实例介绍
【实例简介】
Real-Time Systems Design and Analysis: Tools for the Practitioner The leading text in the field explains step by step how to write software that responds in real time From power plants to medicine to avionics, the world increasingly depends on computer systems that can compute and respond to various
IEEE Press 445 Hoes i Pi Iscataway, IEEE Press editorial board Lajos hanzo, Editor in Chief R. Abhari M. El-Hawary O.P Malik J. Anderson B-M. Haemmerli S Nahavandi G. W. Arnold M. Lanzerotti T Samad F. Canavero D. Jacobson G. Zobrist Kenneth Moore, Director of Ieee Book and Information Services(BIS) Technical reviewers Larry bernstein, Stevens Institute of Technology Bernard Sick, University of Kassel Olli Vainio, Tampere University of Technology REAL TIME SYSTEMS DDESIGN AND ANALYSIS TOols for the Practitioner Fourth edition PHILLIP A LAPLANTE SEPPO J OVASKA ◆EEE lEEE PRESS WILEY ajohn WILEY sons, INc. PUBLICAtIoN Cover photo courtesy of nasa Copyright o 2012 by the Institute of Electrical and Electronics Engineers, Inc Published by John Wiley sons, Inc, Hoboken, New Jersey. All rights reserved Published simultaneously in Canada No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under section 107 or 108 of the 1976 United States copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc, 222 Rosewood Drive, Danvers, MA01923, (978)750-8400, fax(978)750-4470, or on the web at www.copyright.com.RequeststothePublisherforpermissionshouldbeaddressedtothe Permissions Department, John Wiley sons, Inc, 111 River Street, Hoboken, NJ 07030, (201)748-6011,fax(201)748-6008,oronlineathttp://www.wiley.com/go/permissions Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. no warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages For general information on our other products and services or for technical support, please contact our Customer Care Department within the United States at(800)762-2974, outside the United States at(317)572-3993 or fax(317)572-4002 Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic formats. For more information about Wiley products, visitourwebsiteatwww.wiley.com Library of Congress Cataloging-in-Publication Data: Laplante, Phillip a Real-time systems design and analysis: tools for the practitioner/ Phillip A. Laplante, Seppo Ovaska.-4th ed cm ISBN978-0-470-768648( hardback) 1. Real-time data processing. 2. System design. I. Ovaska, Seppo J, 1956-Il. Title QA76.54L372012 004.33-dc23 2011021433 Printed in the united States of america OBook ISBN:9781118136607 ePDF ISBN:9781118136577 Pub isbn:9781118136591 mObi isbn:9781118136584 10987654321 Phil. To Nancy, Chris and Charlotte, with all my love epp To Helena, Sami and Samu--my everything CONTENTS Preface Acknowledgments 1 Fundamentals of Real-Time Systems 1.1 Concepts and Misconceptions, 2 1.1.1 Definitions for Real-Time Systems, 2 1.1.2 Usual misconceptions, 14 1. 2 Multidisciplinary Design Challenges, 15 1.2.1 Influencing Disciplines, 16 1.3 Birth and Evolution of Real-Time Systems, 16 1.3.1 Diversifying Applications, 17 1.3.2 Advancements behind Modern Real-Time Systems, 19 1.4 Summary, 21 1.5 Exercises. 24 References. 25 2 Hardware for Real-Time Systems 27 2.1 Basic processor architecture. 28 2.1.1 Von Neumann architecture. 29 2.1.2 Instruction Processing, 30 2.1.3 Input/Output and Interrupt Considerations, 3 2.2 Memory Technologies, 36 2.2.1 Different Classes of Memory, 36 2.2.2 Memory Access and layout Issues, 38 2.2.3 Hierarchical Memory Organization, 41 CONTENTS 2.3 Architectural Advancements. 43 2.3.1 Pipelined Instruction Processing, 45 2.3.2 Superscalar and Very Long Instruction Word Architectures. 46 2.3.3 Multi-Core Processors. 48 2.3.4 Complex Instruction Set versus reduced Instruction Set. 50 2.4 Peripheral Interfacing 2. 4.1 Inte t-Driven Input/Output, 53 2.4.2 Direct Memory Access, 56 2.4.3 Analog and Digital Input/Output, 58 2.5 Microprocessor versus Microcontroller, 62 2.5.1 Microprocessors, 62 2.5.2 Standard Microcontrollers. 64 2.5.3 Custom Microcontrollers. 66 2.6 Distributed Real-Time architectures 68 2.6.1 Fieldbus networks. 68 2.6.2 Time-Triggered Architectures, 71 2.7 Summary, 73 2. 8 Exercises. 74 References. 76 3 Real-Time Operating systems 79 3.1 From Pseudokernels to Operating Systems, 80 3.1.1 Miscellaneous pseudokernels. 82 3.1.2 Interrupt-Only systems, 87 3.1.3 Preemptive Priority systems, 90 3.1.4 Hybrid Scheduling Systems, 90 3.1.5 The Task Control block Model. 95 3.2 Theoretical Foundations of Scheduling, 97 3.2.1 Scheduling framework, 98 3.2.2 Round-Robin Scheduling, 99 3.2.3 Cyclic Code Scheduling, 100 3.2. 4 Fixed-Priority Scheduling: Rate-Monotonic Approach, 102 3.2.5 Dynamic Priority scheduling: Earliest Deadline First Approach, 104 3.3 System Services for Application Programs, 106 3.3.1 Linear buffers. 107 3.3.2 Ring Buffers, 109 3. 3. 3 Mailboxes. 110 3.3.4 Semaphores, 112 3. 3.5 Deadlock and starvation problems. 114 3.3.6 Priority Inversion Problem, 118 CONTENTS 3. 3. 7 Timer and clock services. 122 3.3.8 Application Study: A Real-Time Structure, 123 3.4 Memory Management Issues, 127 3.4.1 Stack and Task Control Block Management, 127 3.4.2 Multiple-Stack Arrangement, 128 3.4.3 Memory Management in the Task Control Block Model. 129 3.4.4 Swapping, Overlaying, and Paging, 130 3.5 Selecting Real-Time Operating Systems, 133 3.5.1 Buying versus Building, 134 3.5.2 Selection Criteria and a metric for Commercial Real-Time perating Systems, 135 3.5.3 Case Study: Selecting a Commercial Real-Time Operating System, 138 3.5.4 Supplementary Criteria for Multi-Core and Energy-Aware Support, 140 3.6 Summary, 142 3.7 Exercises. 143 References. 146 4 Programming Languages for Real-Time Systems 149 4.1 Coding of Real-Time Software, 150 4.1.1 Fitness of a Programming Language for Real-Time Applications, 151 4.1.2 Coding standards for Real-Time software, 152 4.2 Assembly Language, 154 4.3 Procedural languages, 156 4.3.1 Modularity and Typing Issues, 156 4.3.2 Parameter Passing and dynamic Memory Allocation, 157 4.3.3 Exception Handling, 159 4.3.4 Cardelli's Metrics and Procedural languages, 161 4.4 Object-Oriented Languages, 162 4.4.1 Synchronizing Objects and Garbage Collection, 162 4.4.2 Cardelli,s Metrics and Object-Oriented Languages, 164 4.4.3 Object-Oriented versus Procedural Languages, 165 4.5 Overview of Programming Languages, 167 4.5.1Ada,167 4.5.2C.169 4.5.3C++,170 4.5.4C#,171 4.5.5Java.172 4.5.6 Real-Time java. 174 4.5.7 Special Real-Time Languages, 177 CONTENTS 4.6 Automatic Code Generation. 178 4.6.1 Toward Production-Quality Code, 178 4.6.2 Remaining Challenges, 180 4.7 Compiler optimizations of Code, 181 4.7.1 Standard Optimization techniques, 182 4.7.2 Additional optimization Considerations, 188 4.8 Summary, 192 4.9 Exercises. 193 References. 195 5 Requirements Engineering Methodologies 197 5.1 Requirements Engineering for Real-Time Systems, 198 5.1.1 Requirements engineering as a process, 198 5.1.2 Standard Requirement Classes, 199 1.3 Specification of Real-Time Software, 201 5.2 Formal Methods in System Specification, 202 5.2.1 Limitations of formal methods. 205 5.2.2 Finite State machines. 205 5.2.3 Statecharts. 210 5. 2. 4 Petri nets. 213 5.3 Semiformal Methods in System Specification, 217 5.3.1 Structured Analysis and structured Design, 218 5.3.2 Object-Oriented Analysis and the unified Modeling Language, 221 5.3.3 Recommendations on Specification Approach, 224 5.4 The requirements document, 225 5.4.1 Structuring and Composing Requirements, 226 5.4.2 Requirements validation. 228 5.5 Summary, 232 5.6 Exercises. 233 5.7 Appendix 1: Case Study in Software Requirements Specification, 235 5.7.1 Introduction. 23.5 5.7.2 Overall Description, 238 5.7. 3 Specific Requirements, 245 References. 265 6 Software Design Approaches 267 6.1 Qualities of Real-Time Software, 268 6.1.1 Eight Qualities from Reliability to Verifiability, 269 6.2 Software Engineering Principles, 275 6.2.1 Seven Principles from Rigor and Formality to Traceability, 275 6.2.2 The Design Activity, 281 【实例截图】
【核心代码】
Real-Time Systems Design and Analysis: Tools for the Practitioner The leading text in the field explains step by step how to write software that responds in real time From power plants to medicine to avionics, the world increasingly depends on computer systems that can compute and respond to various
IEEE Press 445 Hoes i Pi Iscataway, IEEE Press editorial board Lajos hanzo, Editor in Chief R. Abhari M. El-Hawary O.P Malik J. Anderson B-M. Haemmerli S Nahavandi G. W. Arnold M. Lanzerotti T Samad F. Canavero D. Jacobson G. Zobrist Kenneth Moore, Director of Ieee Book and Information Services(BIS) Technical reviewers Larry bernstein, Stevens Institute of Technology Bernard Sick, University of Kassel Olli Vainio, Tampere University of Technology REAL TIME SYSTEMS DDESIGN AND ANALYSIS TOols for the Practitioner Fourth edition PHILLIP A LAPLANTE SEPPO J OVASKA ◆EEE lEEE PRESS WILEY ajohn WILEY sons, INc. PUBLICAtIoN Cover photo courtesy of nasa Copyright o 2012 by the Institute of Electrical and Electronics Engineers, Inc Published by John Wiley sons, Inc, Hoboken, New Jersey. All rights reserved Published simultaneously in Canada No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under section 107 or 108 of the 1976 United States copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc, 222 Rosewood Drive, Danvers, MA01923, (978)750-8400, fax(978)750-4470, or on the web at www.copyright.com.RequeststothePublisherforpermissionshouldbeaddressedtothe Permissions Department, John Wiley sons, Inc, 111 River Street, Hoboken, NJ 07030, (201)748-6011,fax(201)748-6008,oronlineathttp://www.wiley.com/go/permissions Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. no warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages For general information on our other products and services or for technical support, please contact our Customer Care Department within the United States at(800)762-2974, outside the United States at(317)572-3993 or fax(317)572-4002 Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic formats. For more information about Wiley products, visitourwebsiteatwww.wiley.com Library of Congress Cataloging-in-Publication Data: Laplante, Phillip a Real-time systems design and analysis: tools for the practitioner/ Phillip A. Laplante, Seppo Ovaska.-4th ed cm ISBN978-0-470-768648( hardback) 1. Real-time data processing. 2. System design. I. Ovaska, Seppo J, 1956-Il. Title QA76.54L372012 004.33-dc23 2011021433 Printed in the united States of america OBook ISBN:9781118136607 ePDF ISBN:9781118136577 Pub isbn:9781118136591 mObi isbn:9781118136584 10987654321 Phil. To Nancy, Chris and Charlotte, with all my love epp To Helena, Sami and Samu--my everything CONTENTS Preface Acknowledgments 1 Fundamentals of Real-Time Systems 1.1 Concepts and Misconceptions, 2 1.1.1 Definitions for Real-Time Systems, 2 1.1.2 Usual misconceptions, 14 1. 2 Multidisciplinary Design Challenges, 15 1.2.1 Influencing Disciplines, 16 1.3 Birth and Evolution of Real-Time Systems, 16 1.3.1 Diversifying Applications, 17 1.3.2 Advancements behind Modern Real-Time Systems, 19 1.4 Summary, 21 1.5 Exercises. 24 References. 25 2 Hardware for Real-Time Systems 27 2.1 Basic processor architecture. 28 2.1.1 Von Neumann architecture. 29 2.1.2 Instruction Processing, 30 2.1.3 Input/Output and Interrupt Considerations, 3 2.2 Memory Technologies, 36 2.2.1 Different Classes of Memory, 36 2.2.2 Memory Access and layout Issues, 38 2.2.3 Hierarchical Memory Organization, 41 CONTENTS 2.3 Architectural Advancements. 43 2.3.1 Pipelined Instruction Processing, 45 2.3.2 Superscalar and Very Long Instruction Word Architectures. 46 2.3.3 Multi-Core Processors. 48 2.3.4 Complex Instruction Set versus reduced Instruction Set. 50 2.4 Peripheral Interfacing 2. 4.1 Inte t-Driven Input/Output, 53 2.4.2 Direct Memory Access, 56 2.4.3 Analog and Digital Input/Output, 58 2.5 Microprocessor versus Microcontroller, 62 2.5.1 Microprocessors, 62 2.5.2 Standard Microcontrollers. 64 2.5.3 Custom Microcontrollers. 66 2.6 Distributed Real-Time architectures 68 2.6.1 Fieldbus networks. 68 2.6.2 Time-Triggered Architectures, 71 2.7 Summary, 73 2. 8 Exercises. 74 References. 76 3 Real-Time Operating systems 79 3.1 From Pseudokernels to Operating Systems, 80 3.1.1 Miscellaneous pseudokernels. 82 3.1.2 Interrupt-Only systems, 87 3.1.3 Preemptive Priority systems, 90 3.1.4 Hybrid Scheduling Systems, 90 3.1.5 The Task Control block Model. 95 3.2 Theoretical Foundations of Scheduling, 97 3.2.1 Scheduling framework, 98 3.2.2 Round-Robin Scheduling, 99 3.2.3 Cyclic Code Scheduling, 100 3.2. 4 Fixed-Priority Scheduling: Rate-Monotonic Approach, 102 3.2.5 Dynamic Priority scheduling: Earliest Deadline First Approach, 104 3.3 System Services for Application Programs, 106 3.3.1 Linear buffers. 107 3.3.2 Ring Buffers, 109 3. 3. 3 Mailboxes. 110 3.3.4 Semaphores, 112 3. 3.5 Deadlock and starvation problems. 114 3.3.6 Priority Inversion Problem, 118 CONTENTS 3. 3. 7 Timer and clock services. 122 3.3.8 Application Study: A Real-Time Structure, 123 3.4 Memory Management Issues, 127 3.4.1 Stack and Task Control Block Management, 127 3.4.2 Multiple-Stack Arrangement, 128 3.4.3 Memory Management in the Task Control Block Model. 129 3.4.4 Swapping, Overlaying, and Paging, 130 3.5 Selecting Real-Time Operating Systems, 133 3.5.1 Buying versus Building, 134 3.5.2 Selection Criteria and a metric for Commercial Real-Time perating Systems, 135 3.5.3 Case Study: Selecting a Commercial Real-Time Operating System, 138 3.5.4 Supplementary Criteria for Multi-Core and Energy-Aware Support, 140 3.6 Summary, 142 3.7 Exercises. 143 References. 146 4 Programming Languages for Real-Time Systems 149 4.1 Coding of Real-Time Software, 150 4.1.1 Fitness of a Programming Language for Real-Time Applications, 151 4.1.2 Coding standards for Real-Time software, 152 4.2 Assembly Language, 154 4.3 Procedural languages, 156 4.3.1 Modularity and Typing Issues, 156 4.3.2 Parameter Passing and dynamic Memory Allocation, 157 4.3.3 Exception Handling, 159 4.3.4 Cardelli's Metrics and Procedural languages, 161 4.4 Object-Oriented Languages, 162 4.4.1 Synchronizing Objects and Garbage Collection, 162 4.4.2 Cardelli,s Metrics and Object-Oriented Languages, 164 4.4.3 Object-Oriented versus Procedural Languages, 165 4.5 Overview of Programming Languages, 167 4.5.1Ada,167 4.5.2C.169 4.5.3C++,170 4.5.4C#,171 4.5.5Java.172 4.5.6 Real-Time java. 174 4.5.7 Special Real-Time Languages, 177 CONTENTS 4.6 Automatic Code Generation. 178 4.6.1 Toward Production-Quality Code, 178 4.6.2 Remaining Challenges, 180 4.7 Compiler optimizations of Code, 181 4.7.1 Standard Optimization techniques, 182 4.7.2 Additional optimization Considerations, 188 4.8 Summary, 192 4.9 Exercises. 193 References. 195 5 Requirements Engineering Methodologies 197 5.1 Requirements Engineering for Real-Time Systems, 198 5.1.1 Requirements engineering as a process, 198 5.1.2 Standard Requirement Classes, 199 1.3 Specification of Real-Time Software, 201 5.2 Formal Methods in System Specification, 202 5.2.1 Limitations of formal methods. 205 5.2.2 Finite State machines. 205 5.2.3 Statecharts. 210 5. 2. 4 Petri nets. 213 5.3 Semiformal Methods in System Specification, 217 5.3.1 Structured Analysis and structured Design, 218 5.3.2 Object-Oriented Analysis and the unified Modeling Language, 221 5.3.3 Recommendations on Specification Approach, 224 5.4 The requirements document, 225 5.4.1 Structuring and Composing Requirements, 226 5.4.2 Requirements validation. 228 5.5 Summary, 232 5.6 Exercises. 233 5.7 Appendix 1: Case Study in Software Requirements Specification, 235 5.7.1 Introduction. 23.5 5.7.2 Overall Description, 238 5.7. 3 Specific Requirements, 245 References. 265 6 Software Design Approaches 267 6.1 Qualities of Real-Time Software, 268 6.1.1 Eight Qualities from Reliability to Verifiability, 269 6.2 Software Engineering Principles, 275 6.2.1 Seven Principles from Rigor and Formality to Traceability, 275 6.2.2 The Design Activity, 281 【实例截图】
【核心代码】
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