Real-time Concurrent C: A language for programming dynamic real-time systems

Gehani, Narain; Ramamritham, Krithi

doi:10.1007/bf00365999

Cited by 51 publications

(11 citation statements)

References 7 publications

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“…Support of concurrent execution models and timing constructs are provided by external libraries (e.g., Posix). Other C-based programming languages have been proposed, including Real-Time Concurrent C [25] and more recently Timed C [27]. C-based programming languages are often favoured thanks to their portability to various platforms, including UNIX platforms, RTOSs, and bare-metal.…”

Section: Deterministic Software Architecturesmentioning

confidence: 99%

Worst-Case Reaction Time Optimization on Deterministic Multi-Core Architectures with Synchronous Languages

Hili

Girault

Jenn

2019

2019 IEEE 25th International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

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In this paper, we propose a new approach for the predictability and optimality of the inter-core communication and execution of tasks allocated on different cores of multicore architectures. Our approach is based on the execution of synchronous programs written in the ForeC programming language on deterministic architectures called PREcision Timed. The originality of the work resides in the time-triggered model of computation and communication that allows for a very precise control over the thread execution. Synchronization is done via configurable Time Division Multiple Access (TDMA) arbitrations where the optimal size and offset of the time slots are computed to reduce the inter-core synchronization costs. We implemented a robotic application and simulated it using MORSE, a robotic simulation environment. Results show that the model we propose guarantees time-predictable inter-core communication, the absence of concurrent accesses (without relying on hardware mechanisms), and allows for optimized execution throughput.

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Section: Deterministic Software Architecturesmentioning

confidence: 99%

Worst-Case Reaction Time Optimization on Deterministic Multi-Core Architectures with Synchronous Languages

Hili

Girault

Jenn

2019

2019 IEEE 25th International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

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“…In contrast to other concurrency extensions of the C/C++ language (e.g., Concurrent C / Real-Time Concurrent C [13], Real-Time C [14]), our model is static and declarative, directly in terms of task and resources building directly on the notions used in context of static schedulability analysis. TinyOS [15] provides through the NesC programming language a static/declarative model, however, TinyOS tasks are executed non-preemptively which largely limits real-time scheduling, whereas RTMF tasks are fully concurrent.…”

Section: Related Workmentioning

confidence: 99%

RTFM-core: Language and implementation

Lindgren

Lindner

et al. 2015

2015 IEEE 10th Conference on Industrial Electronics and Applications (ICIEA)

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Abstract-Robustness, real-time properties and resource efficiency are key properties to embedded devices of the CPS/IoT era. In this paper we propose a language approach RTFMcore, and show its potential to facilitate the development process and provide highly efficient and statically verifiable implementations. Our programming model is reactive, based on the familiar notions of concurrent tasks and (single-unit) resources. The language is kept minimalistic, capturing the static task, communication and resource structure of the system. Whereas C-source can be arbitrarily embedded in the model, and/or externally referenced, the instep to mainstream development is minimal, and a smooth transition of legacy code is possible. A prototype compiler implementation for RTFM-core is presented. The compiler generates C-code output that compiled together with the RTFM-kernel primitives runs on bare metal. The RTFMkernel guarantees deadlock-lock free execution and efficiently exploits the underlying interrupt hardware for static priority scheduling and resource management under the Stack Resource Policy. This allows a plethora of well-known methods to static verification (response time analysis, stack memory analysis, etc.) to be readily applied. The proposed language and supporting tool-chain is demonstrated by showing the complete process from RTFM-core source code into bare metal executables for a lightweight ARM-Cortex M3 target.

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“…Argos [Maraninchi 1991], Statecharts [Harel 1987], SyncCharts [André 1996], Argonaute [Maraninchi 1990], Polis [Balarin 1997], Polychrony ], Scade [Dormoy 2008], Simulink/Matlab ]; Language Extensions. ECL (C) 4 [Lavagno and Sentovich 1999], Jester (Java) [Antonotti et al 2000], Reactive-C (C) [Boussinot 1991], Real-time Concurrent C (C) [Gehani and Ramamritham 1991], RTC++ (C++) [Ishikawa et al 1992], Scoop (Eiffel) [Compton 2000], SugarCubes (Java) [Boussinot and Susini 1998]; Hardware Description Languages. Lava [Bjesse et al 1998], SystemC [Initiative 2006], Verilog [Thomas and Moorby 2002], VHDL [IEEE standard 1988]; Models and Intermediate Formats.…”

Section: Synchronous Languagesmentioning

confidence: 99%

Synchronous programming in audio processing

Barkati

Jouvelot

2013

ACM Comput. Surv.

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The adequacy of a programming language to a given software project or application domain is often considered a key factor of success in software development and engineering, even though little theoretical or practical information is readily available to help make an informed decision. In this paper, we address a particular version of this issue by comparing the adequacy of general-purpose synchronous programming languages to more domain-specific languages (DSL) in the field of computer music. More precisely, we implemented and tested the same lookup table oscillator example program, one of the most classical algorithms for sound synthesis, using a selection of significant synchronous programming languages, half of which designed as specific music languages -Csound, Pure Data, SuperCollider, ChucK, Faust -and the other half being general synchronous formalisms -Signal, Lustre, Esterel, Lucid Synchrone and C with the OpenMP Stream Extension (Matlab/Octave is used for the initial specification). The advantages of these two approaches are discussed, providing insights to language designers and possibly software developers of both communities regarding programming languages design for the audio domain.

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Real-time Concurrent C: A language for programming dynamic real-time systems

Cited by 51 publications

References 7 publications

Worst-Case Reaction Time Optimization on Deterministic Multi-Core Architectures with Synchronous Languages

Worst-Case Reaction Time Optimization on Deterministic Multi-Core Architectures with Synchronous Languages

RTFM-core: Language and implementation

Synchronous programming in audio processing

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