This book provides an in-depth analysis of the requirements for designing and implementing real-time embedded systems, and discusses how these requirements are met by current languages and operating systems. The comparative advantages of Ada 95, Real-Time Java, and Real-Time C/POSIX are discussed in full. The emergence of Java as a real-time language through the Real-Time Java extensions has resulted in the treatment of Java as one of the core languages covered in the book. The additional real-time facilities in POSIX are also explored, as well as the proposed extensions to CORBA to address real-time issues. More material on schedulability analysis is also included. No other book on real-time programming languages (or concurrent programming languages) covers this range of topics. This book is designed for programmers and engineers looking for an introduction and/or reference that discusses current real-time programming languages and how they are suited to designing and implementing real-time embedded systems.

Contents

Preface

1 Introduction to real-time systems 1
2 Designing real-time systems 15
3 Programming in the small 41
4 Programming in the large 73
5 Reliability and fault tolerance 101
6 Exceptions and exception handling 135
7 Concurrent programming 179
8 Shared variable-based synchronization and communication 223
9 Message-based synchronization and communication 283
10 Atomic actions, concurrent processes and reliability 317
11 Resource control 379
12 Real-time facilities 409
13 Scheduling 465
14 Distributed systems 523
15 Low-level programming 577
16 The execution environment 635
17 A case study in Ada 653
18 Conclusions 685

A Real-Time Java specification 691

References 713
Index 725