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| Preface | |
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| Acknowledgments | |
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| Fundamentals of Real-Time Systems | |
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| Concepts and Misconceptions | |
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| Definitions for Real-Time Systems | |
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| Usual Misconceptions | |
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| Multidisciplinary Design Challenges | |
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| Influencing Disciplines | |
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| Birth and Evolution of Real-Time Systems | |
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| Diversifying Applications | |
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| Advancements behind Modern Real-Time Systems | |
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| Summary | |
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| Exercises | |
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| References | |
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| Hardware for Real-Time Systems | |
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| Basic Processor Architecture | |
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| Von Neumann Architecture | |
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| Instruction Processing | |
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| Input/Output and Interrupt Considerations | |
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| Memory Technologies | |
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| Different Classes of Memory | |
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| Memory Access and Layout Issues | |
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| Hierarchical Memory Organization | |
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| Architectural Advancements | |
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| Pipelined Instruction Processing | |
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| Superscalar and Very Long Instruction Word Architectures | |
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| Multi-Core Processors | |
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| Complex Instruction Set versus Reduced Instruction Set | |
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| Peripheral Interfacing | |
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| Interrupt-Driven Input/Output | |
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| Direct Memory Access | |
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| Analog and Digital Input/Output | |
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| Microprocessor versus Microcontroller | |
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| Microprocessors | |
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| Standard Microcontrollers | |
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| Custom Microcontrollers | |
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| Distributed Real-Time Architectures | |
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| Fieldbus Networks | |
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| Time-Triggered Architectures | |
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| Summary | |
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| Exercises | |
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| References | |
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| Real-Time Operating Systems | |
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| From Pseudokernels to Operating Systems | |
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| Miscellaneous Pseudokernels | |
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| Interrupt-Only Systems | |
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| Preemptive Priority Systems | |
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| Hybrid Scheduling Systems | |
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| The Task Control Block Model | |
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| Theoretical Foundations of Scheduling | |
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| Scheduling Framework | |
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| Round-Robin Scheduling | |
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| Cyclic Code Scheduling | |
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| Fixed-Priority Scheduling: Rate-Monotonic Approach | |
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| Dynamic Priority Scheduling: Earliest Deadline First Approach | |
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| System Services for Application Programs | |
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| Linear Buffers | |
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| Ring Buffers | |
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| Mailboxes | |
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| Semaphores | |
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| Deadlock and Starvation Problems | |
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| Priority Inversion Problem | |
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| Timer and Clock Services | |
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| Application Study: A Real-Time Structure | |
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| Memory Management Issues | |
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| Stack and Task Control Block Management | |
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| Multiple-Stack Arrangement | |
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| Memory Management in the Task Control Block Model | |
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| Swapping, Overlaying, and Paging | |
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| Selecting Real-Time Operating Systems | |
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| Buying versus Building | |
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| Selection Criteria and a Metric for Commercial Real-Time Operating Systems | |
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| Case Study: Selecting a Commercial Real-Time Operating System | |
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| Supplementary Criteria for Multi-Core and Energy-Aware Support | |
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| Summary | |
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| Exercises | |
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| References | |
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| Programming Languages for Real-Time Systems | |
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| Coding of Real-Time Software | |
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| Fitness of a Programming Language for Real-Time Applications | |
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| Coding Standards for Real-Time Software | |
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| Assembly Language | |
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| Procedural Languages | |
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| Modularity and Typing Issues | |
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| Parameter Passing and Dynamic Memory Allocation | |
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| Exception Handling | |
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| Cardelli's Metrics and Procedural Languages | |
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| Object-Oriented Languages | |
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| Synchronizing Objects and Garbage Collection | |
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| Cardelli's Metrics and Object-Oriented Languages | |
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| Object-Oriented versus Procedural Languages | |
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| Overview of Programming Languages | |
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| Ada | |
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| C | |
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| C++ | |
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| C# | |
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| Java | |
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| Real-Time Java | |
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| Special Real-Time Languages | |
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| Automatic Code Generation | |
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| Toward Production-Quality Code | |
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| Remaining Challenges | |
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| Compiler Optimizations of Code | |
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| Standard Optimization Techniques | |
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| Additional Optimization Considerations | |
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| Summary | |
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| Exercises | |
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| References | |
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| Requirements Engineering Methodologies | |
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| Requirements Engineering for Real-Time Systems | |
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| Requirements Engineering as a Process | |
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| Standard Requirement Classes | |
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| Specification of Real-Time Software | |
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| Formal Methods in System Specification | |
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| Limitations of Formal Methods | |
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| Finite State Machines | |
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| Statecharts | |
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| Petri Nets | |
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| Semiformal Methods in System Specification | |
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| Structured Analysis and Structured Design | |
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| Object-Oriented Analysis and the Unified Modeling Language | |
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| Recommendations on Specification Approach | |
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| The Requirements Document | |
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| Structuring and Composing Requirements | |
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| Requirements Validation | |
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| Summary | |
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| Exercises | |
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| Appendix 1: Case Study in Software Requirements Specification | |
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| Introduction | |
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| Overall Description | |
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| Specific Requirements | |
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| References | |
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| Software Design Approaches | |
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| Qualities of Real-Time Software | |
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| Eight Qualities from Reliability to Verifiability | |
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| Software Engineering Principles | |
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| Seven Principles from Rigor and Formality to Traceability | |
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| The Design Activity | |
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| Procedural Design Approach | |
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| Parnas Partitioning | |
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| Structured Design | |
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| Design in Procedural Form Using Finite State Machines | |
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| Object-Oriented Design Approach | |
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| Advantages of Object Orientation | |
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| Design Patterns | |
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| Design Using the Unified Modeling Language | |
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| Object-Oriented versus Procedural Approaches | |
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| Life Cycle Models | |
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| Waterfall Model | |
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| V-Model | |
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| Spiral Model | |
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| Agile Methodologies | |
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| Summary | |
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| Exercises | |
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| Appendix 1: Case Study in Designing Real-Time Software | |
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| Introduction | |
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| Overall Description | |
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| Design Decomposition | |
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| Requirements Traceability | |
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| References | |
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| Performance Analysis Techniques | |
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| Real-Time Performance Analysis | |
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| Theoretical Preliminaries | |
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| Arguments Related to Parallelization | |
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| Execution Time Estimation from Program Code | |
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| Analysis of Polled-Loop and Coroutine Systems | |
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| Analysis of Round-Robin Systems | |
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| Analysis of Fixed-Period Systems | |
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| Analysis of Nonperiodic Systems | |
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| Applications of Queuing Theory | |
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| Single-Server Queue Model | |
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| Arrival and Processing Rates | |
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| Buffer Size Calculation | |
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| Response Time Modeling | |
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| Other Results from Queuing Theory | |
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| Input/Output Performance | |
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| Buffer Size Calculation for Time-Invariant Bursts | |
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| Buffer Size Calculation for Time-Variant Bursts | |
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| Analysis of Memory Requirements | |
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| Memory Utilization Analysis | |
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| Optimizing Memory Usage | |
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| Summary | |
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| Exercises | |
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| References | |
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| Additional Considerations for the Practitioner | |
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| Metrics in Software Engineering | |
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| Lines of Source Code | |
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| Cyclomatic Complexity | |
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| Halstead's Metrics | |
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| Function Points | |
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| Feature Points | |
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| Metrics for Object-Oriented Software | |
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| Criticism against Software Metrics | |
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| Predictive Cost Modeling | |
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| Basic COCOMO 81 | |
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| Intermediate and Detailed COCOMO 81 | |
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| COCOMO II | |
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| Uncertainty in Real-Time Systems | |
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| The Three Dimensions of Uncertainty | |
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| Sources of Uncertainty | |
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| Identifying Uncertainty | |
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| Dealing with Uncertainty | |
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| Design for Fault Tolerance | |
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| Spatial Fault-Tolerance | |
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| Software Black Boxes | |
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| N-Version Programming | |
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| Built-in-Test Software | |
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| Spurious and Missed Interrupts | |
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| Software Testing and Systems Integration | |
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| Testing Techniques | |
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| Debugging Approaches | |
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| System-Level Testing | |
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| Systems Integration | |
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| Testing Patterns and Exploratory Testing | |
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| Performance Optimization Techniques | |
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| Scaled Numbers for Faster Execution | |
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| Look-Up Tables for Functions | |
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| Real-Time Device Drivers | |
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| Summary | |
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| Exercises | |
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| References | |
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| Future Visions on Real-Time Systems | |
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| Vision: Real-Time Hardware | |
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| Heterogeneous Soft Multi-Cores | |
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| Architectural Issues with Individual Soft Cores | |
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| More Advanced Fieldbus Networks and Simpler Distributed Nodes | |
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| Vision: Real-Time Operating Systems | |
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| One Coordinating System Task and Multiple Isolated Application Tasks | |
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| Small, Platform Independent Virtual Machines | |
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| Vision: Real-Time Programming Languages | |
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| The UML++ as a Future "Programming Language" | |
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| Vision: Real-Time Systems Engineering | |
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| Automatic Verification of Software | |
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| Conservative Requirements Engineering | |
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| Distance Collaboration in Software Projects | |
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| Drag-and-Drop Systems | |
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| Vision: Real-Time Applications | |
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| Local Networks of Collaborating Real-Time Systems | |
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| Wide Networks of Collaborating Real-Time Systems | |
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| Biometric Identification Device with Remote Access | |
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| Are There Any Threats behind High-Speed Wireless Communications? | |
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| Summary | |
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| Exercises | |
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| References | |
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| Glossary | |
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| About the Authors | |
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| Index | |