Real-Time Java™ Platform Programming

Table of contents

1. Copyright
2. Preface
3. Introduction
4. Landscape
   1. Java Technology and Real Time
   2. Definition of Real Time
   3. Java's Problem Domain
   4. Real-Time Java's Problem Domain
   5. Summary
5. Architecture of the Java Virtual Machine
   1. Write Once, Run Anywhere—Maybe
   2. JVM Components
   3. Interpreter Implementation
6. Hardware Architecture
   1. Worst-Case Execution of One Instruction
   2. Management of Troublesome Hardware
   3. Effects on the JVM
7. Garbage Collection
   1. Reference Counting
   2. Basic Garbage Collection
   3. Copying Collectors
   4. Incremental Collection
   5. Generational Garbage Collection
   6. Real-Time Issues
8. Priority Scheduling
   1. Scheduling Terms
   2. Execution Sequences
   3. Preemption
   4. Fixed versus Dynamic Priority
   5. Priority Inversion
   6. Why 32 Priorities?
   7. Problems with Priority Scheduling
9. Scheduling with Deadlines
   1. Underlying Mechanism
   2. Scope of the Scheduler
   3. Some Systems
   4. Timing Is Usually Probabilistic
10. Rate Monotonic Analysis
    1. Theorems
    2. Restrictions
11. Introduction to the Real-Time Java Platform
    1. A Brief History of Real-Time Java
    2. Major Features of the Specification
    3. Implementation
    4. RTSJ Hello World
12. Closures
    1. The Language Construct
    2. Java Closures
    3. Limitations of Closures
13. High-Resolution Time
    1. Resolution
    2. The “Clock”
    3. HighResolutionTime Base Class
    4. Absolute Time
    5. Relative Time
    6. Rational Time
14. Async Events
    1. Binding a Happening to an Event
    2. Basic Async Event Operation
    3. Async Events without Happenings
    4. Implementation Discussion
15. Real-Time Threads
    1. Creation
    2. Scheduling
    3. Periodic Threads without Handlers
    4. Periodic Threads with Handlers
    5. Interactions with Normal Threads
    6. Changing the Scheduler
16. Non-Heap Memory
    1. The Advantage of Non-Heap Memory
    2. The Allocation Regimes
    3. Rules
    4. Mechanisms for Allocating Immortal Memory
    5. Mechanisms for Allocating from Scoped Memory
    6. Using Nested Scoped Memory
    7. Using Shared Scoped Memory
    8. Fine Print
    9. Quick Examples
17. Non-Heap Access
    1. Interaction with Scheduler
    2. Rules
    3. Samples
    4. Final Remarks
18. More Async Events
    1. Async Events and the Scheduler
    2. The createReleaseParameters Method
    3. Bound Async Event Handlers
    4. Async Event Handlers and Non-Heap Memory
    5. No-Heap Event Handlers vs. No-Heap Threads
    6. Scheduling
    7. Async Event Handlers and Threads
    8. Special Async Events
19. Reusing Immortal Memory
    1. Using Fixed-Object Allocators
    2. Recycling RT Threads
    3. Recycling Async Event Handlers
20. Asynchronous Transfer of Control
    1. Thread Interrupt in Context
    2. Asynchronous Interrupt Firing
    3. Rules for Async Exception Propagation
    4. Noninterruptible Code
    5. Legacy Code
    6. Use of ATC for Thread Termination
21. Physical Memory
    1. Physical and Virtual Memory
    2. Physical Memory Manager
    3. Immortal Physical Memory
    4. Scoped Physical Memory
22. Raw Memory Access
    1. Security
    2. Peek and Poke
    3. Get/Set Methods
    4. Mapping
    5. The RawMemoryFloatAccess Class
23. Synchronization without Locking
    1. Principles of Wait-Free Queues
    2. The Wait-Free Write Queue
    3. The Wait-Free Read Queue
    4. The Wait-Free Double-Ended Queue
    5. No-Wait Queues and Memory
    6. Implementation Notes
24. Recommended Practices
    1. Powerful and Easy-to-Use Features of the RTSJ
    2. Very Powerful and Dangerous Features of the RTSJ
    3. Very Powerful and Finicky Features of the RTSJ
    4. Selection of Priorities
25. Index