Lecture 5

Busy waiting vs Interrupts The reactive embedded system
Embedded Systems Programming

Lecture 5
Verónica Gaspes
www2.hh.se/staff/vero
Center for Research on Embedded Systems

School of Information Science, Computer and Electrical Engineering
What we have learned . . .
We know how to read and write to I/O device registers

We know how to run several computations in parallel by
time-slicing the CPU
We know how to protect critical sections by means of a mutex
But . . .

But . . .

But . . .

But . . .

But . . .
Still not satisfied!
void controller_main() {
int dist, signal;
void decoder_main() {
while(1){
struct Packet packet;
dist = sonar_read();
while(1){
control(dist, radio_read(&packet);
&signal,
decode(&packet,&params);
&params);
}
servo_write(signal);
}
}
}
←− Time sharing −→
Each thread gets half of the CPU cycles, irrespective of whether it

is waiting or computing !
Still not satisfied!
void controller_main() {
int dist, signal;
void decoder_main() {
while(1){
struct Packet packet;
dist = sonar_read();
while(1){
control(dist, radio_read(&packet);
&signal,
decode(&packet,&params);
&params);
}
servo_write(signal);
}
}
}
←− Time sharing −→
Each thread gets half of the CPU cycles, irrespective of whether it

is waiting or computing !
Consequence 1
B B B
A A A
t(ms)
Say each thread gets Tms for execution, both waiting and
computing!
Consequence 1
B B B
A A A
t(ms)
Say that an event that A is waiting for occurs now . . .

Consequence 1
B B B
A A A
t(ms)
. . . it will not be noticed until now!

Consequence 1
With N threads in the system, each getting Tms for execution, a

status change might have to wait up to T*(N-1)ms to be noticed!
Consequence 2
Average time between input events
Compute Busy Wait Thread A
Thread B
A B A B A B A B A B A B A B A B A B A
Average time between input events
Busy waiting makes waiting indistinguishable from computing.

Thread A cannot keep up with event rate!
Busy waiting and Time slicing
Minus . . .
1 Not a satisfactory technique for input synchronization if the
system must meet real-time constraints!

2 Not a satisfactory technique for a system that is battery
driven: 100% CPU cycle usage (100% power usage!).
Could we do otherwise?
An input synchronization technique that does not require the
receiver of data to actively ask whether data has arrived.
Minus . . .

Minus . . .

Minus . . .

The naked computer – a mismatch
CPU
read read write

write
Port RAM Port

The naked computer – alternative
CPU
Port initiated "write" read write

write
Port RAM Port

An analogy
You are expecting delivery of your latest web-shop purchase
Busy waiting
Reacting to an interrupt
Go to the post-office again and
Receive a note in your mailbox
again to check if the delivery has
that the goods can be picked up.
arrived.
The CPU reacts to an interrupt signal by executing a designated

ISR (interrupt service routine)
This has consequences for the way we structure programs. They

become inside-out!
An analogy
Busy waiting
arrived.


become inside-out!
An analogy
Busy waiting
arrived.


become inside-out!
An analogy
Busy waiting
arrived.


become inside-out!
An analogy
Busy waiting
arrived.


become inside-out!
ISRs vs functions
Busy waiting
Reacting
We defined functions like
We define ISRs. These are not
sonar read that can be called in
called from the program, but the
the program. The CPU decides
code is executed when an
when to call the function:
interrupt occurs:
while(1){
ISR(SIG_SONAR){
sonar_read();
control();
control();
}
}
Input detection = invocation of

Input detection = the exit from
the ISR (as if the hardware did a
the busy waiting fragment (a
function call)
function return)
ISRs vs functions
Busy waiting
Reacting
interrupt occurs:
while(1){
ISR(SIG_SONAR){
sonar_read();
control();
control();
}
}

function call)
function return)
ISRs vs functions
Busy waiting
Reacting
interrupt occurs:
while(1){
ISR(SIG_SONAR){
sonar_read();
control();
control();
}
}

function call)
function return)
ISRs vs functions
Busy waiting
Reacting
interrupt occurs:
while(1){
ISR(SIG_SONAR){
sonar_read();
control();
control();
}
}

function call)
function return)
ISRs vs functions
Busy waiting
Reacting
interrupt occurs:
while(1){
ISR(SIG_SONAR){
sonar_read();
control();
control();
}
}

function call)
function return)
Two ways of organizing programs
CPU centric
Reacting CPU
One thread of control that runs
A set of code fragments that
from start to stop (or forever)
constitute the reactions to
reading and writing data as it
recognized events.
goes.
The main part of the course from now on will focus on the reactive
view.
CPU centric
Reacting CPU
recognized events.
goes.
view.
CPU centric
Reacting CPU
recognized events.
goes.
view.
CPU centric
Reacting CPU
recognized events.
goes.
view.
The reactive embedded system
Application
Sensor
Port Sensor A
Port Actuator
Sensor B
Sensor Port
The reactive embedded system
Application
driver
Sensor
Port Sensor A
app
Port Actuator
Sensor B
Sensor Port
driver
Reactive Objects
Boxes
Represent software or hardware reactive objects that:
Maintain an internal state (variables, registers, etc)
Provide a set of methods as reactions to external events
(ISRs, etc)
Simply rest between reactions!
Arrows
Represent event or signal or message flow between objects that can
be either
asynchronous
synchronous
Reactive Objects
Boxes
(ISRs, etc)
Arrows
be either
asynchronous
synchronous
Reactive Objects
Boxes
(ISRs, etc)
Arrows
be either
asynchronous
synchronous
Reactive Objects
Boxes
(ISRs, etc)
Arrows
be either
asynchronous
synchronous
Hardware objects
Hardware devices are reactive objects

A black box that does nothing unless stimulated by external events.
Serial port - state

Internal registers
Serial port - stimuli

Signal change
Bit pattern received
Clock pulse
Serial port - emissions

Signal change
Interrupt signal
Hardware objects

Serial port - state

Internal registers

Signal change
Clock pulse

Signal change
Interrupt signal
Hardware objects

Serial port - state

Internal registers

Signal change
Clock pulse

Signal change
Interrupt signal
Hardware objects

Serial port - state

Internal registers

Signal change
Clock pulse

Signal change
Interrupt signal
Software objects
We would like to regard software objects as reactive objects . . .
The Counter example Counter state

class Counter{ x
int x;
Counter(){x=0;} Counter - stimuli
void inc(){x++;} inc(), read(),
int read(){return x;} reset(), show()
void reset(){x=0;}
void show(){ Counter - emissions
System.out.print(x);} print() to the object
} System.out
Software objects

class Counter{ x
int x;
void reset(){x=0;}
} System.out
Software objects

class Counter{ x
int x;
void reset(){x=0;}
} System.out
Software objects

class Counter{ x
int x;
void reset(){x=0;}
} System.out
Software objects

class Counter{ x
int x;
void reset(){x=0;}
} System.out
Back to our running example
Distance Servo
Controller
data signals
Object Sonar Output
Input
Control
Params
Radio
Decoder
packets
Input
All messages/events are asynchronous! Either generated by the

CPU or by the sonar hw or by the communication hardware.
Reactive Objects
Object Oriented Programming?

Objects have local state
Objects export methods
Objects communicate by sending messages
Objects rest between method invocation
Examples of intuitive objects

People, cars, molechules, . . .
Bonus
Principles and methodologies from OOP become applicable to
embedded, event-driven and concurrent systems!
Reactive Objects


Bonus
Reactive Objects


Bonus
Reactive Objects


Bonus
Reactive Objects


Bonus
Reactive Objects


Bonus
Reactive Objects


Bonus
Java? C++?
The Counter example again

class Counter{ One thread
int x; public static void main(){
Counter(){x=0;} Counter c = new Counter();
void inc(){x++;} c.inc();
int read(){return x;} System.out.println(c.read());
void reset(){x=0;} }
}
Creating a new object just creates a passive piece of storage! Not

a thread of control!
Other threads that use the same counter are sharing the state!
Counting visitors to a park

Java? C++?

}


Java? C++?

}


Java? C++?

}


Java? C++?

}


OO and Concurrency
Our model says

OO Languages:
An object is an independent
An object is a passive piece
process with local state
of global state
A method is a process
A method is a function
fragment
Sending a message is calling
Sending a message is
a function
interprocess communication
This is one of the reasons why we choose to build our own kernel
supporting reactive objects and programming in C.
OO and Concurrency
Our model says

OO Languages:
of global state
fragment
a function
OO and Concurrency
Our model says

OO Languages:
of global state
fragment
a function
OO and Concurrency
Our model says

OO Languages:
of global state
fragment
a function
OO and Concurrency
Our model says

OO Languages:
of global state
fragment
a function
OO and Concurrency
Our model says

OO Languages:
of global state
fragment
a function
OO and Concurrency
Our model says

OO Languages:
of global state
fragment
a function
OO and Concurrency
Our model says

OO Languages:
of global state
fragment
a function
Reactive objects in C
We will need to provide ways for

Create reactive objects
Declare protected local state
Receive messages
synchronously
asynchronously
Bridge the hardware/software divide (run ISRs)
Schedule a system of reactive software objects.
This will be the contents of a kernel called TinyTimber that we

will learn how to design and use!

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Busy waiting vs Interrupts The reactive embedded system

Embedded Systems Programming

Center for Research on Embedded Systems

What we have learned . . .

We know how to read and write to I/O device registers

What we have learned . . .

We know how to read and write to I/O device registers

What we have learned . . .

We know how to read and write to I/O device registers

What we have learned . . .

We know how to read and write to I/O device registers

What we have learned . . .

We know how to read and write to I/O device registers

Still not satisfied!

Each thread gets half of the CPU cycles, irrespective of whether it

Still not satisfied!

Each thread gets half of the CPU cycles, irrespective of whether it

Say that an event that A is waiting for occurs now . . .

. . . it will not be noticed until now!

With N threads in the system, each getting Tms for execution, a

Average time between input events

Compute Busy Wait Thread A

Average time between input events

Busy waiting makes waiting indistinguishable from computing.

Busy waiting and Time slicing

system must meet real-time constraints!

Busy waiting and Time slicing

system must meet real-time constraints!

Busy waiting and Time slicing

system must meet real-time constraints!

Busy waiting and Time slicing

system must meet real-time constraints!

The naked computer – a mismatch

read read write

Port RAM Port

The naked computer – alternative

Port initiated "write" read write

Port RAM Port

You are expecting delivery of your latest web-shop purchase

The CPU reacts to an interrupt signal by executing a designated

This has consequences for the way we structure programs. They

You are expecting delivery of your latest web-shop purchase

The CPU reacts to an interrupt signal by executing a designated

This has consequences for the way we structure programs. They

You are expecting delivery of your latest web-shop purchase

The CPU reacts to an interrupt signal by executing a designated

This has consequences for the way we structure programs. They

You are expecting delivery of your latest web-shop purchase

The CPU reacts to an interrupt signal by executing a designated

This has consequences for the way we structure programs. They

You are expecting delivery of your latest web-shop purchase

The CPU reacts to an interrupt signal by executing a designated

This has consequences for the way we structure programs. They

Input detection = invocation of

Input detection = invocation of

Input detection = invocation of

Input detection = invocation of

Input detection = invocation of

Two ways of organizing programs

Two ways of organizing programs

Two ways of organizing programs

Two ways of organizing programs