Prentice Hall - Real Time Java Platform Programming.pdf
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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
ii
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
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