Analysable Real-Time Systems Programmed in Ada

530 Pages·2016·37.05 MB·English

by  Alan Burns

Analysable Real-Time Systems
Programmed in Ada

Alan Burns and Andy Wellings

University of York
‘The Fights of Alan Burs and Andy Welling o he enti 3 utes of his work have
ton asec to thom ia aordance wth the Copyright Design and Patents Act 198K

All ight ate eserve. No prt of dis publication may he repo stored in a revival
‘ye or remit in any form oe by any cums, cletrnic, mechanical, photocopying
‘rowed or atherwse, without rive permsoko of Alan Burns and Andy Welings

‘Materialia the book hasbeen updated and extended from

Real-Time Systems and Programming Languages
‘Ada, Rel: Toe av sn Coal Time POSIX,
Fourth Faltion, Addison Wesley

208

(©iAlan Burns and Andy Welings, 2016
ISRN-15: 97H 1530065503
ISHN-10- 1530265509)
Contents

Preface

1 INTRODUCTION

1 Introduction to real-time systems
1.1 Denton of a eal time system
12. xample of realtime systems
13. Characteristics of ream systems
14 Development yet or atime systems
Summary

2 Reabtime principles
21 Spovlving timing requirements
22 Temporal scopes
2.3 Specifying temporal scopes and a
24 realtime programming model
Summary

‘Reliability and fault tolerance
AL Reb, alread fas

32. Failure modes

413. Fauk prevention and ful okrance

AA Nsersio programming

415. Sofware dynamic rodundancy

1.6 The recovery lock approach to sware ful wolerance
47 Dynamic redundancy and exceptions

3.8 Fault wolerance andthe real-time programming model
119. Measuring and predicting thereby of oltre
3.10 Safety reliability and dependability

‘Summary

xi
IL SCHEDULING THEORY FOR REAL-TIME SYSTEMS,

4 Scheduling real-time systems
SH Theeyelicexceutve approach
42 Task hse schealing
43 ate monotone pricy asignment
44 Uiiivation hase schedtaiity texts for PS
Summary

‘5 Response-Time Analysis for Fixed Priority Scheduling (FPS)
5.1" Independent periodic tasks
5.2. Sporadic and spi tsks
5.3 Tusk ystems with consrained deadlines (D <7)
S54 Task imerctons and blcking
35. Privity ceiling protcols
Summiry

(6 Rarlest Deadline Fest (EDF) Scheduling
61 Uniization base school tet or EDE
(62 Uniiation-bo bodily tet or LLP
63, Prec demand rteris for EDF
G4 THeQPA La
63" ooking and EDF
{66 Deadline Neve prot
(67 Apeindie tasks and ED cxceution time server
Summary

7 Advanced analysis techniques
TAL Release jitse
12 Arbitrary datines
13 Cooperative ncholing
24 Faultokrance
73 Incorporating fics
7.6. Prony asignment
2.7 eaceuton-time serves
78 Scheduling for powee-aware systems
29 _Incnporating spsem overheads
Sommary

8 Mixed criticality, multiprocessor and open systems
1 Misc erica systems (MCS)
2 Malipocesse systems
3nd ad ploha placement
BE Schodaling the network
5 Mutual exclusion on multiprocessor pla
6 Opensysens

1st
i
bs
1s
1a
1
my
Summary 6
IIL DEVELOPING REAL-TIME SYSTEMS IN ADA 9
9 The Ada programming language 1s
9.1 Languages for programming real-time systems 12
9.2 Anintrodution o Ada 155
9.3 Overview of Ads 136
9.4 Programming inthe lr 0
9.5. Aspocts and atbuts 7
Summary i

10 Concurrent programm
1 Metivation
10.2 Processes and tikatieadh
10.3 Concurrent exceution
10.4 Task representation
10S Concurrent execution in Ada

16 Mtiprocesso and distribute systems 209
107 simple embedded system 213
148 Language-supported vests operating system supported concurency || 219,
Summary 20

1 Shared variable-based synchronization and communication ns
‘Mutua exclusion and condition synchronization ae
‘Coordinated stony as

Busy waiting nr

Suspend and resume a
Semaphores a
Conon rial regions au
Monitor 202
Protected objets ia Ada 2s

1.9 Share memery multiprocessors 200
1.10Simpleembedde! ystems ested 262
Summary os
12 Resource control 267
IZ Resource management 268
122 Expressive power and ease of use 268
12.3 The requeve facility 7
124 Real-time sotions to the resouree contol pablem 2s
125 Resource control and security ans
126 Resource usage ons
127 Deadlock 286

Summary 287
13 Rate faites
TR The mon of ime
132 Actens tou chk
133 Detaying tank
15.4 Programming ious
Summary

14 Programming real-time abstractions
LT Reabtime tasks
14.2 Programming perioc activites
14.3 Programming aperidic and spac ati
11.4 The leo wal time ovens and thi andlor
145 Controle np nd output jer
1146 The Ravens profi
11.7 Simple embod system eve
Summary

Programming schedulable systems
151 Programming cy executives
152 Programming precmpsive pron basd ys
15. Ads and ted pronty schatling
15.4 Dynamic prirtics andor Ada fii
1555 Programming EDF systems
156 Mined schooling
5.7. Schedling andthe Ravenscar pois
15 Simple embod sem revised
Summary

16 Low-level programming
1.1 Marware inpuvutput mechanisms
162 Language equirements
163 Programming devices in Ada
16 Scheduling device drivers
165 Memory managerent
Summary

17 Exceptions and exception handling
17.1 Exception handling in older ret. ime languages
172. Modern exception hang
17.3 txcopion handling in Ads
17 Recovery Blocks und excspions

ime impt of exceptin hing

1 Atomic actions, concurrent processes and reliability
WR Atom ae
12. Atomic a
18. Recovorale atomic setons
183. Asynchronous notation in Ada

186 Atomic actions and scheling analysis
Summary

19 olerating timing fats
191 Dynamic redundancy and ining fauls
19.2 Deadline miss detection
193 Over of worst-case exscuton time
19.4 Overan of sporadic events
19.5 Overrun of source usage
19.6 Damage coninement
19.7 Error asconery
Summary

IV CONCLUSIONS

20 Mine control case study
20.1 Mine drainage
202 The HREHOOD design method
203 ‘The lpia architecture design
2044 ‘The pyscal archicture design
205 Translation to Ada
206 Fault wolrance and distribution
Summary

21 Comctsions
21.1 Future challenges

References

Index

493
oF

497

503

List of Programs

10 Theada
102 The aga
103 The sys
os The sy:

‘Theaaa,
Theaaa,

1A Theaaa,
132 Theaga

Mt Theags,

151 The ads.
132 The Aaa,
153 The Aas.

161 The ads.
162 The Ads.
163 The syst

17 The sta
172 Treads,

-Taak_Ident fication package
‘ak_Terminat ion package

em. Multiprocessors package

com: Mult sprocessor Dispatching. Domains package

‘synchronous Task_Cont col packape.
Synchronous Barriers package

Calendar package
RealTime package

Real_Time. Timing,

pons package

Dynamic. Priceit ses package
Asynchronous Task Control package
Dispatching. BOF package,

Interrupts package
Trnverrupt Names package
en. storage Pools package

nda pace.
‘Except cone pacakge

19. Am abvidged version ofthe Ada. Execut Lon_Time package.

192 Tease
193 Theda
194 The Asa
195 The Asa

TExecut Lon_time. Timers package
Execution Time.interrupt package
"execut Lon_time package's support for imtrrps
‘Eyecut ion_Time.Group_Buagets package