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CS 425/625 Software Engineering
Real-Time Software Design
Based on Chapter 15 of the textbook [SE-8] Ian Sommerville,Software Engineering, 8th Ed., Addison-Wesley, 2006 and on theCh15 PowerPoint presentation available at the book’s web-site
October 29, 2007
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Outline
Introduction Real-Time Systems (RTS): A Characterization RTS Design RT Operating Systems Generic RTS architectures:
Monitoring and Control Systems Data Acquisition Systems
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Introduction.… Real-Time Systems: systems whose correct operation depends not
only on the correctness of the results produced but also on the time at which these results are produced.
Embedded Systems [www.wikipedia.com]:
An embedded system is a special-purpose computer system designed to perform one or a few dedicated functions, sometimes with real-time computing constraints. It is usually embedded as part of a complete device including hardware and mechanical parts.
In contrast, a general-purpose computer, such as a personal computer, can do many different tasks depending on programming. Since the embedded system is dedicated to specific tasks, design engineers can optimize it, reducing the size and cost of the product, or increasing the reliability and performance.
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.Introduction...
RTS receive stimuli (both external and internal) and provide responses to these stimuli
Stimuli: Periodic: occur at preset intervals of time (e.g.,
every 20 ms) Aperiodic: have irregular occurrences
The sensor-system-actuator model of RTS: sensors provide inputs (stimuli), computational units elaborate responses, and actuators convey outputs (responses)
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..Introduction..
Three types of processes: Sensor management Computational Actuator management
Since many stimuli need immediate treatment software handlers are needed. Handlers can run concurrently, hence RTS are usually designed as a set of concurrent processes.
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...Introduction.
General model of an RTS [Fig. 15.1, SE-8]
Real-timecontrol system
ActuatorActuator ActuatorActuator
SensorSensorSensor SensorSensorSensor
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.…Introduction
Sensor/actuator processes [Fig. 15.2, SE-8]
Dataprocessor
Actuatorcontrol
Actuator
Sensorcontrol
Sensor
Stimulus Response
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RTS: A Characterization……
This section of the presentation is based on [Dascalu01] “A real-time system must respond to externally generated
stimuli within a finite, specifiable time delay” [Everett95] An RTS differs from a “regular” (non-RTS) system in at
least the following aspects [Stankovic88]: Have deadlines attached to some or all tasks Faults in the system may lead to catastrophic
consequences Must have the ability to deal with exceptions Must be fast, predictable reliable, adaptive
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.RTS: A Characterization.….
“Development of most software focuses on how to handle a normal situation, but real-time, critical-application development also focuses on how to handle the abnormal situation” [Everett95]
RTS “must operate under more severe constraints than ‘normal’ software yet perform reliably for long periods of time” [Douglass99]
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..RTS: A Characterization….
A classification of RTS:
Utility
Timeth (hard deadline)
(a) Hard RTS
Utility
th (hard)Time
ts (soft)
(b) Firm RTS
Utility (c) Soft RTS
Timets (soft deadline)
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…RTS: A Characterization…
Requirements for RTS: Timeliness
Reaction to stimuli “on time” (deadlines must be met) Relative and absolute timing constraints
Reliability Many errors have roots in incorrect specification Formal techniques needed for safety-critical systems
Intensive dynamics Models to describe behavior are necessary (based on
finite state machines)
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….RTS: A Characterization..
Requirements for RTS (cont’d): Exception handling
Priorities should be assigned to stimuli/events Mechanisms for handling interrupts need be developed
Concurrency Parallel tasks are inherent in RTS The environment is also “concurrent” in nature
Distribution & resource allocation Distribution is not necessarily a characteristic of RTS,
but should be taken into consideration in larger applications
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…..RTS: A Characterization.
Requirements for RTS (cont’d): Communication and synchronization
Synchronous and asynchronous communication mechanisms should be designed
Size In larger applications, there are numerous processes
and threads Size is associated with continuous change Decomposition in smaller units is needed, as are
mechanisms for modeling hierarchical structures
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.…..RTS: A Characterization
Requirements for RTS (cont’d): Non time-constrained activities
Worst case scenarios cannot be easily evaluated Computations & data modeling
In process control systems computations can be complex In RT databases data must have temporal validity
Reuse RTS are poor candidates for reuse (are too specialized) However, OO design may provide solutions
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RTS Design…
Both the hardware and the software of the system must be designed and system functions allocated to either hardware or software
RTS design process should result in a system model that can be implemented in either software or hardware
Special-purpose hardware: Better performance, but Longer development time, and Less suitable to change
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.RTS Design..
An RTS design process focuses on events (stimuli) rather than on objects or functions
Suggested RTS design process: Identify stimuli and associated responses Identify timing constraints on stimuli and responses Choose an execution platform for the system:
hardware & RTOS Aggregate stimulus and response processing
activities in several concurrent processes Design computational algorithms for each
stimulus/response association Design the scheduling software
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..RTS Design.
RTS modeling relies on the use of state machines
Timing constraints: May require extensive simulation and experimentation May preclude the use of an object-oriented
development approach (because of the overhead involved at run-time)
May require, for performance reasons, programming in assembly languages or system-level languages such as C
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…RTS Design
RT programming: System-level languages (e.g., C) allow elaboration of
efficient code but the burden to express concurrency and to manage shared resources is on the programmer
Specially designed languages with good synchronization mechanisms such as Ada still have a number of limitations (e.g., lack of exceptions when deadlines are not met, strict FIFO policy for task queues)
Java has several facilities for lightweight RT programming (threads, synchronized methods) but also a number of limitations (e.g., garbage collector not controllable, JVM has various implementations)
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RT Operating Systems...
RTOS: specialized operating system for RTS Main responsibilities:
Process management Resource allocation (processor, memory)
They may not include regular OS facilities such as file management
Manage at least two priority levels: Interrupt level, for processes that need fast response Clock level, for periodic processes
Typical components: real-time clock, interrupt handler, scheduler, resource manager, dispatcher
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.RT Executives.. Typical structure of an RTOS [Fig. 15.4, SE-8]
Process resourcerequirements
Scheduler
Schedulinginformation
Resourcemanager
Despatcher
Real-timeclock
Processesawaitingresources
Readylist
Interrupthandler
Availableresource
list
Processorlist
Executingprocess
Readyprocesses
Releasedresources
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..RTOS.
Process management: Coordination of the system’s set of concurrent
processes Periodic processes run at pre-set intervals of time Process period: time between executions Process deadline: the time by which the process
must be complete The executive uses the real-time clock to determine
when a process must execute; a real-time tick period is usually several milliseconds long
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...RTOS
RTOS actions to start a process [Fig. 15.5, SE-8]
Scheduling strategies: Non-preemptive: a process scheduled for execution runs until
completion or until blocked (e.g., waiting for an input) Pre-emptive: a higher-priority process can take over a lower-
priority process Scheduling algorithms, examples: round-robin, shortest
deadline first, rate monotonic
Resource manager
Allocate memoryand processor
Scheduler
Choose processfor execution
Despatcher
Start execution on anavailable processor
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Generic RTS Architectures..….Generic RTS Architectures..….
Typical classes of RTS (each with a characteristic architecture): Monitoring and control systems [MCS]:
Monitoring systems examine sensors and report their results; may take action in exceptional cases
Control systems read sensors and continuously command actuators
Data acquisition systems [DAS] collect data from sensors for later processing and analysis
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Generic RTS Architectures..….Generic RTS Architectures..….
S1
S2
S3
P (S1)
P (S2)
P (S1)
Monitoringprocesses
Controlprocesses
P (A1)
P (A2)
P (A1)
A1
A2
A3
P (A4) A4
Testingprocess
Control panelprocesses
Generic MCS architecture [Fig. 15.6, SE-7]
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.Generic RTS Architectures..…
An intruder alarm system (monitoring system): Monitors sensors on doors and windows to detect
the presence of intruders in a building; also monitors movement sensors in rooms
When a sensor indicates a break-in, switches on lights around the area and calls police automatically
Powered by a main power supply but also has provisions for battery backup; includes a power circuit monitor
Timing requirements for the system are shown on the next page [Fig.15.7, SE-8]
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..Generic RTS Architectures....
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...Generic RTS Architectures… The architecture of the intruder alarm system [Fig. 15.8, SE-8]
Lighting controlprocess
Audible alarmprocess
Voice synthesizerprocess
Alarm systemprocess
Power switchprocess
Building monitorprocess
Communicationprocess
Door sensorprocess
Movementdetector process
Window sensorprocess
560Hz
60Hz400Hz 100Hz
Power failureinterrupt
Alarmsystem
Building monitor
Alarmsystem
Alarm system
Alarm system
Detector status Sensor status Sensor status
Room number
Alert message
Room number
Room number
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….Generic RTS Architectures.. Architecture of a temperature control system [Fig. 15.10, SE-8]
Thermostatprocess
Sensorprocess
Furnacecontrol process
Heater controlprocess
500Hz
500Hz
Thermostat process500Hz
Sensorvalues
Switch commandRoom number
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…..Generic RTS Architectures. Generic DAS architecture [Fig. 15.11, SE-8]
DisplayProcess
dataSensor data
bufferSensorprocess
Sensoridentifier and
value
Sensors (each data flow is a sensor value)
Sensoridentifier and
value
Processdata
Sensor databuffer
Sensorprocess
Sensoridentifier and
value
Sensoridentifier and
value
s1
s2
s3
s4
s5
s6
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…..Generic RTS Architectures. A neutron flux data acquisition system [Fig. 15.12, SE-8]
Operatordisplay
Fluxprocessing
Flux databuffer
A-Dconvertor
Sensoridentifier and
flux valueProcessedflux level
Neutron flux sensors
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……Generic RTS Architectures A ring buffer for data acquisition [Fig. 15.13, SE-8]A ring buffer for data acquisition [Fig. 15.13, SE-8]
Consumerprocess
Producerprocess
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Additional References
[Dascalu01] Dascalu, S., Combining Semi-formal and Formal Notations in Software
Specification: An Approach to Modelling Time-Constrained Systems, PhD thesis, Dalhousie University,
Halifax, NS, Canada, 2001. [Douglass99] Douglass, B.P., Doing Hard Time: Developing
Real-Time Systems with UML, Objects, Frameworks and Patterns, Addison-Wesley, 1999.
[Everett95]Everett, W., and Honiden, S., “Reliability and Safety of Real-Time Systems,” IEEE
Software, 12(3), May 1995, p. 12-16[Gibbs94] Gibbs, W.W., “Software’s Chronic Crisis,”
Scientific American, Sep. 1994, p. 86-95. [Stankovic88] Stankovic, J.A., and Ramamritham, K.,
Tutorial: Hard Real-Time Systems, IEEE Computer Society Press, 1988.