Article

Java takes flight: time-portable real-time programming with exotasks

Authors:

Joshua Auerbach,

David F. Bacon,

Daniel T. Iercan,

Christoph M. Kirsch,

Rainer TrummerAuthors Info & Claims

LCTES '07: Proceedings of the 2007 ACM SIGPLAN/SIGBED conference on Languages, compilers, and tools for embedded systems

Pages 51 - 62

https://doi.org/10.1145/1254766.1254775

Published: 13 June 2007 Publication History

Abstract

Existing programming methodologies for real-time systems suffer from a low level of abstraction and non-determinism in both the timing and the functional domains. As a result, real-time systems are difficult to test and must be re-certified every time changes are made to either the software or hardware environment. Exotasks are a novel Java programming construct that achievedeterministic timing, even in the presence of other Java threads, and across changes of hardware and software platform. They are deterministic functional data-flow tasks written in Java, combined with an orthogonal scheduling policy based on the logical execution time (LET) model. We have built a quad-rotor model helicopter, the JAviator, which we use as a testbed for this work. We evaluate our implementation of exotasks in IBM's J9 real-time virtual machine using actual flights of the helicopter. Our experiments show that we are able to maintain deterministic behavior in the face of variations in both software load and hardware platform.

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Cited By

Trummer RRoeck HCraciunas SKirsch C(2012)The JAviator: A High-Payload Quadrotor UAV with High-Level Programming CapabilitiesAIAA Guidance, Navigation and Control Conference and Exhibit10.2514/6.2008-7413Online publication date: 15-Jun-2012
https://doi.org/10.2514/6.2008-7413
Kirsch CSokolova A(2011)The Logical Execution Time ParadigmAdvances in Real-Time Systems10.1007/978-3-642-24349-3_5(103-120)Online publication date: 27-Oct-2011
https://doi.org/10.1007/978-3-642-24349-3_5
Spring JPizlo FPrivat JGuerraoui RVitek J(2010)ReflexesACM Transactions on Embedded Computing Systems10.1145/1814539.181454310:1(1-29)Online publication date: 27-Aug-2010
https://dl.acm.org/doi/10.1145/1814539.1814543
Show More Cited By

Index Terms

Java takes flight: time-portable real-time programming with exotasks
1. Computer systems organization
  1. Embedded and cyber-physical systems
  2. Real-time systems
2. Software and its engineering
  1. Software notations and tools
    1. General programming languages
      1. Language types
  2. Software organization and properties
    1. Contextual software domains
      1. Operating systems
        Memory management
        Garbage collection

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Information & Contributors

Information

Published In

cover image ACM Conferences

LCTES '07: Proceedings of the 2007 ACM SIGPLAN/SIGBED conference on Languages, compilers, and tools for embedded systems

June 2007

258 pages

ISBN:9781595936325

DOI:10.1145/1254766

General Chair:
Santosh Pande
Georgia Institute of Technology, USA
,
Program Chair:
Zhiyuan Li
Purdue University, USA

ACM SIGPLAN Notices Volume 42, Issue 7
Proceedings of the 2007 LCTES conference
July 2007
241 pages
ISSN:0362-1340
EISSN:1558-1160
DOI:10.1145/1273444
Issue’s Table of Contents

Copyright © 2007 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 13 June 2007

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LCTES 07

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LCTES 07: ACM SIGBED-SIGPLAN Conference on Languages, Compilers and Tools for Embedded Systems

June 13 - 15, 2007

California, San Diego, USA

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Overall Acceptance Rate 116 of 438 submissions, 26%

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Cited By

Trummer RRoeck HCraciunas SKirsch C(2012)The JAviator: A High-Payload Quadrotor UAV with High-Level Programming CapabilitiesAIAA Guidance, Navigation and Control Conference and Exhibit10.2514/6.2008-7413Online publication date: 15-Jun-2012
https://doi.org/10.2514/6.2008-7413
Kirsch CSokolova A(2011)The Logical Execution Time ParadigmAdvances in Real-Time Systems10.1007/978-3-642-24349-3_5(103-120)Online publication date: 27-Oct-2011
https://doi.org/10.1007/978-3-642-24349-3_5
Spring JPizlo FPrivat JGuerraoui RVitek J(2010)ReflexesACM Transactions on Embedded Computing Systems10.1145/1814539.181454310:1(1-29)Online publication date: 27-Aug-2010
https://dl.acm.org/doi/10.1145/1814539.1814543
McKenzie AGay DNori RDavis JAnderson M(2010)Comparing temporally aware mobile robot controllers built with Sun's Java Real-Time System, OROCOS's real-time toolkit and player2010 IEEE/RSJ International Conference on Intelligent Robots and Systems10.1109/IROS.2010.5650166(1024-1029)Online publication date: Oct-2010
https://doi.org/10.1109/IROS.2010.5650166
Röck HAuerbach JKirsch CBacon DHiguera-Toledano MSchoeberl M(2009)Avoiding unbounded priority inversion in barrier protocols using gang priority managementProceedings of the 7th International Workshop on Java Technologies for Real-Time and Embedded Systems10.1145/1620405.1620416(70-79)Online publication date: 23-Sep-2009
https://dl.acm.org/doi/10.1145/1620405.1620416
Zou JAuerbach JBacon DLee E(2009)PTIDES on flexible task graphACM SIGPLAN Notices10.1145/1543136.154245744:7(31-40)Online publication date: 19-Jun-2009
https://dl.acm.org/doi/10.1145/1543136.1542457
Zou JAuerbach JBacon DLee EKirsch CKandemir M(2009)PTIDES on flexible task graphProceedings of the 2009 ACM SIGPLAN/SIGBED conference on Languages, compilers, and tools for embedded systems10.1145/1542452.1542457(31-40)Online publication date: 19-Jun-2009
https://dl.acm.org/doi/10.1145/1542452.1542457
Auerbach JBacon DIercan DKirsch CRajan VRöck HTrummer R(2009)Low-latency time-portable real-time programming with ExotasksACM Transactions on Embedded Computing Systems10.1145/1457255.14572628:2(1-48)Online publication date: 9-Feb-2009
https://dl.acm.org/doi/10.1145/1457255.1457262
Iercan DFedorovici L(2009)Porting Hierarchical Timing Language on a microcontroller based platform2009 5th International Symposium on Applied Computational Intelligence and Informatics10.1109/SACI.2009.5136258(283-288)Online publication date: May-2009
https://doi.org/10.1109/SACI.2009.5136258
Iercan DVoisan EFedorovici LDragan F(2009)nRobotic: A platform for managing robots with different capabilities2009 5th International Symposium on Applied Computational Intelligence and Informatics10.1109/SACI.2009.5136239(187-192)Online publication date: May-2009
https://doi.org/10.1109/SACI.2009.5136239
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