Article

Design and implementation of a comprehensive real-time java virtual machine

Authors:

Joshua Auerbach,

David F. Bacon,

Michael Dawson,

Mark StoodleyAuthors Info & Claims

EMSOFT '07: Proceedings of the 7th ACM & IEEE international conference on Embedded software

Pages 249 - 258

https://doi.org/10.1145/1289927.1289967

Published: 30 September 2007 Publication History

Abstract

The emergence of standards for programming real-time systems in Java has encouraged many developers to consider its use for systems previously only built using C, Ada, or assembly language. However, the RTSJ standard in isolation leaves many important problems unaddressed, and suffers from some serious problems in usability and safety.

As a result, the use of Java for real-time programming has continued to be viewed as risky and adoption has been slow.

In this paper we provide a description of IBM's new real-time Java virtual machine product, which combines Metronome real-time garbage collection, ahead-of-time compilation, and a complete implementation of the RTSJ standard, running on top of a custom real-time multiprocessor Linux kernel.

We will describe the implementation of each of these components, including how they interacted both positively and negatively, and the extensions to previous work required to move it from research prototype to a system implementing the complete semantics of the Java language. The system has been adopted for hard real-time development of naval weapons systems and soft real-time telecommunications servers. We present measurements showing that the system is able to provide sub-millisecond worst-case garbage collection latencies, 50 microsecond Linux scheduling accuracy, and eliminate non-determinism due to JIT compilation.

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Cited By

Besnard VBrun MJouault FTeodorov CDhaussy PWąsowski APaige RHaugen Ø(2018)Unified LTL Verification and Embedded Execution of UML ModelsProceedings of the 21th ACM/IEEE International Conference on Model Driven Engineering Languages and Systems10.1145/3239372.3239395(112-122)Online publication date: 14-Oct-2018
https://dl.acm.org/doi/10.1145/3239372.3239395
Feng WShi XWang W(2018)Eliminating object reference checks by escape analysis on real-time Java virtual machineCluster Computing10.1007/s10586-018-2145-8Online publication date: 27-Feb-2018
https://doi.org/10.1007/s10586-018-2145-8
Murphy JShivkumar BPritchard AIraci GKumar DKim SZiarek L(2018)A survey of real‐time capabilities in functional languages and compilersConcurrency and Computation: Practice and Experience10.1002/cpe.490231:4Online publication date: 23-Oct-2018
https://doi.org/10.1002/cpe.4902
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Index Terms

Design and implementation of a comprehensive real-time java virtual machine
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Embedded systems
2. Software and its engineering
  1. Software organization and properties
    1. Contextual software domains
      1. Operating systems
        Memory management
        Garbage collection
    2. Software system structures
      1. Embedded software
      2. Real-time systems software

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Published In

cover image ACM Conferences

EMSOFT '07: Proceedings of the 7th ACM & IEEE international conference on Embedded software

September 2007

304 pages

ISBN:9781595938251

DOI:10.1145/1289927

Program Chairs:
Christoph M. Kirsch
University of Salzburg
,
Reinhard Wilhelm
Saarland University

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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Published: 30 September 2007

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September 30 - October 3, 2007

Salzburg, Austria

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Cited By

Besnard VBrun MJouault FTeodorov CDhaussy PWąsowski APaige RHaugen Ø(2018)Unified LTL Verification and Embedded Execution of UML ModelsProceedings of the 21th ACM/IEEE International Conference on Model Driven Engineering Languages and Systems10.1145/3239372.3239395(112-122)Online publication date: 14-Oct-2018
https://dl.acm.org/doi/10.1145/3239372.3239395
Feng WShi XWang W(2018)Eliminating object reference checks by escape analysis on real-time Java virtual machineCluster Computing10.1007/s10586-018-2145-8Online publication date: 27-Feb-2018
https://doi.org/10.1007/s10586-018-2145-8
Murphy JShivkumar BPritchard AIraci GKumar DKim SZiarek L(2018)A survey of real‐time capabilities in functional languages and compilersConcurrency and Computation: Practice and Experience10.1002/cpe.490231:4Online publication date: 23-Oct-2018
https://doi.org/10.1002/cpe.4902
Murphy JShivkumar BZiarek L(2016)Real-time capabilities in functional languages2016 1st CPSWeek Workshop on Declarative Cyber-Physical Systems (DCPS)10.1109/DCPS.2016.7588296(1-10)Online publication date: 12-Apr-2016
https://doi.org/10.1109/DCPS.2016.7588296
Feng WShi XYu H(2015)Optimizing object reference checks on real-time Java virtual machine2015 6th IEEE International Conference on Software Engineering and Service Science (ICSESS)10.1109/ICSESS.2015.7339009(77-80)Online publication date: Sep-2015
https://doi.org/10.1109/ICSESS.2015.7339009
Ugawa TJones RRitson C(2014)Reference object processing in on-the-fly garbage collectionACM SIGPLAN Notices10.1145/2775049.260299149:11(59-69)Online publication date: 12-Jun-2014
https://dl.acm.org/doi/10.1145/2775049.2602991
Stilkerich ITaffner PErhardt CDietrich CWawersich CStilkerich MChatha KErnst RRaghunathan AIyer R(2014)Team upProceedings of the 2014 International Conference on Compilers, Architecture and Synthesis for Embedded Systems10.1145/2656106.2656129(1-10)Online publication date: 12-Oct-2014
https://dl.acm.org/doi/10.1145/2656106.2656129
Ugawa TJones RRitson CGrove DGuyer S(2014)Reference object processing in on-the-fly garbage collectionProceedings of the 2014 international symposium on Memory management10.1145/2602988.2602991(59-69)Online publication date: 12-Jun-2014
https://dl.acm.org/doi/10.1145/2602988.2602991
Rios JSchoeberl M(2014)Reusable Libraries for Safety-Critical JavaProceedings of the 2014 IEEE 17th International Symposium on Object/Component-Oriented Real-Time Distributed Computing10.1109/ISORC.2014.27(188-197)Online publication date: 10-Jun-2014
https://dl.acm.org/doi/10.1109/ISORC.2014.27
Hamza HCounsell SPlümicke MBinder W(2013)Exploiting slicing and patterns for RTSJ immortal memory optimizationProceedings of the 2013 International Conference on Principles and Practices of Programming on the Java Platform: Virtual Machines, Languages, and Tools10.1145/2500828.2500845(159-164)Online publication date: 11-Sep-2013
https://dl.acm.org/doi/10.1145/2500828.2500845
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