Composable code generation for distributed giotto

ABSTRACT

We present a compositional approach to the implementation of hard real-time software running on a distributed platform. We explain how several code suppliers, coordinated by a system integrator, can independently generate different parts of the distributed software. The task structure, interaction, and timing is specified as a Giotto program. Each supplier is given a part of the Giotto program and a timing interface, from which the supplier generates task and scheduling code. The integrator then checks, individually for each supplier, in pseudo-polynomial time, if the supplied code meets its timing specification. If all checks succeed, then the supplied software parts are guaranteed to work together and implement the original Giotto program. The feasibility of the approach is demonstrated by a prototype implementation.

REFERENCES

• 1: Hermann Kopetz, Real-Time Systems: Design Principles for Distributed Embedded Applications, Kluwer Academic Publishers, Norwell, MA, 1997
• 2: http://www.flexray-group.com; http://www.autosar.org.
• 3: T.A. Henzinger, B. Horowitz, and C.M. Kirsch. Giotto: a time-triggered language for embedded programming. In Proc. IEEE 91, pp. 84--99, 2003.
• 4: T.A. Henzinger, C.M. Kirsch, and S. Matic. Schedule-carrying code. In Proc. EMSOFT, LNCS 2855, pp. 241--256, Springer, 2003.
• 5: Thomas A. Henzinger , Christoph M. Kirsch, The embedded machine: predictable, portable real-time code, Proceedings of the ACM SIGPLAN 2002 Conference on Programming language design and implementation, June 17-19, 2002, Berlin, Germany
• 6: Christoph M. Kirsch , Marco A. A. Sanvido , Thomas A. Henzinger, A programmable microkernel for real-time systems, Proceedings of the 1st ACM/USENIX international conference on Virtual execution environments, June 11-12, 2005, Chicago, IL, USA [doi>10.1145/1064979.1064986]
• 7: Christoph Meyer Kirsch , Marco A. A. Sanvido , Thomas A. Henzinger , Wolfgang Pree, A Giotto-Based Helicopter Control System, Proceedings of the Second International Conference on Embedded Software, p.46-60, October 07-09, 2002
• 8: Nicolas Halbwachs, Synchronous Programming of Reactive Systems, Kluwer Academic Publishers, Norwell, MA, 1992
• 9: A. Benveniste, L.P. Carloni, P. Caspi, and A.L. Sangiovanni-Vincentelli. Heterogeneous reactive systems modeling and correct-by-construction deployment. In Proc. EMSOFT, LNCS 2855, pp.35--50, Springer, 2003.
• 10: Thomas A. Henzinger , Christoph Meyer Kirsch , Rupak Majumdar , Slobodan Matic, Time-Safety Checking for Embedded Programs, Proceedings of the Second International Conference on Embedded Software, p.76-92, October 07-09, 2002
• 11: Paul Caspi , Adrian Curic , Aude Maignan , Christos Sofronis , Stavros Tripakis , Peter Niebert, From simulink to SCADE/lustre to TTA: a layered approach for distributed embedded applications, Proceedings of the 2003 ACM SIGPLAN conference on Language, compiler, and tool for embedded systems, June 11-13, 2003, San Diego, California, USA
• 12: Aloysius K. Mok , Alex Xiang Feng, Real-Time Virtual Resource: A Timely Abstraction for Embedded Systems, Proceedings of the Second International Conference on Embedded Software, p.182-196, October 07-09, 2002
• 13: Insik Shin , Insup Lee, Periodic Resource Model for Compositional Real-Time Guarantees, Proceedings of the 24th IEEE International Real-Time Systems Symposium, p.2, December 03-05, 2003
• 14: Hermann Kopetz , Neeraj Suri, Compositional Design of RT Systems: A Conceptual Basis for Specification of Linking Interfaces, Proceedings of the Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC'03), p.51, May 14-16, 2003
• 15: Rushby John, Partitioning in Avionics Architectures: Requirements, Mechanisms, and Assurance, NASA Langley Technical Report Server, 1999
• 16: Bernd Hardung , Thorsten Kölzow , Andreas Krüger, Reuse of software in distributed embedded automotive systems, Proceedings of the 4th ACM international conference on Embedded software, September 27-29, 2004, Pisa, Italy [doi>10.1145/1017753.1017787]
• 17: K. Karplus and A. Strong. Digital synthesis of plucked-string and drum timbres. in Computer Music Journal 7, pp. 43--55, 1983.
• 18: V. Yodaiken. RTLinux Manifesto. In Proc. LinuxExpo, 1999.
• 19: A Time-Triggered Ethernet Protocol for Real-Time CORBA, Proceedings of the Fifth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, p.215, April 29-May 01, 2002
• 20: T.A. Henzinger and S. Matic. Distributed Schedule-Carrying Code. Tech. Rep. UCB/CSD-04-1360, 2004.
• 21: Sasaki Shigero , Takashi Matsumoto , Hiraki Kei, On the Schedulability Conditions on Partial Time Slots, Proceedings of the Sixth International Conference on Real-Time Computing Systems and Applications, p.166, December 13-15, 1999

INDEX TERMS

Primary Classification:
  C. Computer Systems Organization
  C.3 SPECIAL-PURPOSE AND APPLICATION-BASED SYSTEMS
      Subjects: Real-time and embedded systems

Additional Classification:
  D. Software
  D.1 PROGRAMMING TECHNIQUES
      D.1.3 Concurrent Programming
          Subjects: Distributed programming

General Terms:
Languages, Reliability

Keywords:
distributed compilation, real time