CS4514 Real-Time Systems and Modeling
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1 CS4514 Real-Time Systems and Modeling Fall 2015 José M. Garrido Department of Computer Science College of Computing and Software Engineering Kennesaw State University
2 Real-Time Systems RTS are computer systems that Monitor (or supervise), Control an external environment
3 Environment The environment is connected to the computer system through: Sensors Actuators Other I/O devices
4 General Architecture of A Real-Time System
5 Real-Time System
6 Constraints A real-time system must meet various timing and other constraints imposed by the real-time behavior of the environment A real-time system is also called a reactive system because it must respond to or react to signals from the environment
7 Real-Time Systems A reactive system that maintains an on-going interaction with its environment, and with given time windows for its output Includes a combination of hardware and software There is a wide variety of RTS small embedded systems very large systems on WANs.
8 Examples of RTS Vehicle systems for automobile, subways, aircraft, railways, ships, Traffic control Process control for power plants, chemical plants, Medical systems Military applications Manufacturing systems with robots
9 Examples of RTS (Cont.) Communication systems Computer games Multimedia systems that provide text, graphic, audio, and video interfaces Consumer appliances
10 Embedded Systems A real-time system that is part of another larger system Does not usually interact with humans users or operators Interfaces directly with sensors and actuators Very specialized to suit a specific purpose The software is usually implemented in firmware
11 Embedded Real Time System
12 Categories of Real_time Systems Different systems will have different requirements for meeting deadlines: Hard real-time systems - missing even a single deadline is considered unacceptable, e.g., The new U.S. Air Traffic Control System. Soft real-time systems - missing a deadline occasionally is considered acceptable, e.g., telephony systems.
13 Real-Time Systems General characteristics: Reactive, the system must respond timely to internal and external input events Concurrent, the system needs to manage several tasks (or processes) Each task has timing constraints, i.e., it has to respond in a timely fashion.
14 Other Major Characteristics Reliability - a measure of how often a system will fail. Also stated as the probability that a system will perform correctly for a given period Fault tolerance - recognition and handling of failures. Avoidance of failures is important, but responding appropriately to failures is challenging Safety
15 Criticality A measure of the failure cost. The higher the cost of failure, the more critical the system. A critical system might control an aircraft or a nuclear power plant A RTS might be a hard system, even though it is not a critical one. For example, a computer game.
16 Architecture of Real-Time Systems Hardware components used to interact with the environment consists of sensors and actuators Software components controls the actions of the hardware computations
17 Properties of Real-Time Systems Timeliness - the system must perform operations in timely manner Reactiveness - the system continuously responds to (random) events Concurrency - multiple simultaneous activities are carried out Distribution - tasks cooperate in multiple computing sites
18 Timeliness Issues The goal is to reduce two specific time intervals: service time - the interval taken to compute a response to a given input latency - the interval between the time of occurrence of an input and the time at which it starts being serviced
19 Timeliness Issues The sum of these two intervals represents the response time. This must be shorter than the deadline for this type of input.
20 Deadline The most common type of timing constraint It is the absolute latest time that a computation must complete
21 General Properties of RTS Safety property Progress or liveness property Schedulability
22 RT Scheduling Policies Rate Monotonic Scheduling (RMS) Deadline Monotonic Scheduling (DMS) Maximum Urgency First (MUF) Earliest Deadline Scheduling (EDS)
23 Safety Properties The system should never be in certain (undesirable) states The system should not do bad things In the Train-gate System, the gate should never be open when a train is in the intersection area
24 Progress or Liveness Properties These describe the required live and desirable behavior of a system For example, in the Train-Gate System, the gate should be open whenever there are no trains in the area
25 Techniques for Studying RT Systems The techniques for dealing with timeliness problems belong to two main groups: Analytic techniques - use formal mathematical models of the systems and mathematical techniques Simulation - use computer models to compute behavior characteristics.
26 Major Subsystems In a high-level view, a RTS is considered a closed world containing two components: an environment and a computer system These components interact via messages, signals, or events at their interface At any time, the RT system may be in one of several states
27 Basic Elements in Behavior Events, are instantaneous occurrences that trigger transitions and operations on some objects. Events can be external or internal. States, represent a unique behavior with respect to the other states in an object. An event or message can cause a change of state. Transitions are state changes in the objects.
28 States Each state denotes a particular set of values of variables or set of relations among variables The system changes state due to events that change the values of, or relations among these state variables These state changes are called transitions
29 Model of RTS The software that implement RT systems deal with events, states, and transitions and a set of interacting processes Processes interact by sending messages and signals to each other sharing hardware and software competing for resources A process is an active component (object) of a RTS
30 Reactiveness Issues Transformational systems - some initial data is transformed by a series of computations into the desired output data, then the system terminates Reactive systems - are involved in a continuous interaction with the environment, these systems do not terminate.
31 Nondeterminism In general, real-time systems are nondeterministic systems since they have no control over the relative order or time of occurrence of input events. This characteristic is a reflection of the unpredictable nature of the real-world in which such systems operate.
32 Concurrency Issues A task is a sequential thread of control, a system with concurrency contains two or more threads of control that dynamically interact Threads may progress at different speeds, their interactions can be defined by: synchronization communication
33 Communication The communication of tasks in real-time systems can be: Synchronous - a direct communication between two tasks. Both the sender task and the receiver task have to be ready Asynchronous - an indirect communication that uses mailboxes. UML Sequence diagrams can used to describe this.
34 Distribution Issues Consists of a set of computing sites loosely coupled through a communication network Message loss is just one of a collection of truly difficult problems facing designers of distribution systems
35 Active and Passive Agents Active agents are the major components of a system with their own thread of control Passive agents only executes when one of its operations is invoked - it is only active during interactions with other objects Design and programming with agents involves constructing machines and interconnecting them.
36 Types of Processes in RTS Real-time systems contain two general types of processes: Periodic processes - are activated in a regular basis between fixed time intervals. Used for systematically monitoring, polling, or sampling data from sensors Sporadic processes - are event-driven and activated by an external signal, or change in some relationship
37 Periodic Process A periodic process is characterized by a triple (c,p,d). The computation time interval is denoted by c The period or cycle time is denoted by p The deadline is denoted by d The first important relationship is: c d p.
38 Sporadic Process A sporadic process is also characterized by a triple (c,p,d), with c d p. On the occurrence of the event, the computation must be completed within the specified deadline. The completion time t must satisfy: t te + d te is the event occurrence time The minimum time between events is p
39 Further Timing Effects The interactions among processes further add more delays in the computation times of the processes Another effect is jitter. This is the variation from cycle to cycle, or from event to event, of the time to complete a task.
40 Performance Measures for RTS Latency Number of deadlines missed Worst case reaction time
41 General Approach Developing RTS
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