Real-Time Systems Design and Analysis Tools for the Practitioner

by Laplante, Phillip A.; Ovaska, Seppo J.

• ISBN13: 9780470768648
• ISBN10: 0470768649
• Edition: 4th
• Format: Hardcover
• Copyright: 2011-11-22
• Publisher: Wiley-IEEE Press

Summary

An important resource, this book offers an introductory text and overview of real-time systems: systems where timeliness is a crucial part of the correctness of the system. The book contains a pragmatic overview of key topics (computer architecture and organization, operating systems, software engineering, programming languages, and compiler theory) from the perspective of the real-time systems designer. The book is organized into chapters that are essentially self-contained. Thus, the material can be rearranged or omitted depending on the background and interests of the audience or instructor. Each chapter contains both easy and more challenging exercises that stimulate the reader to confront actual problems.

Author Biography

Phillip A. Laplante, PhD, PE, is Professor of Software Engineering at Penn State, where he specializes in software and systems engineering, project management, and software testing and security. Dr. Laplante spent several years as a software engineer and project manager working on avionics, computer-aided design, and software test systems. He has authored of edited twenty-seven books and has published more than 200 scholarly articles. Seppo J. Ovaska, DSc, is Professor of Industrial Electronics at Aalto University, Finland. He has served as a visiting scholar at Utah State University, Virginia Tech, and the University of Passau, Germany, and has published more than 100 articles in peer-reviewed journals. Prior to his academic career, Dr. Ovaska developed control systems for high-rise elevators; those contributions led to nine international patents.

Table of Contents

Preface	p. xv
Acknowledgments	p. xxi
Fundamentals of Real-Time Systems	p. 1
Concepts and Misconceptions	p. 2
Definitions for Real-Time Systems	p. 2
Usual Misconceptions	p. 14
Multidisciplinary Design Challenges	p. 15
Influencing Disciplines	p. 16
Birth and Evolution of Real-Time Systems	p. 16
Diversifying Applications	p. 17
Advancements behind Modern Real-Time Systems	p. 19
Summary	p. 21
Exercises	p. 24
References	p. 25
Hardware for Real-Time Systems	p. 27
Basic Processor Architecture	p. 28
Von Neumann Architecture	p. 29
Instruction Processing	p. 30
Input/Output and Interrupt Considerations	p. 33
Memory Technologies	p. 36
Different Classes of Memory	p. 36
Memory Access and Layout Issues	p. 38
Hierarchical Memory Organization	p. 41
Architectural Advancements	p. 43
Pipelined Instruction Processing	p. 45
Superscalar and Very Long Instruction Word Architectures	p. 46
Multi-Core Processors	p. 48
Complex Instruction Set versus Reduced Instruction Set	p. 50
Peripheral Interfacing	p. 52
Interrupt-Driven Input/Output	p. 53
Direct Memory Access	p. 56
Analog and Digital Input/Output	p. 58
Microprocessor versus Microcontroller	p. 62
Microprocessors	p. 62
Standard Microcontrollers	p. 64
Custom Microcontrollers	p. 66
Distributed Real-Time Architectures	p. 68
Fieldbus Networks	p. 68
Time-Triggered Architectures	p. 71
Summary	p. 73
Exercises	p. 74
References	p. 76
Real-Time Operating Systems	p. 79
From Pseudokernels to Operating Systems	p. 80
Miscellaneous Pseudokernels	p. 82
Interrupt-Only Systems	p. 87
Preemptive Priority Systems	p. 90
Hybrid Scheduling Systems	p. 90
The Task Control Block Model	p. 95
Theoretical Foundations of Scheduling	p. 97
Scheduling Framework	p. 98
Round-Robin Scheduling	p. 99
Cyclic Code Scheduling	p. 100
Fixed-Priority Scheduling: Rate-Monotonic Approach	p. 102
Dynamic Priority Scheduling: Earliest Deadline First Approach	p. 104
System Services for Application Programs	p. 106
Linear Buffers	p. 107
Ring Buffers	p. 109
Mailboxes	p. 110
Semaphores	p. 112
Deadlock and Starvation Problems	p. 114
Priority Inversion Problem	p. 118
Timer and Clock Services	p. 122
Application Study: A Real-Time Structure	p. 123
Memory Management Issues	p. 127
Stack and Task Control Block Management	p. 127
Multiple-Stack Arrangement	p. 128
Memory Management in the Task Control Block Model	p. 129
Swapping, Overlaying, and Paging	p. 130
Selecting Real-Time Operating Systems	p. 133
Buying versus Building	p. 134
Selection Criteria and a Metric for Commercial Real-Time Operating Systems	p. 135
Case Study: Selecting a Commercial Real-Time Operating System	p. 138
Supplementary Criteria for Multi-Core and Energy-Aware Support	p. 140
Summary	p. 142
Exercises	p. 143
References	p. 146
Programming Languages for Real-Time Systems	p. 149
Coding of Real-Time Software	p. 150
Fitness of a Programming Language for Real-Time Applications	p. 151
Coding Standards for Real-Time Software	p. 152
Assembly Language	p. 154
Procedural Languages	p. 156
Modularity and Typing Issues	p. 156
Parameter Passing and Dynamic Memory Allocation	p. 157
Exception Handling	p. 159
Cardelli's Metrics and Procedural Languages	p. 161
Object-Oriented Languages	p. 162
Synchronizing Objects and Garbage Collection	p. 162
Cardelli's Metrics and Object-Oriented Languages	p. 164
Object-Oriented versus Procedural Languages	p. 165
Overview of Programming Languages	p. 167
Ada	p. 167
C	p. 169
C++	p. 170
C#	p. 171
Java	p. 172
Real-Time Java	p. 174
Special Real-Time Languages	p. 177
Automatic Code Generation	p. 178
Toward Production-Quality Code	p. 178
Remaining Challenges	p. 180
Compiler Optimizations of Code	p. 181
Standard Optimization Techniques	p. 182
Additional Optimization Considerations	p. 188
Summary	p. 192
Exercises	p. 193
References	p. 195
Requirements Engineering Methodologies	p. 197
Requirements Engineering for Real-Time Systems	p. 198
Requirements Engineering as a Process	p. 198
Standard Requirement Classes	p. 199
Specification of Real-Time Software	p. 201
Formal Methods in System Specification	p. 202
Limitations of Formal Methods	p. 205
Finite State Machines	p. 205
Statecharts	p. 210
Petri Nets	p. 213
Semiformal Methods in System Specification	p. 217
Structured Analysis and Structured Design	p. 218
Object-Oriented Analysis and the Unified Modeling Language	p. 221
Recommendations on Specification Approach	p. 224
The Requirements Document	p. 225
Structuring and Composing Requirements	p. 226
Requirements Validation	p. 228
Summary	p. 232
Exercises	p. 233
Appendix 1: Case Study in Software Requirements Specification	p. 235
Introduction	p. 235
Overall Description	p. 238
Specific Requirements	p. 245
References	p. 265
Software Design Approaches	p. 267
Qualities of Real-Time Software	p. 268
Eight Qualities from Reliability to Verifiability	p. 269
Software Engineering Principles	p. 275
Seven Principles from Rigor and Formality to Traceability	p. 275
The Design Activity	p. 281
Procedural Design Approach	p. 284
Parnas Partitioning	p. 284
Structured Design	p. 286
Design in Procedural Form Using Finite State Machines	p. 292
Object-Oriented Design Approach	p. 293
Advantages of Object Orientation	p. 293
Design Patterns	p. 295
Design Using the Unified Modeling Language	p. 298
Object-Oriented versus Procedural Approaches	p. 301
Life Cycle Models	p. 302
Waterfall Model	p. 303
V-Model	p. 305
Spiral Model	p. 306
Agile Methodologies	p. 307
Summary	p. 311
Exercises	p. 312
Appendix 1: Case Study in Designing Real-Time Software	p. 314
Introduction	p. 314
Overall Description	p. 315
Design Decomposition	p. 316
Requirements Traceability	p. 371
References	p. 375
Performance Analysis Techniques	p. 379
Real-Time Performance Analysis	p. 380
Theoretical Preliminaries	p. 380
Arguments Related to Parallelization	p. 382
Execution Time Estimation from Program Code	p. 385
Analysis of Polled-Loop and Coroutine Systems	p. 391
Analysis of Round-Robin Systems	p. 392
Analysis of Fixed-Period Systems	p. 394
Analysis of Nonperiodic Systems	p. 396
Applications of Queuing Theory	p. 398
Single-Server Queue Model	p. 398
Arrival and Processing Rates	p. 400
Buffer Size Calculation	p. 401
Response Time Modeling	p. 402
Other Results from Queuing Theory	p. 403
Input/Output Performance	p. 405
Buffer Size Calculation for Time-Invariant Bursts	p. 405
Buffer Size Calculation for Time-Variant Bursts	p. 406
Analysis of Memory Requirements	p. 408
Memory Utilization Analysis	p. 408
Optimizing Memory Usage	p. 410
Summary	p. 411
Exercises	p. 413
References	p. 415
Additional Considerations for the Practitioner	p. 417
Metrics in Software Engineering	p. 418
Lines of Source Code	p. 419
Cyclomatic Complexity	p. 420
Halstead's Metrics	p. 421
Function Points	p. 423
Feature Points	p. 427
Metrics for Object-Oriented Software	p. 428
Criticism against Software Metrics	p. 428
Predictive Cost Modeling	p. 429
Basic COCOMO 81	p. 429
Intermediate and Detailed COCOMO 81	p. 431
COCOMO II	p. 433
Uncertainty in Real-Time Systems	p. 433
The Three Dimensions of Uncertainty	p. 434
Sources of Uncertainty	p. 435
Identifying Uncertainty	p. 437
Dealing with Uncertainty	p. 438
Design for Fault Tolerance	p. 438
Spatial Fault-Tolerance	p. 440
Software Black Boxes	p. 443
N-Version Programming	p. 443
Built-in-Test Software	p. 444
Spurious and Missed Interrupts	p. 447
Software Testing and Systems Integration	p. 447
Testing Techniques	p. 448
Debugging Approaches	p. 454
System-Level Testing	p. 456
Systems Integration	p. 458
Testing Patterns and Exploratory Testing	p. 462
Performance Optimization Techniques	p. 465
Scaled Numbers for Faster Execution	p. 465
Look-Up Tables for Functions	p. 467
Real-Time Device Drivers	p. 468
Summary	p. 470
Exercises	p. 471
References	p. 473
Future Visions on Real-Time Systems	p. 477
Vision: Real-Time Hardware	p. 479
Heterogeneous Soft Multi-Cores	p. 481
Architectural Issues with Individual Soft Cores	p. 483
More Advanced Fieldbus Networks and Simpler Distributed Nodes	p. 484
Vision: Real-Time Operating Systems	p. 485
One Coordinating System Task and Multiple Isolated Application Tasks	p. 486
Small, Platform Independent Virtual Machines	p. 487
Vision: Real-Time Programming Languages	p. 488
The UML++ as a Future "Programming Language"	p. 489
Vision: Real-Time Systems Engineering	p. 491
Automatic Verification of Software	p. 491
Conservative Requirements Engineering	p. 492
Distance Collaboration in Software Projects	p. 492
Drag-and-Drop Systems	p. 493
Vision: Real-Time Applications	p. 493
Local Networks of Collaborating Real-Time Systems	p. 494
Wide Networks of Collaborating Real-Time Systems	p. 495
Biometric Identification Device with Remote Access	p. 495
Are There Any Threats behind High-Speed Wireless Communications?	p. 497
Summary	p. 497
Exercises	p. 499
References	p. 500
Glossary	p. 503
About the Authors	p. 535
Index	p. 537
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