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Real Time Systems

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Real time Systems:-
Definition:-
A real time system is basically an information processing system which has to respond to externally generated input stimuli within a specific timeframe. * The correctness depends on the time it was delivered not only on the logical result it generally produced. * Failure encounters a wrong response
A real time system is actually a system that acts to the event within a specified time period. A real time system depicts those systems which have to perform certain calculation within specific time period, delayed results may be considered wrong. In 2001, Shaw explained that real time systems have a very limited time constraints which are defined by the systems requirements, which reflects the aspects of outer world. Real time systems are now become important part of this modern age, safety and privacy issues and performance of such systems have also been raised .In 2000 Halang and Druzovec explained that performance in real time system depends on higher bandwidth, faster response and faster computation power. A real time systems state is dependent on a function of physical time eg; a chemical reaction continues to change its state from one state to another even after the supervising computer system is stopped. This real time system can easily be decomposed into a set of subsystems i.e. human operator, controlled object, real time computer system. A real time system must react to the stimuli with the help of the controlled object within specific time period. Typical examples of real time systems include multimedia applications, command control systems, air traffic control systems, space systems, embedded automotive electronics etc. Real time systems are classified into two categories:- * Factors outside the computer system * Factors inside the computer system
Characteristics of Real time systems:-
Real time systems react timely to given stimuli; in real time software it is extremely necessary to express the timing requirements. Anyhow the application must be able to access clock and express time.
Real time system possess following major characteristics:- * Fast and predictive * Reliable * Adaptive

Real time Systems and their Environment:-
A real time system is also used to control some process in their physical state. Real time systems are basically embedded in some physical entity. For instance if u take the example of microwave oven, there are some event that occur according to the situations ,on pressing the button of microwave oven it start to perform it’s functionality. In such embed systems control program is built on some hardware, termed as embedded device. These embedded devices consist of some processors, chips, communication ports etc. Embedded systems are actually consumer products which include televisions, microwave ovens etc. Cost factor can be brought under control by embedded devices implemented with minimum memory and resources. Transformation from physical state to data oriented representation is required to present the system in the environment. For example if you take the example of cooling process it is necessary to convert the surrounding temperature to numeric value in order to perform the processing. The conversion is carried out with the help of mechanical and electrical devices termed as sensors and actuators. The correctness of real time systems not only depends on the correct results produced but depends also on the correct and exact timings of produced result.

Validation conditions:- * High reliability and robustness demand
Real time systems have also been used to control the tasks and processes in its surroundings. The reliability and robustness imposed on such systems are high. Real time systems are part of embedded devices that are used in many appliances such as television, microwave ovens etc.

* Platform dependence
Appliances are bounded with some specific hardware platform. Because the functionality provided by the platform is used in such appliances. This dependence on specific hardware platform makes the developers of the system vulnerable to change hardware specifications. Therefore an abstraction from hardware is necessary for economical point of view and as well as it is important for quality too.

* Well defined environments:-
A great effort is spent to understand the nature of the environment, due to high robustness and reliability demands. In order to produce good control programs the understanding of the environment is extremely important. These formulations of environments are visualized and are used in validation process.

* Analysis of real time requirements:-
To analyze the real time systems it is first important to analyze the worst case conditions to ensure whether a system meet the requirements of platform or not. One way to know the worst case scenario is to calculate the amount of time a task will take. Another way to visualize the system is to know the knowledge of the execution platform.

* Complicated debugging of real time systems:-
When some error is encounter in real time systems it is difficult to know the cause of error and hence difficult to fix the problem at run time.

Real time Applications:-
Real time applications usually vary in cost, size, performance, sensitivity from wrist watches and microwave ovens to factory automation and nuclear power plant system. After applying a general methodology on the development of such systems we came to know that such a process must scale from small 4 bits and 8 bits to networked arrays of powerful processors coordinating with each other to fulfill the requirements. As in real time systems performance, timeliness and scheduling is important to correctness collectively.

What’s special about real time systems:-
Real time systems basically lie on some non-computerized devices as they don’t have a conventional computer display or a keyboard. The users of these devices may usually not be aware of the embedded computer which lies inside it to make certain decisions. A real time system encompasses all devices with performance constraints. Most real time systems are a mix of hard and soft real time, together with some requirements. Most real time systems interact directly with electronic devices and individually with mechanical devices. All real time system is either monitor or control hardware. On the other hand real time systems interact with users.

Classifications of real time systems:- * Hard real time systems(eg, avionic control) * Soft real time systems(eg, video on demand) * Firm real time systems(eg, banking)
Real time systems can be classified into various categories. The first two classification of real time systems depends on the characteristics of the application i.e. factors outside the computer systems. But soft and real time systems were given importance .A missed deadline in hard real time systems is catastrophic and in soft real time system basically leads to significant loss. So, Predictability is the most important issue in such systems which can be achieved by dynamic or static scheduling of real time tasks.
Hard real time:-
Hard real time system is a hardware or software which states that a certain task should be completed within a deadline specified. The application will fail in case if the required functionality is not meet within the deadline. Hard real time systems are very predictable but they are not flexible enough to adapt changes brought in the system. During the processing if an event occurs it has to be serviced with the predictable time span in hard real time. Hard real time system basically ensures a predictable performance within the time period with no deadline miss. In hard real time the response time requirements are in milliseconds order or may be less it results in catastrophic if not accomplished. Peak-load performance is predictable in hard real time and it should not violate the specified deadline. Within the state of all cases a hard real time should remain synchronous. There are safety concerns with hard real time too. Roll back/recovery in hard real time systems is not generally used. Examples of hard real time systems include automobile engine control system, anti-lock brake, components of pacemaker, aircraft control system etc.
Soft real time:-
In soft real time it is not a compulsion to complete a provided task within specified deadline, even if the deadline time period ends up it can easily be tolerated, but such behaviors are disliked. In soft real time the order of execution of tasks is defined, context switching, interrupt latencies are small in number and deadline misses usually do not matter in soft real time. Response time requirements of soft real time are higher than hard real time. Peak-load can also be tolerated in soft real time systems .Response time is reduced in soft real time if the load is high. Soft real time systems are designed in such a way that it reduces the resources consumptions, lessen the load and easily adapt itself to the changing system. Late processing of computed calculation is not that much significant as compare to the operations of the system. Late arrivals can easily be tolerated. Examples of soft real time systems include mobile phones, digital cameras, multimedia application, orchestra, robots etc.

Importance of hard and soft time:-
Hard real time systems are implemented as they ensures that provided functionality will be achieved in a worst case time period too. Therefore foe those projects which deals in safety or system that could result in large investment in case of failure, hard real time systems are generally used there. Whereas soft real time systems are designed in such a way that they usually fulfills our timely requirements most of the time but without absolute certainty. This kind of behavior can be acceptable for video processing. Where if a data frame is lost it don’t create a problem but this is not considered good.
Object oriented design:-
Object oriented design is basically a strategy in which the designers of the proposed system think in terms of things, rather than operations or functions. The processing system is composed of its own interacting objects that keep itself in their own particular state and provides certain operations on the basis of information provided to them. About the representation of the sate they hide information and provide limited access to it. An object oriented design process involves defining the software objects and how they collaborate with each other to fulfill the requirements.. During object oriented analysis there is emphasis on finding or describing the objects or concepts in project domain. Object oriented analysis is concerned in constructing the object oriented model of the entire application and object oriented design is concerned in building the object oriented model of the software system to implement the mentioned requirements.
Products of design process:-
There are six products of design process in total. The first is class diagram, a static view of class definition is usually shown with class diagram. The second product is object diagram; specification of each individual object is mentioned in object diagram. The third and fourth products are state transition diagram and timing diagrams. Fifth is module diagram which shows the individual specification of each module. And the final product is process diagram, which depicts the processing of individual processes.
How does UML applied to real time systems:-
Real time UML is standard UML. According to Grady Booch in 1997 UML is necessary for real time systems. In 1999 Selic suggested that there are number of calls to extend UML for real time domain but this is not that much necessary.

Real time and embedded applications:- * Special concerns about quality of service(QOS) * Special concerns about safety and reliability * Special concerns about low level programming
Real time UML is basically about applying UML to meet the concerns of embedded domains and real time systems.
Role of UML:-
The role of UML is to facilitate:- * Specifying ,visualizing and understanding the actual problem * Capturing and communication knowledge in problem solving * Specifying constructing and visualizing the documenting solutions * Constructing models for the system

Need for adopting the UML in real time systems:-
It provides the visual modeling of the system and help developers of the system to understand the behavior of the system.

Building blocks of object oriented design:-
Class diagram
Sequence diagram
Component diagram
Activity diagram
Collaboration diagram
State chart model diagram
Deployment diagrams

Object oriented for real time concepts:-
The design of real time systems must define the timing requirements of the system, and ensures that the system performance is both logically and timely correct. If object oriented technology is applied in the development of real time system it will then provide the ease of modification, adaption and reusability of such systems. In information management systems object oriented methods are quite popular as they fulfill the need of dealing with the data that can be found in system. In 1996 Awad and Ziegler proposed that such methods meet the requirements of the real time systems. Real time systems imposed specific constraints in their design, such as concurrent usage of processes which are provided by the operating system, synchronizing the access to the shared resources and the occurrence of events in an unknown order, the object oriented techniques are required.
Awad and Ziegler argued that in real time systems object oriented methods should provide the capabilities to concurrent response to the external world events. Usually some concurrency is implemented through a thread, process and task but in object oriented methods objects are given importance. There is a difficulty of implementing object oriented methods in real time systems to achieve concurrent response from external world is in combing both object centered view and process centered view.
Awad and Ziegler suggested that concurrency response to external events is achieved usually through implicit concurrency model or the implicit concurrency model. In implicit concurrency model each object is considered as a unit that can easily perform concurrently requests with other objects. Whereas in Explicit Concurrency Model concurrency is addressed first with the help of notation of process.
In 2003 Vesti suggested that real time systems are restricted to time requirements and also argued that there are some of the reasons which make it evident why not to use the object oriented design in real time systems. Some of these reasons are, programming performance overheads due to conceptual representation object oriented design, object oriented deals only with objects technology and don’t have anything to do with time requirements, object oriented methodologies and methods do not define time constraints, memory leaks can create a problem in real time systems, execution time of application and power consumption should be measured in object oriented programming.
Object oriented programs basically depends on compilers and is less efficient and slower when it comes to real time systems that operate with certain time constraints. This disadvantage can be prevented by using object oriented technology in real time systems, depending on the environment and nature of the proposed system.
For the developers of real time system impact of design and effective and efficient facility of communication can be a tough task. To provide good architectural design it is important to firstly capture the proven architectural design patterns of the domain as first class modeling construct. UML for real time is a complete modeling standard, which combines special modeling construct, UML modeling concepts and formalisms that are implemented in object time developer.
Modeling perspective:-
UML for real time systems ensures best engineering practices that have been remain successful in modeling complex and large real time systems. This part elaborates role models and their relationships with class and instance models.

A class model:-
A class model is the generalized view of the entire system it shows the classes of the system and their relationship. It shows static class objects in a system with their relationships.

Instance model:-
In instance model the properties of the inheritance of classes in an application is highlighted. Instance model is a low-level specialized view of the proposed system. Interaction and collaboration diagrams are used to capture the instance model. Instance model basically provide the ground level scenario based view of the design.

Role model:-
Role model is actually an intermediate view of the system. It is both generalization of instance classes and specialization of a class model. It captures the structural patterns and properties of the system that are true. Role model defines the architecture while analyzing the system.
To validate the system architecture we can use the instance model. For more general class models role model can be used as a specification. Class model provide classes to be used in role model. Object time developer is only the real time system software that implements the UML modeling. UML for real time system is the visual modeling that let the developers view the behavior of the application.
Structural Elements and Diagrams:-
Object oriented design has a wide set of structural elements that helps in visualizing the core application architecture.
Objects, Classes and Interfaces:-
User model is composed of several structural elements and concepts that include class, object, data type and interface. These structural elements collaborate with one another to make a structural design of user model. An object is basically a data structure which performs different operations on defined data. An object occupies some space in memory and it only exists at run-time means when the program is in running condition. Attributes store the data of objects. Methods are defined as a behavior that acts on the data. Interfaces don’t have any attributes or methods, nor its object can be created.
Class notation:-

Interface:-

UML for real time is actually an extension to the visual modeling language which targets the complex, event driven real time systems which are usually found in aerospace system, defense and automatic control applications. Collaboration diagrams which define the architectural design patterns specify the components of software structure. UML for real time is visual modeling that enables the developers to view the way in the real time system would actually react. Design Patterns associated with object oriented for real time Systems:- The design and development of real time software is very difficult comparative to other software. But modeling tools helps developers in viewing the system architecture at each level; it also helps them in visualizing different aspects of the system by showing the animation of system models and even generates the code for different hardware configurations. A natural extension to these tools is to provide support for different design patterns. These extensions provide a layer of abstraction to the models. Rose-RT toolset:- Rose-RT toolset extends rational rose helps developers in visualizing the proposed system and possesses code generation capabilities. Rose-RT toolset is the most suitable tool for extensions stated for three basic reasons:- * The tool allows visual modeling of system structure and behavior. * This tool also supports explicit modeling issues. * Lastly it provides the facility of code generation. RTOO Design Patterns:- For the developers of the system patterns concepts are proven useful. The RTOO design patterns can either be termed as general specific or domain specific patterns. The general purpose pattern includes Douglass real time design patterns which addresses variety of deign issues such as reliability, behavior, safety, distribution, the domain specific patterns can be categorized as embedded computer systems, process control, telecommunications. The process control patterns include the patterns for fire control system, avionic system etc. Telecommunication pattern deals with robustness and the efficient performance. Embedded computer systems emphasis on issues such a distribution and management of resources, scheduling, optimization and porting issues. Advantages of objects oriented design and real time systems:- Object oriented design helps in visualizing the systems internals behavior which in turn helps the developers to understand the working of the entire system. It helps in communicating and capturing knowledge in the problem domain. Object oriented design propose the adequate solution to the problem that occur in the system. References:- Kanaka Juvva. (1998). Real-Time Systems. Available: http://www.ece.cmu.edu/~koopman/des_s99/real_time/. Last accessed 2th Aug 2012 John Cage . (2011). My personal manifesto about the widely misunderstood field of real-time systems. Available: http://www.real-time.org/hardandsoftrealtime.htm. Last accessed 3th Aug 2012. Dan Ionescu, Aurel Cornell. (). Real time Systems. Available: http://books.google.com.pk/books?id=S6UFNHGIW00C&printsec=frontcover&dq=real+time+systems&hl=en&sa=X&ei=mDeDT8DwKdDMrQfa7PzdBQ&ved=0CDcQ6AEwAQ#v=onepage&q=real%20time%20systems&f=false. Last accessed 2th Aug 2012. Jeff Nokes. (1999). real-time operating system (RTOS). Available: http://searchdatacenter.techtarget.com/definition/real-time-operating-system. Last accessed 2th Aug 2012. John Cage. (2011). My personal manifesto about the widely misunderstood field of real-time systems "I don't understand why people are frightened of new ideas. It's the old ideas that frighten me." . Available: http://www.real-time.org/realtime.htm. Last accessed 2th Aug 2012. STEPHEN J. MELLOR AND ALASDAR MULLARNEY, MENTOR GRAPHICS. (2005). Developing Real-Time Systems with UML. Available: http://www.rtcmagazine.com/articles/view/100288. Last accessed 2th Aug 2012. Jim Rumbaugh,Bran Selic. (2003). Using UML for modeling complex real-time systems. Available: http://www.ibm.com/developerworks/rational/library/139.html. Last accessed 2th may 2012.

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