Real-Time Java Platform Programming - Dibble_ Peter C_.pdf - Real-Time Java Platform Programming (1185) - superktos86

Real-Time Java™ Platform Programming

By Peter C. Dibble

Publisher : Prentice Hall PTR

Pub Date : March 11, 2002

ISBN : 0-13-028261-8

Pages : 352

Table of

Contents

Written for experienced Java platform developers, this practical guide provides a solid

grounding in real-time programming. Dibble, a member of the RTSJ expert group, starts

with an overview of real-time issues unique to the Java platform. He then explains how to

use each major feature of the RTSJ.

From broad real-time principles to detailed programming pitfalls, Real-Time Java

Platform Programming covers everything you need to know to build effective RT

programs. Key topics include:

• Interoperability with non-RT code, tradeoffs in real-time development, and RT

issues for the JVMtm software

• Garbage collection, non-heap access, physical and "immortal" memory, and

constant-time allocation of non-heap memory

• Priority scheduling, deadline scheduling, and rate monotonic analysis

• Closures, asynchronous transfer of control, asynchronous events, and timers

Team-Fly ®

Table of Content

Table of Content ...................................................................................................................i

Copyright .............................................................................................................................. v

Preface ................................................................................................................................vi

Introduction ........................................................................................................................vii

Chapter 1. Landscape ........................................................................................................ 1

Java Technology and Real Time .................................................................................. 1

Definition of Real Time .................................................................................................. 3

Java's Problem Domain ................................................................................................. 8

Real-Time Java's Problem Domain ............................................................................. 9

Summary ........................................................................................................................ 10

Chapter 2. Architecture of the Java Virtual Machine ................................................... 11

Write Once, Run Anywhere—Maybe ......................................................................... 11

JVM Components ......................................................................................................... 12

Interpreter Implementation .......................................................................................... 23

Chapter 3. Hardware Architecture .................................................................................. 28

Worst-Case Execution of One Instruction ................................................................. 28

Management of Troublesome Hardware .................................................................. 32

Effects on the JVM ....................................................................................................... 33

Chapter 4. Garbage Collection ....................................................................................... 35

Reference Counting ..................................................................................................... 35

Basic Garbage Collection ............................................................................................ 35

Copying Collectors ....................................................................................................... 39

Incremental Collection ................................................................................................. 41

Generational Garbage Collection ............................................................................... 44

Real-Time Issues .......................................................................................................... 45

Chapter 5. Priority Scheduling ........................................................................................ 46

Scheduling Terms ......................................................................................................... 46

Execution Sequences .................................................................................................. 46

Preemption .................................................................................................................... 47

Fixed versus Dynamic Priority .................................................................................... 49

Priority Inversion ........................................................................................................... 49

Why 32 Priorities? ........................................................................................................ 52

Problems with Priority Scheduling ............................................................................. 53

Chapter 6. Scheduling with Deadlines ........................................................................... 55

Underlying Mechanism ................................................................................................ 55

Scope of the Scheduler ............................................................................................... 56

Some Systems .............................................................................................................. 56

Timing Is Usually Probabilistic .................................................................................... 63

Chapter 7. Rate Monotonic Analysis .............................................................................. 65

Theorems ....................................................................................................................... 65

Restrictions .................................................................................................................... 71

Chapter 8. Introduction to the Real-Time Java Platform ............................................ 74

A Brief History of Real-Time Java .............................................................................. 74

Major Features of the Specification ........................................................................... 76

Implementation ............................................................................................................. 80

RTSJ Hello World ......................................................................................................... 80

Chapter 9. Closures .......................................................................................................... 82

The Language Construct ............................................................................................. 82

Java Closures ............................................................................................................... 82

Limitations of Closures ................................................................................................ 84

Chapter 10. High-Resolution Time ................................................................................. 87

Resolution ...................................................................................................................... 87

The "Clock" .................................................................................................................... 87

HighResolutionTime Base Class ................................................................................ 88

Absolute Time ............................................................................................................... 89

Relative Time ................................................................................................................ 90

Rational Time ................................................................................................................ 90

Chapter 11. Async Events ............................................................................................... 92

Binding a Happening to an Event .............................................................................. 92

Basic Async Event Operation ..................................................................................... 93

Async Events without Happenings ............................................................................ 95

Implementation Discussion ....................................................................................... 100

Chapter 12. Real-Time Threads ................................................................................... 102

Creation ........................................................................................................................ 102

Scheduling ................................................................................................................... 106

Periodic Threads without Handlers .......................................................................... 110

Periodic Threads with Handlers ............................................................................... 115

Interactions with Normal Threads ............................................................................ 122

Changing the Scheduler ............................................................................................ 123

Chapter 13. Non-Heap Memory ................................................................................... 131

The Advantage of Non-Heap Memory ..................................................................... 131

The Allocation Regimes ............................................................................................. 132

Rules ............................................................................................................................. 133

Mechanisms for Allocating Immortal Memory ........................................................ 134

Mechanisms for Allocating from Scoped Memory ................................................. 136

Using Nested Scoped Memory ................................................................................. 142

Using Shared Scoped Memory ................................................................................ 154

Fine Print ...................................................................................................................... 165

Quick Examples .......................................................................................................... 166

Chapter 14. Non-Heap Access ..................................................................................... 169

Interaction with Scheduler ......................................................................................... 169

Rules ............................................................................................................................. 170

Samples ....................................................................................................................... 171

Final Remarks ............................................................................................................. 174

Chapter 15. More Async Events ................................................................................... 176

Async Events and the Scheduler ............................................................................. 176

The createReleaseParameters Method .................................................................. 176

Bound Async Event Handlers ................................................................................... 177

Async Event Handlers and Non-Heap Memory ..................................................... 177

No-Heap Event Handlers vs. No-Heap Threads ................................................... 177

Scheduling ................................................................................................................... 178

Async Event Handlers and Threads ........................................................................ 179

Special Async Events ................................................................................................ 179

Chapter 16. Reusing Immortal Memory ...................................................................... 180

Using Fixed-Object Allocators .................................................................................. 180

Recycling RT Threads ............................................................................................... 181

Recycling Async Event Handlers ............................................................................. 186

Chapter 17. Asynchronous Transfer of Control .......................................................... 189

Thread Interrupt in Context ....................................................................................... 190

Asynchronous Interrupt Firing .................................................................................. 191

Rules for Async Exception Propagation .................................................................. 197

Noninterruptible Code ................................................................................................ 206

Legacy Code ............................................................................................................... 209

Use of ATC for Thread Termination ........................................................................ 209

Chapter 18. Physical Memory ....................................................................................... 211

Physical and Virtual Memory .................................................................................... 212

iii

Physical Memory Manager ........................................................................................ 212

Immortal Physical Memory ........................................................................................ 215

Scoped Physical Memory .......................................................................................... 216

Chapter 19. Raw Memory Access ................................................................................ 217

Security ........................................................................................................................ 218

Peek and Poke ............................................................................................................ 218

Get/Set Methods ......................................................................................................... 219

Mapping ....................................................................................................................... 221

The RawMemoryFloatAccess Class ........................................................................ 222

Chapter 20. Synchronization without Locking ............................................................ 224

Principles of Wait-Free Queues ............................................................................... 226

The Wait-Free Write Queue ...................................................................................... 227

The Wait-Free Read Queue ...................................................................................... 229

The Wait-Free Double-Ended Queue ...................................................................... 230

No-Wait Queues and Memory .................................................................................. 231

Implementation Notes ................................................................................................ 232

Chapter 21. Recommended Practices ......................................................................... 233

Powerful and Easy-to-Use Features of the RTSJ ................................................. 233

Very Powerful and Dangerous Features of the RTSJ ........................................... 234

Very Powerful and Finicky Features of the RTSJ .................................................. 235

Selection of Priorities ................................................................................................. 236

Index ................................................................................................................................. 239

Symbol .......................................................................................................................... 239

A.................................................................................................................................... 239

B .................................................................................................................................... 239

C .................................................................................................................................... 240

D.................................................................................................................................... 240

E .................................................................................................................................... 241

F..................................................................................................................................... 241

G.................................................................................................................................... 241

H.................................................................................................................................... 242

I ..................................................................................................................................... 242

J ..................................................................................................................................... 242

K.................................................................................................................................... 242

L .................................................................................................................................... 242

M ................................................................................................................................... 242

N.................................................................................................................................... 243

O.................................................................................................................................... 243

P..................................................................................................................................... 244

R .................................................................................................................................... 244

S..................................................................................................................................... 244

T .................................................................................................................................... 246

V.................................................................................................................................... 246

W ................................................................................................................................... 246

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