Hard Real-Time Computing Systems 3rd edition

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This updated edition offers an indispensable exposition on real-time computing, with particular emphasis on predictable scheduling algorithms. It introduces the fundamental concepts of real-time computing, demonstrates the most significant results in the field, and provides the essential methodologi
Real-Time Systems Series Series editor John a stankovic University of Virginia, Virginia, USA For fur http://www.springer.com/series/6941 Giorgio c. buttazzo Hard real- Time computing Systems Predictable Scheduling Algorithms and applications Third edition ② Springer Giorgio C. Buttazzo RETIS Lab Scuola Superiore Sant'Anna Pisa g. buttazzo(@sssup. it ISSN1867-321X e-ISSN1867-3228 ISBN978-1-46140675-4 e-ISBN978-1-4614-0676-1 DOI10.1007/978-1-4614-0676-1 Springer New York Dordrecht Heidelberg London Library of Congress Control Number: 2011937234 C Springer Science+ Business Media, LLC 2011 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights Printed on acid- free paper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) CONTENTS Preface 1 A GENERAL VIEW 1.1 Introducti 1.2 What does real time mean 1.3 Achieving predictability 2 BASIC CONCEPTS 2.1 Introduction 23 2.2 Types of task constraints 25 2.3 Definition of scheduling problems 34 2. 4 Scheduling anomalies 42 3 APERIODIC TASK SCHEDULING 53 3.1 Introduction 53 3.2 Jacksons algorithm 54 3. 3 Horns algorith 58 3.4 Non-preemptive scheduling 3.5 Scheduling with precedence constraints 70 3.6 Summary 76 PERIODIC TASK SCHEDULING 4.1 Introduction 79 4.2 Timeline scheduling 84 4.3 Rate Monotonic scheduling 86 4. 4 Earliest deadline first 100 4.5 Deadline monotonic 103 4.6 EDE with constrained deadlines 4.7 Comparison between RM and EDF 116 CONTeNTS 5 FIXED-PRIORITY SERVERS 119 5.1 Introduction 119 5.2 Background scheduling 120 5.3 Polling server 121 5.4 Deferrable server 130 5.5 Priority Exchange 139 5.6 Sporadic server 143 5.7 Slack stealing 149 5.8 Non-existence of optimal servers 153 5.9 Performance evaluation 155 5.10 Summary 157 6 DYNAMIC PRIORITY SERVERS 161 6.1 Introduction 161 6.2 Dynamic Priority Exchange server 162 6.3 Dynamic Sporadic Server 167 6. 4 Total Bandwidth server 171 6.5 Earliest Deadline Late Server 174 6.6 Improved Priority Exchange Server 178 6.7 Improving tbs l81 6.8 Performance evaluation 185 6. 9 The Constant Bandwidth Server 189 6.10 Summary 201 7 RESOURCE ACCESS PROTOCOLS 205 7.11 7.2 The priority inversion phenomenon 206 7.3 Terminology and assumptions 209 7.4 Non-Preemptive protocol 210 7.5 Highest Locker Priority protocol 212 7.6 Priority Inheritance Protocol 214 7.7 Priority Ceiling protocol 226 8 Stack Resource Policy 234 7.9 Schedulability analysis 246 7.10 Summary 247 Contents 8 LIMITED PREEMPTIVE SCHEDULING 251 8.1 Introduction 251 8.2 Non-preemptive scheduling 257 8.3 Preemption thresholds 261 8.4 Deferred Preemptions 266 8.5 Task splitting 270 8.6 Selecting preemption points 274 8.7 Assessment of the approaches 279 9 HANDLING OVERLOAD CONDITIONS 287 9.1 Introduction 287 9.2 Handling aperiodic overloads 293 3 Handling overruns 316 9. 4 Handling permanent overloads 326 10 KERNEL DESIGN ISSUES 349 10.1 Structure of a real-time kernel 349 10.2 Process states 351 10.3 Data structures 356 10.4 Miscellaneous 361 10.5 Kernel primitives 366 10.6 Intertask communication mechanisms 385 10.7 System overhead 392 1 APPLICATION DESIGN ISSUES 11.1 Introduction 398 11.2 Time constraints definition 401 11.3 Hierarchical design 408 11. 4 A robot control example 413 12 REAL-TIME OPERATING SYSTEMS AND STANDARDS 419 12.1 Standards for real-time operating systems 419 12.2 Commercial real-time systems 428 12.3 Linux related real-time kernels 432 12. 4 Open-source real-time research kernels 437 12.5 Development Tools 452 ConTENTS 13 SOLUTIONS TO THE EXERCISES 457 GLOSSARY 487 REFERENCES 497 INDEX 515 PREFACE Real-time computing plays a crucial role in our society since an increasing number of complex systems rely, in part or completely, on computer control. Examples of applications that require real-time computing include nuclear power plants, railway switching systems, automotive and avionic systems, air traffic control, telecommuni cations, robotics, and military systems. In the last several years, real-time computing has been required in new applications areas, such as medical equipments, consumer electronics, multimedia systems, flight simulation systems, virtual reality, and interac tive games Despite this large application domain, most of the current real-time systems are still designed and implemented using low-level programming and empirical techniques without the support of a scientific methodology. This approach results in a lack of reliability, which in critical applications may cause serious environmental damage or even loss of life This book is a basic treatise on real-time computing, with particular emphasis on pre dictable scheduling algorithms. The main objectives of the book are to introduce the basic concepts of real-time computing, illustrate the most significant results in the field, and provide the basic methodologies for designing predictable computing sys tems useful in supporting critical control applications This book is written for instructional use and is organized to enable readers without a strong know ledge of the subject matter to quickly grasp the material. Technical con cepts are clearly defined at the beginning of each chapter, and algorithm descriptions are corroborated through concrete examples, illustrations, and tables

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zangnaoga 将实时系统的书,很不错
zhang19210701 很清晰,而且是完整版的,多谢楼主分享!!!
chu127 学校用的教材 意大利人写的 不知道怎么样
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