Real-time component integration based on transparent distribution

Abstract

This paper introduces a real-time component model that offers a separation of concerns which allows a straight-forward integration of independently developed components. So-called transparent distribution forms the backbone of the integration process. Transparent distribution means that (1) the functional and temporal behavior of a system is the same no matter on which node of a distributed system a component is executed and (2) the developer does not have to care about the differences of local versus distributed execution of a component. We first present the concepts of a component model for real time systems that is well suited for transparent distribution. The component model is based on logical execution time, which abstracts from physical execution time and thereby from both the execution platform and the communication topology. Then we discuss the resulting tool chain and integration process. A case study rounds out the paper.

References

1. Bosch, 1991, CAN Specification, Version 2. Robert Bosch GmbH, http://www.can.bosch.com/docu/can2spec.pdf
2. C.M. Kirsch, 2002, Principles of Real-Time Programming. In Proceedings of EMSOFT 2002, Grenoble LNCS, 2491.
3. Emilia Coste, Claudiu Farcas, Wolfgang Pree and Josef Templ. Transparent Distribution of TDL modules. Technical Report, University of Salzburg, Austria, 2005.
4. Gerald Stieglbauer and Wolfgang Pree. Visual and Interactive Development of Hard Real Time Code. Automotive Software Workshop San Diego (ASWSD 2004)
5. Giotto Project, http://www-cad.eecs.berkeley.edu/~fresco/giotto/
6. H. Kopetz, 1997, Real-time Systems: Design Principles for Distributed Embedded Applications. Kluwer, 1997.
7. J. Templ, 2004, TDL Specification and Report. Technical Report C059, Department of Computer Science, University of Salzburg, http://www.cs.uni-salzburg.at/pubs/reports/T001.pdf
8. OAK_EMUF Dev. Board, Ing. Buero W. Kanis GmbH http://www.kanis.de/home/products/oak_emuf/i_oak.htm
9. OSEK Group, 2001, OSEK/VDX Time-triggered Operating System Specification, Version 1.0, http://www.osek-vdx.org/mirror/ttos10.pdf
10. T. A. Henzinger, C. M. Kirsch, and S. Matic. Schedule carrying code. In Proc. of the Third International Conference on Embedded Software (EMSOFT), LNCS, Springer-Verlag, 2003.
11. T. A. Henzinger and C. M. Kirsch, 2002, The Embedded Machine: predictable, portable real-time code. In Proc. ACM SIGPLAN Conference on Programming Language Design and Implementation (PLDI), pages 315--326.
12. Thomas A. Henzinger, Benjamin Horowitz, and Christoph M. Kirsch. Giotto: A time-triggered language for embedded programming. Proceedings of the First International Workshop on Embedded Software (EMSOFT), Lecture Notes in Computer Science 2211, Springer-Verlag, 2001, pp. 166--184.
13. Thomas A. Henzinger, Benjamin Horowitz, and Christoph M. Kirsch. Embedded control systems development with Giotto. Proceedings of the International Conference on Languages, Compilers, and Tools for Embedded Systems (LCTES), ACM Press, 2001, pp. 64--72.
14. Thomas A. Henzinger, Christoph M. Kirsch, Marco A. A. Sanvido, and Wolfgang Pree. From control models to real-time code using Giotto. IEEE Control Systems Magazine 23(1):50--64, 2003.

Index Terms

• Computer systems organization

  • Embedded and cyber-physical systems

    • Embedded systems

• Social and professional topics

  • Professional topics

    • Management of computing and information systems

      • Software management

        • Software maintenance

• Software and its engineering

  • Software creation and management

    • Software post-development issues

  • Software organization and properties

    • Software system structures

      • Embedded software

      • Real-time systems software