Real-Time Systems
Programming
ECE 279-353
Fall 2002
Instructor : Aniruddha Gokhale
Guest Instructors : Bala Natarajan, Doug
Schmidt
{a.gokhale, b.natarajan@vanderbilt.edu}
http://www.isis.vanderbilt.edu/~ece279-353
Course Logistics
• Required Textbook : Real-Time Systems by Jane W.S. Liu;
Prentice Hall © 2000
• Supporting Material :
– Real-Time Systems: Design Principles for Distributed
Embedded Systems by Hermann Kopetz; Kluwer Academic
Publishers © 1997
– Real-Time Systems and Programming Languages, 3rd Edition
by Alan Burns and Andy Wellings; Addison Wesley © 2001
– OMG Real-time CORBA Specification
– Real-time Java Specification
– OMG Real-time UML
• Prerequisites : C, C++, Java, Operating Systems, Computer
Networks
• Course Timings : TTh 9:35 – 10:50 am, Featheringill Hall 306
• Office Hours: TBD
• Teaching Assistant: TBA
Aniruddha Gokhale
2
Vanderbilt University, Fall 2002
Course Grading
ECE279
ECE353
Quizzes
30%
30%
Programming
assignments
40%
(4)
10%
50%
(5)
20%
Presentations
Final exam
20%
(comprehensive)
Grades based on curve.
Aniruddha Gokhale
3
--
Vanderbilt University, Fall 2002
Useful URLs
• Dr. Douglas Schmidt’s patterns tutorial and tons of
other information
(www.cs.wustl.edu/~schmidt/{posa.ppt,posa2.ppt} )
• Dr. Alan Burns/Dr. Andy Wellings lecture notes
(www.cs.york.ac.uk/rts/RTSBookThirdEdition.html)
• Dr. Fred Kuhn’s lecture notes
(www.cs.wustl.edu/~fredk/Courses/cs523/fall01/index.html)
• Dr. Philip Koopman’s lecture notes
(www.ece.cmu.edu/~ece549/2001_index.html)
• Univ of Monash, Australia lecture notes
(www.csse.monash.edu.au/courseware/cse3141/SLIDES)
• Dr. Maniraman lecture notes
(vulcan.ee.iastate.edu/~gmani/cpre558/index.htm)
Aniruddha Gokhale
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Vanderbilt University, Fall 2002
Useful URLs
• Dr. Rajkumar’s (CMU) website (www2.cs.cmu.edu/~rajkumar)
• OMG RT CORBA
(www.omg.org/technology/documents/formal/corba_iiop.htm)
• TAO RT ORB (www.cs.wustl.edu/~schmidt/TAO.html)
• Real time Java (www.rtj.org)
• RT Java VM called OVM (www.ovmj.org)
• OMG UML and RT Profile
(www.omg.org/technology/uml/index.htm)
• Model integrated computing (MIC) and Generic Modeling
Environment (GME)
(www.isis.vanderbilt.edu/Projects/gme/default.html)
• Embedded Systems Magazine (www.embedded.com)
Aniruddha Gokhale
5
Vanderbilt University, Fall 2002
Syllabus
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CONCEPT
Introduction
Hard versus soft real
time
Notion of global time
Model(s) of real time
systems
Fault tolerance
Resource management
Scheduling
Event- versus Timetriggered RT systems
Aniruddha Gokhale
•
•
•
•
•
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6
PRACTICE
RT programming
primitives
RT design patterns
RT operating systems
Communication
Networks
OMG RT CORBA
RT Java
RT UML, Model
integrated computing
using GME
Vanderbilt University, Fall 2002
Lecture Schedule
DATE
TOPIC
8/29/02
Quiz 0, Administrative stuff, Introduction
Reading assignment (RA) – Chapt 1, 2
9/3/02
Introduction (cont’d), Distributed Real Time and
Embedded (DRE) Systems, Hard and Soft Real
Time, Programming Assignment (PA) #1 out
9/5/02
Quiz 1, RT Programming Constructs
9/10/02
RT Programming Constructs, Introduction to
Adaptive Communications Environment (ACE)
Quiz 2, ACE (cont’d), Modeling RT Systems
9/12/02
9/17/02
9/19/02
Aniruddha Gokhale
DRE Patterns (guest lecture by Dr. Douglas C.
Schmidt)
PA#1 in, PA#2 out, Quiz 3, Introduction to
CORBA
Vanderbilt University, Fall 2002
7
Lecture Schedule
DATE
TOPIC
9/24/02
RT CORBA (by Bala)
9/26/02
Quiz 4, RT CORBA (by Bala)
10/1/02
Notion of Global time, RT clocks
10/3/02
PA#2 in, PA#3 out, Quiz 5, Fault Tolerance
10/8/02
10/10/02
Fault tolerant CORBA, Conflicts with real
time systems
Quiz 6, Schedulability analysis, Scheduling
10/15/02
Scheduling (cont’d)
10/17/02
Quiz 7, Resource management and control
Aniruddha Gokhale
8
Vanderbilt University, Fall 2002
Lecture Schedule
DATE
TOPIC
10/22/02
FALL BREAK – NO CLASS
10/24/02
PA#3 in, PA#4 out, Quiz 8, RT Operating
Systems (RTOS), some case studies
RTOS (cont’d), Communication Networks –
IntServ, DiffServ, Routers, MPLS
10/29/02
10/31/02
Quiz 9, Networks (cont’d)
11/5/02
RT Java (lecture by Bala)
11/7/02
Quiz 10, RT Java (lecture by Bala)
11/12/02
Assorted Topics: Adaptive and reflective
middleware
Aniruddha Gokhale
9
Vanderbilt University, Fall 2002
Lecture Schedule
DATE
TOPIC
11/14/02
PA#4 in, PA#5 out, Quiz 11
Distribution and selection of
topics/papers for student presentations
Assorted Topics: UML, RT profiles, Model
integrated computing (MIC), Generic
Modeling Environment (GME)
11/19/02
11/22/02
Assorted Topics: UML, MIC, GME (cont’d),
Composition of embedded systems
Quiz 12, Time triggered protocol
11/26/02
Thanksgiving break – No class
11/29/02
Thanksgiving break – No class
Aniruddha Gokhale
10
Vanderbilt University, Fall 2002
Lecture Schedule
DATE
TOPIC
12/3/02
Student Presentations
12/5/02
Student Presentations
12/10/02
Student Presentations
12/12/02
Student Presentations (if any)
REVIEW
12/17/02 ? FINAL EXAM for ECE 279 (comprehensive,
closed book)
9:00 am
Aniruddha Gokhale
11
Vanderbilt University, Fall 2002