G Conlonris, J Dollimore Distributed Systems: Concepts and T Kindberg Software Development (2nd edn) A Eliéns Principles of Object—Oriented and T M Lahey Fortran 90 Programming TM R Ellis, I R Philips VerificationN Francez Program Introduction to Programming using SML M Hansen and H Rischel Functional C P Hartel and H Muller 9: Ada 95 for C and C++ Programmers S Johnston 2 l Algorithms and Data Structures: Design, Correctness, Analysis (2nd edn) J Kingston Scientists N Nissanke Introductory Logic and Sets for Computer al. Interaction J Preece et Human—Computer Functional Programming Approach F Rabhi and G Lapalme Algorithms: a Ada 95 From the Beginning (3rd edn) J Skansholm C++ From the Beginning J Skansholm Java From the Beginning J Skansholm Sonznzeiville Software Engineering (6th edn) I Programming in Eiffel (2nd edn) P Thomas and R Weedon Object—Oriented Miranda: The Craft of Functional Programming S Thompson Haskell: The Craft of Functional Programming (2nd edn) S Thompson Scientists (2nd edn) J K Truss Discrete Mathematics for Computer Compiler Design R Wilhelm and D Maurer Discover Delphi: Programming Principles Explained S Williams and S Walmsley Software Engineering with B J B Wordsworth Real—Time Systems and Programming Languages Ada, Rea|~Time Java and C/Real-Time POSIX Fourth Edition Alan Burns and Andy Wellings University of York A ADDISON-WESLEY VV Pearson Education An imprint of Harlow, England - London - New York - Boston - San Francisco - Toronto - Sydney - Singapore - Hong Kong Tokyo - Seoul - Taipei - New Delhi - Cape Town - Madrid - Mexico City - Amsterdam - Munich - Paris - Milan Pearson Education Limited Edinburgh Gate Harlow Essex CM20 2JE England and Associated Companies throughout the world Visit the World Wide Web at.‘ us on www.pearsoned.co.uk First published 1989 Second edition 1997 Third edition 2001 Fourth edition published 2009 © Pearson Education Limited 1989, 2009 The rights of Alan Burns and Andy Wellings to be identifiedas authors of this work have been asserted by them in accordance with the Copyright, Designs and Patents Act 1988. stored in retrieval All rights reserved. No part of this publication may be reproduced, a system, or transmitted in form by electronic, mechanical, photocopying, recording or any or any means, otherwise, without either the prior written permission of the publisher or a licence permitting restricted copying in the United Kingdom issued by the Copyright Licensing Agency Ltd, Saffron House, 6-10 Kirby Street, London EC1N 8TS. All trademarks used herein are the property of their respective owners. The use of any trademark in trademark ownership rights in such trademarks, this text does not vest in the author or publisher any does the of such trademarks imply any affiliation with or endorsement of this book by such nor use 0Wl'lCI‘S. ISBN: 978-0-321-41745-9 Cataloguing-in-Publication Data British Library A catalogue record for this book is available from the British Library Cataloging-in-Publication Data Library of Congress A catalogue record for this book can be obtained from the Library of Congress 10987654321 1312111009 M«swanswasww»e.,wiw«wits»mcw»wwmm.u.s.»,:a»..«aw.»i>\.ia;s Typeset in Times Roman 10/12 by 73 Printed in Great Britain by Henry Ling Ltd., at the Dorset Press, Dorchester, Dorset The publisherp’oslicy is to use paper nzanufactured from sustainable forests. 1 Contents Preface xiii 1 Introduction to real-time systems 1 1.1 Definition of real—time .' a system 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Examples of real-time systems 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.3 Characteristics of real—ti1ne systems 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I 1.4 Development cycle for real~time systems .'. 15 . . . . . . . . . . . . . . . . . . . . . . . . 15 Languages for programming real-time systems 20 . . . . . . . . . . . . . . . . . . . . . Summary 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Further reading 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exercises 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Reliability and fault tolerance 27 2.1 Reliability, failure and faults 28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 Failure modes 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 Fault prevention and fault tolerance 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4 N -version programming 36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5 Software dynamic redundancy 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6 The recovery block approach to software fault tolerance 46 . . . . . . . . . . . . . 2.7 A comparison between N -version programming and blocks 49 recovery . . 2.8 Dynamic redundancy and exceptions 50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.9 Measuring and predicting the reliability of software 52 . . . . . . . . . . . . . . . . . 2.10 Safety, reliability and dependability 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Summary 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Further reading 56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exercises 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A . . . . . . . . . . . . . . . . . . . . . . 3 Exceptions and exception handling 59 3.1 Exception handling in older real—timelanguages 60 . . . . . . . . . . . . . . . . . . . . 3.2 Modern exception handling 62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 Exception handling in Ada, Java and C 69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4 Recovery blocks and exceptions 85 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v Vi CONTENTS 88 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Further reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Concurrent programming 96 and tasks/threads 4.1 Processes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 execution 4.2 Concurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 4.3 Task representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 4.4 Concurrent execution in Ada . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 in Java 4.5 Concurrent execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 POSIX execution in C/Real—Time 4.6 Concurrent . . . . . . . . . . . . . . . . . . . . . 121 4.7 Multiprocessor and distributed systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 4.8 A simple embedded system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 operating—system—supported 4.9 Language—suppveorsurs ted concurrency 132 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 Further reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . communication 137 and Shared variable-based synchronization 138 5.1 Mutual exclusion and condition synchronization . . . . . . . . . . . . . . . . . . 139 5.2 Busy waiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 5.3 Suspend and resume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 5 .4 Semaphores . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 5.5 Conditional critical regions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 5.6 Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.7 Mutexes and condition variables in C/Real—TimePOSIX 160 . . . . . . . . . . . 163 5.8 Protected objects in Ada . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 methods in Java 5.9 Synchronized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 5.10 Shared multiprocessors memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 revisited embedded 5.11 Simple system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 Further reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . communication 193 and Message-based synchronization 193 6.1 Process synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 6.2 Task naming and structure message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 6.3 Message passing in Ada . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 6.4 Selective waiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202 6.5 The Ada select statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . selective waiting and synchronization primitives 205 6.6 Non—determinism, 206 6.7 C/Real—TimePOSIX message queues . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210 6.8 Distributed systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 embedded revisited 6.9 Simple system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 Further reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii CONTENTS 7 Atomic actions, concurrent tasks and reliability 227 7.1 Atomic actions 228 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2 Atomic actions in C/Real—TimePOSIX, Ada and Real—TimeJava 232 7.3 Recoverable atomic actions 240 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 Asynchronous notification 245 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5 Asynchronous notification in C/Real—Time POSIX 247 . . . . . . . . . . . . . . . . 7.6 Asynchronous notification in Ada 255 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.7 Asynchronous notification in Real—Time Java 266 . . . . . . . . . . . . . . . . . . . . . Summary 278 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Further reading 280 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exercises 280 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Resource control 285 8.1 Resource control and atomic actions 286 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2 Resource management 286 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3 Expressive and of 287 power ease use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.4 The facility 296 requeue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.5 Asymmetric naming and security I 302 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6 Resource 303 usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7 Deadlock 304 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ‘ Summary 304 r. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Further reading 305 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exercises 305 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Real-time facilities 307 9.1 The notion of time 307 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.2 Access to a clock 309 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.3 Delaying task a 317 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.4 Programming timeouts 320 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5 Specifying timing requirements 326 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6 Temporal 328 scopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Summary 332 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Further reading 333 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exercises .1 333 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Programming real-time abstractions 335 10.1 Real-time tasks 336 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.2 Programming periodic activities 338 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.3 Programming aperiodic and sporadic activities 341 . . . . . . . . . . . . . . . . . . . . 10.4 The role of real-time events and their handlers 344 . . . . . . . . . . . . . . . . . . . . 10.5 Controlling input and output jitter 349 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.6 Other approaches for supporting temporal 356 scopes . . . . . . . . . . . . . . . . . . Summary 363 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Further reading 364 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exercises 364 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii CONTENTS 365 11 Scheduling real-time systems 366 11.1 The cyclic executive approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367 11.2 Task~based scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370 11.3 Fixed—priosrcihteyduling (FPS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.4 Utilization—basesdchedulability tests for FPS 371 . . . . . . . . . . . . . . . . . . . . . 11.5 Response time analysis (RTA) for FPS 374 . . . . . . . . . . . . . . . ., . . . . . . . . . . . 378 11.6 Sporadic and aperiodic tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380 11.7 Task with D T systems < . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382 11.8 Task interactions and blocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386 11.9 Priority ceiling protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390 11.10 An extendible task model for FPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400 11.11 Earliest deadline first (EDF) scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . 405 and online analysis 11.12 Dynamic systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407 execution time 11.13 Worst—case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408 11.14 Multiprocessor scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413 11.15 Scheduling for systems power—aware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 overheads 11.16 Incorporating system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420 Further reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425 12 Programming schedulable systems 425 12.1 Programming cyclic executives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426 12.2 Programming preemptive priority-based systems . . . . . . . . . . . . . . . . . . 427 12.3 Ada and fixed~priorscithyeduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430 12.4 The Ada Ravenscar profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.5 Dynamic priorities and other Ada facilities 434 . . . . . . . . . . . . . . . . . . . . . . . 12.6 C/Real-Time POSIX and fixed—priosrcihteyduling 436 . . . . . . . . . . . . . . . . 12.7 Real—TimeJava and fixed-priorsitchyeduling 438 . . . . . . . . . . . . . . . . . . . . . 443 12.8 Programming EDF systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453 12.9 Mixed scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454 Further reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457 13 Tolerating timing faults 13.1 Dynamic redundancy and timing faults 457 . . . . . . . . . . . . . . . . . . . . . . . . . . . 459 13.2 Deadline miss detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.3 Overrun of worst—case execution time 467 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471 13.4 Overrun of sporadic events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474 13.5 Overrun of resource usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475 13.6 Damage confinement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485 13.7 Error recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493 Further reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix CONTENTS 14 Low-level programming 495 14.1 Hardware input/output mechanisms 495 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.2 Language requirements 502 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.3 Ada 504 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.4 Real—TimeJava 514 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.5 C and older real—timelanguages 517 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.6 Scheduling device drivers 519 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.7 Memory management 521 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Summary 527 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Further reading 528 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exercises 528 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Mine control case study 533 15.1 Mine drainage 533 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.2 The HRT—HOOD design method 538 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.3 The logical architecture design 539 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i 15.4 The physical architecture design 545 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.5 Translation to Ada 546 ~ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.6 Translation to Real—TimeJava 564 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.7 Fault tolerance and distribution 570 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Summary 572 ' . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .p. Further reading 572 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exercises 573 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Conclusions 575 References 579 Index 587 Supporting resources Visit www.pearsoned.co.uk/burns to find valuable online resources For instructors Solutions to exercises 0 Example examination questions 0 Code fragments 0 PowerPoint slides o For more information please contact local Pearson Education sales your representative or visit www.pearsoned.co.uk/burns List of Figures 1.1 A fluid control system. 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 A control system. 5 process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.3 A production control system. 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.4 A command and control system. 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5 A typical embedded system. 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.6 A simple controller. 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.7 A simple computerized controller. 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.8 Aspects of real—timesystems. 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 Fault, failure, fault chain. 29 error, . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 Failure mode classification. 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 Graceful degradation and in air traffic control 35 recovery an system. . . . . 2.4 N -Version programming. 38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5 Consistent comparison problem with three versions. 40 . . . . . . . . . . . . . . . . 2.6 The domino effect. 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.7 Recovery block mechanism. 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.8 An ideal fault—toleranctomponent. 52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.9 Aspects of dependability. 54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.10 Dependability terminology. 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.11 Concurrent execution of four for Exercise 2.5. 57 processes . . . . . . . . . . . . 3.1 The resumption model. 67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 The termination model. 69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 The Java predefineThdrowable class hierarchy. 78 . . . . . . . . . . . . . . . . . . 4.1 Simple state diagram for task. 98 a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2 State diagram for task. 101 a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3 Fork and join. 104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4 Cobegin. 105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5 A simple embedded system. 126 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 State diagram for task. 145 a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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How do real-time systems differ from normal information systems? Which languages are best for implementing different real-time systems? The fourth edition of this best-selling text on real-time systems answers these and other questions. It provides an in-depth analysis of the requirements for design

Real-Time Systems and Programming Languages: Ada, Real-Time Java and C/Real-Time POSIX PDF

620 Pages·2009·49.89 MB·English

by Alan Burns

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Author:	Alan Burns
Publication Year:	2009
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Language:	English
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