实时Java（影印版）

Preface, xiii

Introduction, xvii

Chapter 1

Landscape, 1

Java Technology and Real Time, 1

Real-Time Programming Requirements, 3

Java and Embedded Real Time, 4

Definition of Real Time, 4

Precision of Measurement, 5

Consistency, 6

Utility Function Curve, 7

Java's Problem Domain, 9

Real-Time Java's Problem Domain, 11

Summary, 12

Chapter 2

Architecture of the Java Virtual Machine, 13

Write Or,ce, Run Anywhere- Maybe, 13

JVM Components, 14

Class Loading, 15

Bytecode Interpreter, 16

Security Manager, 21

Garbage Collector, 23

Thread Management, 27

Input/Output , 28

Graphics, 29

Interpreter Implementation, 30

Standard Interpreter, 30

Optimized Interpreter, 32

JIT, 32

Snippets, 33

Compilation to Independent Process, 35

Native Methods, 35

Compilation to a Native Method, 35

Compilation to the JIT Interface, 36

Chapter 4

Hardware Architecture, 37

Worst-Case Execution of One Instruction, 39

Worst-Case Scenario, 39

Practical Measures, 42

Management of Troublesome Hardware, 43

Managing Demand Paging, 43

Managing DMA, 43

Managing Cache, 44

Managing Address Translation Cache, 44

Managing Interrupts, 45

Effects on the JVM, 45

Chapter 4

Garbage Collection, 47

Reference Counting, 48

Basic Garbage Collection, 48

Mark and Sweep, 49

Defragmentation, 52

Copying Collectors, 53

Incremental Collection, 55

Incremental Garbage Collection in Practice, 57

Generational Garbage Collection, 58

Intergenerationat References, 59

Large Object Store, 60

Real-Time Issues, 60

Chapter 5

Priority Scheduling, 61

Scheduling Terms, 61

Execution Sequences, 62

Preemption, 63

The Seductive Charm of Nonpreemptive Scheduling, 64

Fixed versus Dynamic Priority, 65

Priority Inversion, 65

Why 32 Priorities?, 69

Problems with Priority Scheduling, 71

Chapter 6

Scheduling with Deadlines, 73

Underlying Mechanism, 74

Scope of the Scheduler, 75

Some Systems, 76

Earliest Deadline First (EDF), 76

Least Laxity, 78

Periodic Scheduling, 79

Aperiodic Servers, 79

Handling Overload, 82

Timing Is Usually Probabilistic, 85

Chapter 7

Rate Monotonic Analysis, 87

Theorems, 88'

Liu and Layland's Theorem, 88

A Graphical Approach, 89

Lehoczky, Sha, and Ding's Theorem, 91

Restrictions, 94

Independent Tasks, 94

Deadlines Equal to Periods, 95

Multiprocessor Systems, 96

Chapter 8

Introduction to the Real-Time Java Platform, 97

A Brief History of Real-Time Java, 98

Major Features of the Specification, 100

Threads and Scheduling, 101

Garbage Collection, 102

Asynchronous Event Handlers, 103

Asynchronous Transfer of Control, 104

Memory Allocation, 104

Memory Access, 106

Implementation, 106

RTSJ Hello World, 107

Chapter 9

Closures, 109

The Language Construct, 110

Java Closures, 110

Closure Structure, 110

Closures in the RTSJ, 111

Limitations of Closures, 112

Readability, 112

Local Variables, 113

Constructors, 113

Nesting, 113

Chapter 10

High-Resolution Time, 115

Resolution, 115

The "Clock'', 116

HighResolutionTime Base Class, 117

Absolute Time, 118

Relative Time, 119

Rational Time, 120

Chapter 11

Async Events, 123

Binding a Happening to an Event, 124

Basic Async Event Operation, 125

Async Events without Happenings, 128

Time Triggering, 128

Fault Triggering, 133

Software Event Triggering, 135

Implementation Discussion, 135

Chapter 12

Real-Time Threads, 137

Creation, 138

Scheduling, 143

Inversion Handling, 144

Fixed Priority, 146

Feasibility, 147

Periodic Threads without Handlers, 148

Feasibility Analysis, 153

Periodic Threads with Handlers, 155

Interactions with Normal Threads, 166

Changing the Scheduler, 167

Chapter 13

Non-Heap Memory, 177

The Advantage of Non-Heap Memory, 178

The Allocation Regimes, 178

Rules, 179

Mechanisms for Allocating Immortal Memory, 181

Mechanisms for Allocating from Scoped Memory, 184

Allocation Time, 184

Creating Scoped Memory, 186

Allocation Mechanisms, 188

Finalizers, 191

Using Nested Scoped Memory, 192

The Scope Stack (Tree), 192

The DA G, 193

Practical Use of Nested Scopes, 196

Every Nested Scope Involves Two Memory Areas, 198

Pitfalls, 199

Using executeInArea, 202

Using Standard Classes, 205

Using Shared Scoped Memory, 206

The Scope Stack Revisited, 207

Scope Portals, 214

Fine Print, 220

Quick Examples, 221

Chapter 14

Non-Heap Access, 227

Interaction with Scheduler, 227

Rules, 229

Samples, 231

Final Remarks, 234

Notes, 235

Chapter 15

More Async Events, 237

Async Events and the Scheduler, 237

The createReleaseParameters Method, 238

Bound Async Event Handlers, 238

Async Event Handlers and Non-Heap Memory, 239

No-Heap Event Handlers vs. No-Heap Tl~reads, 239

Scheduling, 240

Minimum Interarrival Time, 240

Async Event Handlers and Threads, 241

Special Async Events, 242

Chapter 16

Reusing Immortal Memory, 243

Using Fixed-Object Allocators, 244

Carrier Objects, 244

Limitations, 245

Recycling RT Threads, 246

Recycling Async Event Handlers, 252

Chapter 17

Asynchronous Transfer of Control, 257

Thread Interrupt in Context, 259

Asynchronous Interrupt Firing, 261

The Timed Class, 261

The interrupt Method, 263

The fire Method, 264

In Summary, 266

Replacement Rules, 267

Rules for Async Exception Propagation, 268

Oblivious catch, 268

Nonmatching dolnterruptible, 269

Matching doInterruptible, 270

Internals, 270

Application Handling for Asynchronous Interrupts, 274

Noninterruptible Code, 278

Special Issues for Synchronized blocks, 281

Legacy Code, 282

Use of ATC for Thread Termination, 283

Chapter 18

Physical Memory, 285

Physical and Virtual Memory, 286

Physical Memory Manager, 287

Memory Type, 288

Removable Memory, 290

Immortal Physical Memory, 291

Scoped Physical Memory, 291

Chapter 19

Raw Memory Access, 293

Security, 295

Peek and Poke, 295

Get/Set Methods, 297

Mapping, 300

The RawMemoryFIoatAccess Class, 301

Chapter 20

Synchronization without Locking, 303

Principles of Wait-Free Queues, 306

Constructors, 306

Common Methods, 307

The Wait-Free Write Queue, 307

Methods, 308

Sharing the Wait-Free Queue, 309

The Wait-Free Read Queue, 310

The Extra Constructor, 310

Methods, 311

The Wait-Free Double-Ended Queue, 311

Methods, 312

No-Wait Queues and Memory, 312

Implementation Notes, 31 3

Chapter 21

Recommended Practices, 315

Powerful and Easy-to-Use Features of the RTSJ, 315

Real-Time Threads, 316

Periodic Threads, 316

Asynchronous Event Handlers, 316

High-Resolution Time, 316

Happenings, 316

Very Powerful and Dangerous Features of the RTSJ, 31 7

Simple, 317

Leaky, 317

Viral, 318

Very Powerful and Finicky Features of the RTSJ, 31 8

Scoped Memory, 318

No-Heap Asynchronous Event Handlers, 319

No-Heap Real-Time Threads, 319

Asynchronously Interrupted Exceptions, 319

Selection of Priorities, 319

Index, 323