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Overview
Introduction Characteristics and Challenges of Real-Time Computing Systems Definitions, Issues and Comparisons Tasks and Scheduling Worst-Case Execution Time Analysis Real-Time Software
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[Examples:] Medical control equipment, mobile phones, and vehicle control systems. Most [] such embedded systems can also be characterized as real-time systems. They must usually meet stringent specifications for safety, reliability, limited hardware capacity etc
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A system where something very bad happens if the deadline is not met
Examples: control systems for aircraft, nucluear reactors, chemical power plants, jet engines, etc.
A system where the performance is degraded below what is generally considered acceptable if the deadline is missed
Example: multimedia system
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deadline
Building Reliable Component-based Systems
EECE 426 - Embeddede Systems
Time
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Real-time computing deals with all problems in computer architecture, fault-tolerant computing and operating systems are also problems in real-time computing, with the added complexity of having to meet real-time constraints Real-time computer systems differ from generalpurpose systems
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A general-purpose system typically allows the process that is currently executing the right to use the entire cache area
This keeps the cache miss rate low Side effect: task run times are less predictable
Thus, not so desirable for real-time systems Building Reliable Component-based Systems
EECE 426 - Embeddede Systems
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Designer knows precise workload to be executed System must be designed to meet task deadlines
If a deadline is not met, the jet engine may explode
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Periodic tasks: consist of an infinite sequence of identical activities, called instances, which are invoked within regular time periods. Non-periodic [or aperiodic] : are invoked by the occurrence of an event. [Sporadic : aperiodic tasks with a bounded interarrival time]
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The scheduler has complete knowledge of the task set and its constraints. Make their scheduling decisions during run-time. Is the maximum time within which the task must complete its execution with respect to an event. Real-time systems are divided into two classes, hard and soft real-time systems
Online scheduling:
Deadline:
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Execution time
Execution time
Input domain 1
domain 2
domain 3
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in1_Cnew
in_C1
in2_Cnew
in2_Cn
Component n (C2)
out2_Cn
in3_Cnew in4_Cnew
in1_C2 in2_C2
Component 2 (C3)
out_C2
out3_Cnew
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Are set such that the system requirements are fulfilled in the same way as the time budgets are set Should be specified for the input to and output from the component since the WCET cannot be computed since its parts may be executing with different periods.
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If deadline constraints cannot be met for a new task, it may be rejected If a new task would result in deadline violations for other tasks, it may be rejected Vrtx Mentor Graphics Systems VxWorks and pSOS Wind River Systems RTLinux FSMLabs, later acquired by Wind River Systems
Building Reliable Component-based Systems
EECE 426 - Embeddede Systems
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Real-Time Middleware
ObjectWeb defines middleware as: "The software layer that lies between the operating system and the applications on each side of a distributed computing system in a network." [Wikipedia]
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If S is a function, a control signal for activation of the function in a node is derived from the progression of real-time;
Whenever the real-time clock within a node reaches a preset value T specified in a scheduling table, a control signal is generated; In principle, S may be a single assignment statement, a compound statement, or a function.
Building Reliable Component-based Systems
EECE 426 - Embeddede Systems
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OS
H/W
OS
H/W
OS
H/W
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Avoid most of the software layers Implement application software in assembly or C programs
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New-Generation Real-Time (RT) Distributed Computing (DC) Component [Kim 2005] High-Level RT Object:
SpM 1 SpM 2
DC SE
Contains only high-level intuitive and yet precise expressions of timing
SvM 1 SvM 2
requirements
Building Reliable Component-based Systems
EECE 426 - Embeddede Systems
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High-Level RT Object:
Non-RT DC SE Contains only high-level intuitive and yet precise expressions of timing requirements
C++ object
SpM 1 SpM 2
SvM 1 SvM 2
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Middleware
FT support NT service TMOSM
Middleware
FT support NT service TMOSM
Middleware
FT support NT service TMOSM
Kernel
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Drive-by-wire & Tele-driving & Telematics Military command-control Missile defense (ground targets, airborne targets, shipNon-stop borne targets) and service, please sub-division level command-control !!! Time-sensitive health care Monitoring of in- & out-patients Remotely controlled surgery Non-stop web servers Building Reliable Component-based Systems
EECE 426 - Embeddede Systems
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Ex 2
SvM1
SvM1
SvM1
SvM1
SvM1
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References
Jane Liu, Real-Time Systems, Prentice-Hall, Upper Saddle River, 2000. Ivica Crnkovic and Magnus Larsson, Building Reliable Component-Based Software Systems, Artech House Publishers, July 2002. PowerPoint slides from http://www.idt.mdh.se/cbse-book/presentations/13chapterWC.ppt Kane (K. H.) Kim, PowerPoint slides used for undergraduate class: ECES 123: Introduction to Real-Time Distributed Programming taught at the University of California at Irvine, http://dream.eng.uci.edu
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