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| Figure List | |
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| About the Author | |
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| Foreword | |
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| Preface | |
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| Acknowledgments | |
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| The Basics | |
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| Introduction to Objects and the Unified Modeling Language | |
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| Advantages of Objects | |
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| Terms and Concepts | |
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| Object Orientation with the UML | |
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| Objects | |
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| Attributes | |
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| Behavior | |
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| Messaging | |
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| Responsibility | |
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| Concurrency | |
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| Objects as Autonomous Machines | |
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| Class Diagrams | |
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| Relations among Classes and Objects | |
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| Use Cases | |
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| Sequence Diagrams | |
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| Physical Representation | |
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| Things Common to Diagrams | |
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| Notes | |
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| Packages | |
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| Constraints | |
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| Stereotypes | |
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| Summary | |
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| A Look Ahead | |
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| Exercises | |
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| References | |
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| Basic Concepts of Real-Time Systems | |
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| What is Real-Time? | |
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| Terms and Concepts | |
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| Timeliness | |
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| Responsiveness | |
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| Concurrency | |
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| Scheduling Concurrent Threads | |
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| Event Arrival Patterns | |
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| Thread Rendezvous Patterns | |
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| Sharing Resources | |
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| Predictability | |
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| Memory Management | |
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| Correctness and Robustness | |
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| Deadlock | |
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| Exceptional Conditions | |
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| Race Conditions | |
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| Distributed Systems | |
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| Fault Tolerance and Safety | |
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| Dealing with Resource-Limited Target Environments | |
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| Low-Level Hardware Interfacing | |
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| Real-Time Operating Systems | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Basic Concepts of Safety-Critical Systems | |
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| Introduction to Safety | |
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| The Therac-25 Story | |
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| Other Stories | |
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| Terms and Concepts | |
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| Safety-Related Faults | |
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| Safety Is a System Issue | |
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| Random Faults vs. Systematic Faults | |
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| Single-Point Failures | |
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| Common Mode Failures | |
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| Latent Faults | |
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| Fail-Safe State | |
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| Achieving Safety | |
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| Safety Architectures | |
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| Single-Channel Protected Design (SCPD) | |
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| Multi-Channel Voting Pattern | |
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| Homogeneous Redundancy Pattern | |
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| Diverse Redundance Pattern | |
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| Monitor-Actuator Pattern | |
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| Watchdog Pattern | |
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| Safety Executive Pattern | |
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| Eight Steps to Safety | |
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| Step 1: Identify the Hazards | |
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| Step 2: Determine the Risks | |
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| Step 3: Define the Safety Measures | |
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| Step 4: Create Safe Requirements | |
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| Step 5: Create Safe Designs | |
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| Step 6: Implementing Safety | |
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| Step 7: Assure Safety Process | |
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| Step 8: Test, Test, Test | |
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| A Few Safety-Related Standards | |
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| Some Important Safety Standards | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Rapid Object-Oriented Process for Embedded Systems | |
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| Introduction | |
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| Terms and Concepts | |
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| Development Phases | |
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| Ordering | |
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| Maturity | |
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| Development-Task Sequencing | |
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| Waterfall Lifecycle | |
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| Iterative Lifecycles | |
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| Prototyping | |
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| Scheduling and Estimation | |
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| Advantages of Accurate Schedules | |
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| Difficulties of Accurate Scheduling | |
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| The ROPES Macro Cycle | |
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| Analysis | |
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| Requirements Analysis | |
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| Systems Analysis | |
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| Object Analysis | |
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| Design | |
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| Architectural Design | |
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| Mechanistic Design | |
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| Detailed Design | |
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| Translation | |
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| Activities | |
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| Artifacts | |
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| Testing | |
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| Activities | |
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| Artifacts | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Analysis | |
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| Requirements Analysis of Real-Time Systems | |
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| Introduction | |
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| Terms and Concepts | |
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| Use Cases | |
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| Messages and Events | |
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| Scenarios, Protocols, and State Machines | |
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| Use Cases | |
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| Use Case Relations | |
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| Use Case Example: Air Traffic Control System | |
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| External Events | |
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| Context-Level Messages | |
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| Specifying External Messages | |
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| External Event List | |
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| Response Time | |
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| Detailing Use Case Behavior | |
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| Informal Textual Description | |
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| Scenarios | |
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| Sequence Diagrams | |
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| Statecharts for Defining Use Case Behavior | |
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| Identifying Use Cases | |
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| Using Use Cases | |
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| Heuristics for Good Requirements Analysis Diagrams | |
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| Use Case Diagram Heuristics | |
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| Use Case Heuristics | |
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| Use Case Sequence Diagram Heuristics | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Structural Object Analysis | |
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| Introduction | |
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| Terms and Concepts | |
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| Key Strategies for Object Identification | |
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| Underline the Nouns | |
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| Identify Causal Agents | |
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| Identify Coherent Services | |
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| Identify Real-World Items | |
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| Identify Physical Devices | |
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| Identify Essential Abstractions of Domains | |
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| Identify Transactions | |
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| Identify Persistent Information | |
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| Identify Visual Elements | |
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| Identify Control Elements | |
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| Execute Scenarios on the Object Model | |
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| Reification of Objects into Classes | |
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| Identify Object Associations | |
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| Multiplicity | |
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| Associations and Links | |
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| Aggregation and Composition | |
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| Object Attributes | |
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| Generalization Relationships | |
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| AATCS Example: Class Diagrams | |
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| Heuristics for Good Class Diagrams | |
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| Rules for Good Class Diagrams | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Behavioral Object Analysis | |
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| Introduction | |
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| Terms and Concepts | |
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| Simple Behavior | |
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| State Behavior | |
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| Continuous Behavior | |
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| UML Statecharts | |
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| Basic State Semantics | |
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| Transitions and Events | |
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| Actions and Activities | |
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| Pseudostates | |
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| Orthogonal Regions and Synchronization | |
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| Basic Statecharts Syntax | |
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| Inherited State Models | |
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| Ill-Formed State Models | |
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| Example: AATCS Alarm System | |
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| The Role of Scenarios in the Definition of Behavior | |
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| Timing Diagrams | |
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| Sequence Diagrams | |
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| Activity Diagrams | |
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| Defining Operations | |
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| Types of Operations | |
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| Strategies for Defining Operations | |
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| Statechart Heuristics | |
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| Timing-Diagram Heuristics | |
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| Activity-Diagram Heuristics | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Design | |
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| Architectural Design | |
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| Introduction | |
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| Terms and Concepts | |
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| Tasking Model | |
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| Representing Tasks | |
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| Defining Task Threads | |
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| Assigning Objects to Tasks | |
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| Defining Task Rendezvous | |
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| Component Model | |
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| Deployment Model | |
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| Representing Physical Architecture in the UML | |
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| Multiprocessor Systems | |
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| Safety/Reliability Model | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Mechanistic Design | |
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| Introduction | |
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| Terms and Concepts | |
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| Design-Pattern Basics | |
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| Mechanistic Design Patterns | |
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| Correctness Patterns | |
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| Execution Control Patterns | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Detailed Design | |
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| Introduction to Detailed Design | |
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| Terms and Concepts | |
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| Data Structure | |
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| Primitive Representational Types | |
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| Subrange Constraints | |
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| Derived Attributes | |
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| Data-Collection Structure | |
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| Associations | |
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| The Object Interface | |
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| Definition of Operations | |
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| Detailed Algorithmic Design | |
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| Representing Algorithms in the UML | |
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| Algorithmic Example: Run-Time Data Interpolation | |
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| Exceptions | |
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| Source Language-Based Exception Handling | |
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| State-Based Exception Handling | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Advanced Real-Time Object Modeling | |
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| Threads and Schedulability | |
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| Introduction | |
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| Terms and Concepts | |
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| Time-Based Systems | |
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| Reactive Systems | |
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| Time Concepts | |
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| Scheduling Threads | |
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| Rate Monotonic Scheduling | |
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| Earliest-Deadline-First Scheduling | |
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| Least Laxity Dynamic Scheduling | |
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| Maximum-Urgency-First Scheduling | |
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| Weighted Shortest-Processing-Time-First (WSPTF) Scheduling | |
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| Minimizing Maximum Lateness Scheduling | |
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| Thread Synchronization and Resource Sharing | |
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| Mutual-Exclusion Semaphores | |
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| Dekker's Algorithm | |
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| Spinlocks | |
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| Counting Semaphores | |
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| Condition Variables | |
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| Barriers | |
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| Rendezvous Objects | |
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| Schedulability Analysis of Hard Real-Time Systems | |
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| Global Analysis | |
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| Global Method with Task Blocking | |
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| Computing Blocking | |
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| Separate Task Utilization Bounds | |
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| Aperiodic Tasks | |
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| Schedulability Analysis of Soft Real-Time Systems | |
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| Warm and Fuzzy: Timeliness in the Soft Context | |
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| Soft Schedulability | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Dynamic Modeling | |
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| Introduction | |
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| Terms and Concepts | |
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| But Is It the Right State Machine? | |
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| Behavioral Patterns | |
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| Latch State Pattern | |
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| Polling State Pattern | |
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| Latched Data Pattern | |
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| Device Mode State Pattern | |
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| Transaction State Pattern | |
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| Component Synchronization State Pattern | |
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| Barrier State Pattern | |
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| Event Hierarchy State Pattern | |
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| Random State Pattern | |
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| Null State Pattern | |
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| Watchdog State Pattern | |
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| Retriggerable Counter State Pattern | |
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| Model-Level Debugging and Testing | |
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| Animated Debugging | |
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| Animated Testing | |
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| Sample Debugging Session | |
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| Summary | |
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| Looking Ahead | |
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| Exercises | |
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| References | |
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| Real-Time Frameworks | |
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| Introduction | |
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| Terms and Concepts | |
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| Real-Time Frameworks | |
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| Architectural Support Patterns | |
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| Collaboration and Distribution Patterns | |
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| Safety and Reliability Patterns | |
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| Behavioral Patterns | |
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| Framework Design Principles and Metrics | |
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| Set of Services | |
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| Generalization Hierarchy Structure | |
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| Replaceable Components | |
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| Portability | |
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| Naming and Syntax Conventions | |
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| Performance | |
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| The Rhapsody Object Execution Framework (OXF) | |
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| Rhapsody Architecture | |
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| Execution Framework | |
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| Inter-Object Association Patterns | |
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| Using C++ Standard Template Library | |
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| Abstract Operating System | |
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| Animation Framework | |
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| Sample Application Using the Rhapsody OXF Framework | |
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| Summary | |
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| Exercises | |
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| References | |
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| Summary of UML Notation | |
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| Rhapsody: A Fully Constructive UML Visual Programming Tool | |
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| TimeWiz: An Integrated Tool for Timing Analysis | |
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| Index | |
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| CD-ROM Warranty | |