• 实时任务类型与约束模型 – Assumptions about task timing,interaction,。。。 • 任务调度算法Scheduling Algorithm – Scheduling mode and selection function • Timeliness:deadline,worst response time,。。。 • Efficiency:average response time,makespan – Prioritized goals • Temporal predictability first,performance second • 可调度分析Schedulability Test – Prediction of worst-case behavior – 基于CPU利用率(workload analysis) • for preemptive and strictly periodic tasks? – WCRT(Response time analysis) • for preemptively feasible task sets with D ≤ T
• 分布式实时系统 – Leslie Lamport • “A system is distributed if the message transmission delay is not negligible compared to the time between events in a single process.” [Lam78b]. • Real-Time Systems and Dependable Systems – Temporal properties • Timing constraints on interface, including ordering restrictions • 分布式通信协议 – OSI collapsed model – LIN/CAN • 时间同步 • TTP协议 • H. Kopetz. • P. Veríssimo and L. Rodríguez