Burns, wellings concurrent and real time programming in ada

He is interested in most aspects of the design and tion of real-time dependable computer systems and, in particular, in real-time programming languages and operating systems.. Due to spa

C O N C U R R E N T A N D R E A L - T I M E

P RO G R A M M I N G I N A DA

Ada is the only ISO standard, object-oriented, concurrent, real-time programming language It

is intended for use in large, long-lived applications where reliability and efficiency are tial, particularly real-time and embedded systems In this book, Alan Burns and Andy Wellings give a thorough, self-contained account of how the Ada tasking model can be used to con- struct a wide range of concurrent and real-time systems This is the only book that focuses on

essen-an in-depth discussion of the Ada tasking model Following on from the authors’ earlier title

‘Concurrency in Ada’, this book brings the discussion up to date to include the new Ada 2005 language and the recent advances in real-time programming techniques It will be of value to software professionals and advanced students of programming alike; indeed, every Ada pro- grammer will find it essential reading and a primary reference work that will sit alongside the language reference manual.

A LAN B URNS is a Professor in Computer Science at the University of York His research tivities have covered a number of aspects of real-time and safety critical systems, including the assessment of languages for use in the real-time safety critical domain, distributed operating systems, the formal specification of scheduling algorithms and implementation strategies, and the design of dependable user interfaces to safety critical applications His teaching activities include courses in Operating Systems, Scheduling and Real-time Systems He has authored over 370 papers and reports and 8 books, including ‘Real-time Systems and Programming Lan- guages’ (3rd Edition), ‘Concurrency in Ada’ (2nd Edition) and ‘Concurrent and Real-Time Programming in Java’.

ac-A NDY W ELLINGS is a Professor of Real-Time Systems in the Computer Science Department

at the University of York He is interested in most aspects of the design and tion of real-time dependable computer systems and, in particular, in real-time programming languages and operating systems He is European Editor-in-Chief for the Computer Science journal ‘Software-Practice and Experience’ and a member of the International Expert Groups currently developing extensions to the Java platform for real-time, safety critical and distributed programming He has authored over 280 papers and several books, including ‘Real-time Sys- tems and Programming Languages’ (3rd edition) and ‘Concurrency in Ada’ (2nd edition).

implementa-C O N implementa-C U R R E N T A N D R E A L - T I M E

P RO G R A M M I N G I N A DA 2 0 0 5

A L A N BU R N S A N D A N DY W E L L I N G S

University of York

Cambridge, New York, Melbourne, Madrid, Cape Town, Singapore, São Paulo Cambridge University Press

The Edinburgh Building, Cambridge CB2 8RU, UK

First published in print format

ISBN-13 978-0-521-86697-2

ISBN-13 978-0-511-29663-5

© A Burns and A Wellings 2007

2007

Information on this title: www.cambridge.org/9780521866972

This publication is in copyright Subject to statutory exception and to the provision of relevant collective licensing agreements, no reproduction of any part may take place without the written permission of Cambridge University Press.

ISBN-10 0-511-29663-0

ISBN-10 0-521-86697-9

Cambridge University Press has no responsibility for the persistence or accuracy of urls for external or third-party internet websites referred to in this publication, and does not guarantee that any content on such websites is, or will remain, accurate or appropriate.

Published in the United States of America by Cambridge University Press, New York www.cambridge.org

hardback

eBook (NetLibrary) eBook (NetLibrary) hardback

2 The nature and uses of concurrent programming 15

3.4 System performance, correctness and reliability 36

4 Task types and objects 55

6.8 Summary of the selective accept statement 118

Contents vii

7.8 Elaboration, finalisation and exceptions 146

7.11 The specification of synchronisation agents 151

8 Avoidance synchronisation and the requeue facility 163

8.4 Real-time solutions to the resource control problem 183

9.4 Understanding the asynchronous select statement 212

10 Object-oriented programming and tasking 223

12 Tasking and systems programming 293

13.5 Active priorities and dispatching policies 327

15 Timing events and execution-time control 361

16.5 Aperiodic release mechanisms and execution-time servers 407

17 Restrictions, metrics and the Ravenscar profile 433

17.1 Restricted tasking and other language features 433

17.4 Examples of the use of the Ravenscar profile 440

The development of the Ada programming language forms a unique and, at times,intriguing contribution to the history of computer languages As all users of Adamust know, the original language design was a result of competition between anumber of organisations, each of which attempted to give a complete languagedefinition in response to a series of documented requirements This gave rise toAda 83 Following 10 years of use, Ada was subject to a complete overhaul Theresulting language, Ada 95, had a number of significant changes from its predeces-sor A further 10 years of use has produced another version of Ada, known as Ada

2005, this time the changes are less pronounced and yet there are some key extrafacilities, especially in the areas of real-time programming

Closely linked to the development of Ada has been this book on its concurrentfeatures Starting out as ‘Concurrent Programming in Ada’, it became ‘Concur-rency in Ada’ when the Ada 95 version of the language was defined There weretwo editions of this title With the new features of Ada 2005, it has been decided tobroaden the focus of the book to include real-time issues – hence this first edition

of the new title ‘Concurrent and Real-Time Programming in Ada 2005’ No priorknowledge of concurrent programming (in general) or of Ada tasking (in particu-lar) is assumed in this book However, readers should have a good understanding

of at least one high-level sequential programming language and some knowledge

of operating system principles

This book is aimed both at professional software engineers and at students ofcomputer science (and other related disciplines) Many millions of lines of Ada

83 and 95 code have been produced world wide, and over the next decade a widerange of new applications will be designed with Ada 2005 as the target language

It is important that Ada programmers do not restrict themselves to a sequentialsubset of the language on the dubious assumption that tasking is not appropriate

to their work, or for fear that the tasking model is too complex and expensive.Tasking is an integral part of the language, and programmers must be familiar with,

if not experienced in, its use Due to space considerations, books that describethe entire language may not deal adequately with the tasking model; this booktherefore concentrates exclusively on this model.

Students studying real-time programming, software engineering, concurrent gramming or language design should find this book useful in that it gives a compre-hensive description of the features that one language provides Ada is not merely

pro-a product of pro-acpro-ademic resepro-arch (pro-as pro-are mpro-any concurrent progrpro-amming lpro-angupro-ages)but is a language intended for actual use in industry Its model of tasking wastherefore integrated into the entire language design, and the interactions betweentasking and non-tasking features were carefully defined Consequently, the study

of Ada’s model of concurrency should be included in those advanced courses tioned above However, this does not imply that the full tasking model is free fromcontroversy, has a proven formal semantic basis or is amenable to efficient imple-mentation The nature of these areas of ‘discussion’ are dealt with, as they arise inthis book

men-Unlike Ada 83, which defined a single language, the Ada 95 and 2005 definitionshave a core language design plus a number of domain-specific annexes A compilerneed not support all the annexes but it must support the core language Most of thetasking features are contained in the core definition But there are relevant annexesthat address systems programming and real-time programming

The first chapter provides a basic introduction to concurrent and real-time tems and gives an overview of the clock facilities within Ada

sys-Chapters 2 and 3 look in detail at the uses of concurrent programming and theinherent difficulties of providing inter-process communication There is, as yet, noagreement on which primitives a concurrent programming language should supportand, as a consequence, many different styles and forms exist In order to understandthe Ada tasking model fully, it is necessary to appreciate these different approachesand the problems faced by the user of any language that supports multi-processing.The Ada task is introduced in Chapter 4 and the rendezvous and the importantselect statement are considered in the following two chapters The rendezvous pro-vides a synchronous communication mechanism Data-orientated asynchronouscommunication is considered in Chapter 7, together with the important abstraction

of a protected object This provides a passive means of encapsulating data and viding mutual exclusion An effective way of increasing the expressive power ofthe communication primitives is the requeue facility This is described, with manyexamples given, in Chapter 8 The relationship between tasks and exceptions isdealt with in Chapter 9 This chapter also covers the means by which one task canaffect the behaviour of another task asynchronously

pro-Chapter 10 considers the interplay between tasking and the object-orientatedprogramming features of the language This forms the basis from which a collec-

Preface xiiition of concurrency utilities can be defined A number of these are provided inChapter 11.

As indicated earlier, a number of the annexes deal with issues of relevance toconcurrent programming Chapter 12 considers systems programming (includingsupport for low level programming) For real-time programmers, perhaps the mostimportant issue is scheduling Ada provides a comprehensive list of features thatare covered in Chapters 13 and 14 In addition to scheduling, real-time programsneed to have control over when events are executed and control over the resourcesthat tasks and groups of task require at run-time These issues are covered in Chap-ter 15

Having introduced all of Ada’s relevant features, Chapter 16 then provides acollection of real-time utilities that can be used to gain access to the power of thelanguage This is followed in Chapter 17 by consideration of the usefulness ofsubsetting Ada and using profiles to gain access to efficient and certifiable imple-mentations In particular, the Ravenscar profile is described in this chapter Finally,

in Chapter 18 conclusions are provided and a short summary of the differences tween Ada 2005 and Ada 95 is given in the context of concurrent and real-timeprogramming, together with a brief look to the future

be-The material presented in this book reflects the authors’ experiences in both ing and teaching Ada tasking Teaching experience has been obtained by writingand presenting courses at the University of York (UK) and by developing educa-tional material and training

us-Further material

Further material on all aspects of real-time and concurrency in Ada 2005 can befound on a www page dedicated to this book:

http://www.cs.york.ac.uk/∼rts/ada/CRTIA.html.

Real-time systems research at York

Alan Burns and Andy Wellings are members of the Real-Time Systems ResearchGroup in the Department of Computer Science at the University of York (UK).The aim of the group is to undertake fundamental research, and to bring mod-ern techniques, methods and tools into engineering practice Areas of application

of our work include space and avionic systems, engine controllers, automobilecontrol, manufacturing systems, sensor nets and multi-media systems Specifi-cally, the group is addressing: scheduling theories, language design, kernel design,communication protocols, distributed and parallel architectures and program codeanalysis

Further information about the group’s activities can be found via our www page:http://www.cs.york.ac.uk/∼rts

Acknowledgements

The authors would like to thank the following individuals who have, directly orindirectly, helped during the preparation of this book In particular, John Barnes,Andrew Borg, Javier Miranda, Pat Rogers, Ed Schonberg, and Tucker Taft.The authors also wish to thank members of ISO committee ARG and attendees

of the IRTAW series for their input to some of the issues discussed in this book.Finally, we would like to thank the AdaCore GNAT project team for all theirefforts to produce a public domain Ada 2005 compiler Writing a book for a newlanguage is very difficult when there are no validated compilers to help test thecode Access to the GNAT system has provided us with more confidence that thecode given in this book is at least syntactically correct!

Introduction

Designing, implementing and maintaining software for large systems is a trivial exercise and one which is fraught with difficulties These difficulties re-late to the management of the software production process itself, as well as to thesize and complexity of the software components Ada is a mature general-purposeprogramming language that has been designed to address the needs of large-scalesystem development, especially in the embedded systems domain A major aspect

non-of the language, and the one that is described comprehensively in this book, is itssupport for concurrent and real-time programming

Ada has evolved over the last thirty years from an object-based concurrent gramming language into a flexible concurrent and distributed object-oriented lan-guage that is well suited for high-reliability, long-lived applications It has beenparticularly successful in high-integrity areas such as air traffic control, space sys-tems, railway signalling, and both the civil and military avionics domains Adasuccess is due to a number of factors including the following

pro-• Hierarchical libraries and other facilities that support large-scale software

devel-opment

• Strong compile-time type checking.

• Safe object-oriented programming facilities.

• Language-level support for concurrent programming.

• A coherent approach to real-time systems development.

• High-performance implementations.

• Well-defined subsetting mechanisms, and in particular the SPARK subset for

formal verification

The development and standardisation of Ada have progressed through a number

of definitions, the main ones being Ada 83 and Ada 95 Ada 2005 now builds

on this success and introduces a relatively small number of language changes toprovide:

• Better support for multiple inheritance through the addition of Java-like

inter-faces

• Better support for OO style of programming by use of the Object.Operator

notation

• Enhanced structure and visibility control via the introduction of ‘limited with

clauses’ that allow types in two library packages to refer to each other

• More complete integration between object-oriented and concurrent

program-ming by the introduction of synchronised interfaces

• Added flexibility to the support for real-time systems development via

alterna-tive scheduling mechanisms and more effecalterna-tive resource monitoring

• A well-defined subset of the tasking model, called the Ravenscar profile, for

high-integrity applications

• New library packages, for example an extensive ‘containers’ package for lists,

maps, vectors etc

Ada 2005 attempts, successfully, to have the safety and portability of Java andthe efficiency and flexibility of C/C++ It also has the advantage of being an inter-national standard with clear well-defined semantics

The reference manual for Ada (ARM) differentiates between the ‘core’ languageand a number of annexes Annexes do not add to the syntax of the language but giveextra facilities and properties, typically by the introduction of language-definedlibrary packages For the focus of this book, the key elements of the referencemanual are Chapter 9 which deals with tasking and the Real-Time Systems Annex(Annex D) In terms of presentation, this book does not draw attention to corelanguage or annex-defined facilities All are part of the Ada language

The remainder of this chapter provides an introduction to concurrency and time The book then considers, in depth, the role that Ada can play in the con-struction of concurrent and real-time systems It gives particular emphasis to thenew features of Ada 2005 However, prior knowledge of the earlier language defi-nitions is not required as a complete description of these features is provided Butthe reader is assumed to be familiar with object-oriented programming in sequen-tial Ada For a more detailed discussion on the sequential aspects of Ada, thereader should see the further reading section at the end of this chapter

real-1.1 Concurrency

Support for concurrency in a language allows the programmer to express (potential)parallelism in application programs There are three main motivations for wanting

to write concurrent programs

• To fully utilise the processor – Modern processors run at speeds far in excess of

1.2 Real-time systems 3the input and output devices with which they must interact Concurrency allowsthe programmer to express other activities to be performed while the processor

is waiting for IO to complete

• To allow more than one processor to solve a problem – A sequential program

can only be executed by one processor (unless the compiler has transformed theprogram into a concurrent one) A concurrent program is able to exploit trueparallelism and obtain faster execution

• To model parallelism in the real world – Real-time and embedded programs

have to control and interface with real-world entities (robots, conveyor beltsetc.) that are inherently parallel Reflecting the parallel nature of the system

in the structures of the program makes for a more readable, maintainable andreliable application

One of the major criticisms of concurrent programming is that it introduces heads and therefore results in slower execution when the program is running on asingle-processor system Nevertheless, the software engineering issues outweighthese concerns, just as the efficiency concerns of programming in a high-level se-quential language are outweighed by its advantages over programming with anassembly language Chapter 2 further explores these concerns, and discusses indetail the nature and use of concurrent programming techniques

over-Writing concurrent programs introduces new problems that do not exist in theirsequential counterparts Concurrent activities need to coordinate their actions, ifthey are to work together to solve a problem This coordination can involve in-tricate patterns of communication and synchronisation If not properly managed,these can add significant complexity to the programs and result in new error condi-tions arising These general problems and their solutions are explained in Chapter

3 Chapters 4–11 then discuss in detail the facilities that Ada provides to create

concurrent activities (called tasks in Ada) and to manage the resulting

communi-cation and synchronisation needs

1.2 Real-time systems

A major application area of concurrent programming is real-time systems Theseare systems that have to respond to externally generated input stimuli (includingthe passage of time) within a finite and specified time interval They are inherentlyconcurrent because they are often embedded in a larger engineering system, andhave to model the parallelism that exists in the real-world objects that they aremonitoring and controlling Process control, manufacturing support, command andcontrol are all example application areas where real-time systems have a major role

As computers become more ubiquitous and pervasive, so they will be embedded

in a wide variety of common materials and components throughout the home andworkplace – even in the clothes we wear These computers will need to react withtheir environment in a timely fashion.

It is common to distinguish between hard and soft time systems Hard

real-time systems are those where it is absolutely imperative that responses occur withinthe specified deadline Soft real-time systems are those where response times areimportant, but the system will still function correctly if deadlines are occasionallymissed Soft systems can be distinguished from interactive ones in which there are

no explicit deadlines For example, the flight control system of a combat aircraft

is a hard real-time system because a missed deadline could lead to a catastrophicsituation and loss of the aircraft, whereas a data acquisition system for a processcontrol application is soft, as it may be defined to sample an input sensor at reg-ular intervals but to tolerate intermittent delays A text editor is an example of

an interactive system Here, performance is important (a slow editor will not beused); however, the occasional poor response will not impact on the overall sys-tem’s performance Of course, many systems will have both hard and soft real-timesubsystems along with some interactive components What they have in common

is that they are all concurrent

Time is obviously a critical resource for real-time systems and must be managedeffectively Unfortunately, it is very difficult to design and implement systemsthat will guarantee that the appropriate outputs will be generated at the appropriatetimes under all possible conditions To do this and make full use of all comput-ing resources at all times is often impossible For this reason, real-time systemsare usually constructed using processors with considerable spare capacity, therebyensuring that ‘worst-case behavior’ does not produce any unwelcome delays dur-ing critical periods of the system’s operation Given adequate processing power,language and run-time support are required to enable the programmer to

• specify times at which actions are to be performed,

• specify times at which actions are to be completed,

• respond to situations where all the timing requirements cannot be met,

• respond to situations where the timing requirements are changing dynamically.

These are called real-time control facilities They enable the program to nise with time itself For example, with digital control algorithms, it is necessary

synchro-to sample readings from sensors at certain periods of the day, for example, 2pm,3pm and so on, or at regular intervals, for instance, every 10 milliseconds (withanalogue-to-digital converters, sample rates can vary from a few hundred hertz toseveral hundred megahertz) As a result of these readings, other actions will need

to be performed In order to meet response times, it is necessary for a system’s

1.2 Real-time systems 5behaviour to be predictable Providing these real-time facilities is one of the maingoals of Ada and its Real-Time Systems Annex.

As well as being concurrent, real-time systems also have the following additionalcharacteristics:

Large and complex Real-time systems vary from simple single-processor

em-bedded systems (consisting of a few hundred lines of code) to multi-platform,multi-language distributed systems (consisting of millions of lines of code) Theissue of engineering large and complex systems is an important topic that Ada andits support environments do address However, consideration of this area is beyondthe scope of this book

Extremely reliable and safe Many real-time systems control some of society’s

critical systems such as air traffic control or chemical/power plants The softwaremust, therefore, be engineered to the highest integrity, and programs must attempt

to tolerate faults and continue to operate (albeit perhaps providing a degraded vice) In the worst case, a real-time system should make safe the environmentbefore shutting down in a controlled manner Unfortunately, some systems do nothave easily available safe states when they are operational (for example, an unsta-ble aircraft) consequently, continued operation in the presence of faults or damage

ser-is a necessity Ada’s design goals facilitate the design of reliable and robust grams Its exception handling facility allows error recovery mechanisms to beactivated The Real-Time Systems Annex extends the core language to allow theflexible detection of common timing-related problems (such as missed deadlines)

pro-Interaction with hardware interfaces The nature of embedded systems

re-quires the computer components to interact with the external world They need

to monitor sensors and control actuators for a wide variety of real-world devices.These devices interface to the computer via input and output registers, and theiroperational requirements are device and computer dependent Devices may alsogenerate interrupts to signal to the processor that certain operations have been per-formed or that error conditions have arisen In the past, the interfacing to deviceseither has been left under the control of the operating system or has required theapplication programmer to resort to assembly language inserts to control and ma-nipulate the registers and interrupts Nowadays, because of the variety of devicesand the time-critical nature of the associated interactions, their control must often

be direct, and not through a layer of operating system functions Furthermore, liability requirements argue against the use of low-level programming techniques.Ada’s representation items allow memory-mapped device registers to be accessedand interrupts to be handled by protected procedures

re-Efficient implementation and a predictable execution environment Since

real-time systems are time-critical, efficiency of implementation will be more portant than in other systems It is interesting that one of the main benefits of using

a high-level language is that it enables the programmer to abstract away from plementation details and to concentrate on solving the problem at hand Unfortu-nately, embedded computer systems programmers cannot afford this luxury Theymust be constantly concerned with the cost of using particular language features.For example, if a response to some input is required within a microsecond, there

im-is no point in using a language feature whose execution takes a millim-isecond! Adamakes predictability a primary concern in all its design trade-offs

Chapters 12–17 discuss Ada’s support for real-time systems in general, and also,where appropriate, how it facilitates the programming of efficient and reliable em-bedded systems

1.3 Ada’s time and clock facilities

Time values and clocks are used throughout this book to help manage interactionsbetween concurrent activities and communication with the external environment.Consequently, this chapter concludes with a detailed discussion of the Ada facili-ties in this area

To coordinate a program’s execution with the natural time of the environmentrequires access to a hardware clock that approximates the passage of real time.For long-running programs (that is, years of non-stop execution), this clock mayneed to be resynchronised to some external standard (such as International Atomic

Time) but from the program’s point of view, the clock is the source of real time.

Ada provides access to this clock by providing several packages The mainsection of the ARM (Ada Reference Manual) defines a compulsory library pack-age called Ada.Calendar that provides an abstraction for ‘wall clock’ time thatrecognises leap years, leap seconds and other adjustments Child packages supportthe notion of time zones, and provide arithmetic and formatting functions In theReal-Time Systems Annex, a second representation is given that defines a mono-tonic (that is, non-decreasing) regular clock (package Ada.Real Time) Boththese representations should map down to the same hardware clock but cater fordifferent application needs

First consider package Ada.Calendar:

package Ada.Calendar is

subtype Year_Number is Integer range 1901 2399;

subtype Month_Number is Integer range 1 12;

subtype Day_Number is Integer range 1 31;

subtype Day_Duration is Duration range 0.0 86_400.0;

1.3 Ada’s time and clock facilities 7

function Clock return Time;

function Year(Date:Time) return Year_Number;

function Month(Date:Time) return Month_Number;

function Day(Date:Time) return Day_Number;

function Seconds(Date:Time) return Day_Duration;

procedure Split(Date:in Time; Year:out Year_Number;

Month:out Month_Number; Day:out Day_Number;

Seconds:out Day_Duration);

function Time_Of(Year:Year_Number; Month:Month_Number;

Day:Day_Number;

Seconds:Day_Duration := 0.0) return Time;

function "+"(Left:Time;Right:Duration) return Time;

function "+"(Left:Duration;Right:Time) return Time;

function "-"(Left:Time;Right:Duration) return Time;

function "-"(Left:Time;Right:Time) return Duration;

function "<"(Left,Right:Time) return Boolean;

function "<="(Left,Right:Time) return Boolean;

function ">"(Left,Right:Time) return Boolean;

function ">="(Left,Right:Time) return Boolean;

Time_Error:exception;

Time_Error may be raised by

Time_Of, Split, Year, "+" and "-"

of Duration The fixed point type Duration is one of the predefined Scalartypes and has a range which, although implementation dependent, must be at least–86 400.0 +86 400.0 The value 86 400 is the number of seconds in a day Theaccuracy of Duration is also implementation dependent but the smallest repre-sentable value (Duration’Small) must not be greater than 20 milliseconds (it

is recommended in the ARM that it is no greater than 100 microseconds)

The current time is returned by the function Clock Conversion between Timeand program accessible types, such as Year Number, is provided by subpro-grams Split and Time Of In addition, some arithmetic and boolean operationsare specified Package Calendar, therefore, defines an appropriate structure for

an abstract data type for time

New to Ada 2005 is a child package of Calendar that provides further support

for arithmetic on time values It is now possible to add and subtract a number ofdays to and from a time value (rather than express the interval as a duration).

subtype Leap_Seconds_Count is Integer range -999 999;

procedure Difference (Left, Right : in Time;

Days : out Day_Count;

Seconds : out Duration;

Leap_Seconds : out Leap_Seconds_Count);

function "+" (Left : Time; Right : Day_Count)

package Ada.Calendar.Formatting is

Friday, Saturday, Sunday);

function Day_of_Week (Date : Time) return Day_Name;

subtype Hour_Number is Natural range 0 23;

subtype Minute_Number is Natural range 0 59;

subtype Second_Number is Natural range 0 59;

subtype Second_Duration is Day_Duration range 0.0 1.0;

function Hour(Date : Time;

Time_Zone : Time_Zones.Time_Offset := 0)

return Hour_Number;

function Seconds_Of(Hour : Hour_Number; Minute : Minute_Number;

Second : Second_Number := 0;

Sub_Second : Second_Duration := 0.0)

return Day_Duration;

procedure Split(Seconds : in Day_Duration;

Hour : out Hour_Number;

Minute : out Minute_Number;

Second : out Second_Number;

Sub_Second : out Second_Duration);

1.3 Ada’s time and clock facilities 9

function Image(Date : Time;

Include_Time_Fraction : Boolean := False;

function Image (Elapsed_Time : Duration;

Include_Time_Fraction : Boolean := False)

return String;

function Value (Elapsed_Time : String) return Duration;

package Ada.Calendar.Time_Zones is

Time zone manipulation:

Time_First: constant Time;

Time_Last: constant Time;

Time_Unit: constant := implementation-defined-real-number;

Time_Unit : constant := 1.0;

Time_Span_First: constant Time_Span;

Time_Span_Last: constant Time_Span;

Time_Span_Zero: constant Time_Span;

Time_Span_Unit: constant Time_Span;

Tick: constant Time_Span;

function Clock return Time;

function "+" (Left: Time; Right: Time_Span) return Time;

function "+" (Left: Time_Span; Right: Time) return Time;

function "-" (Left: Time; Right: Time_Span) return Time;

function "-" (Left: Time; Right: Time) return Time_Span;

function "<" (Left, Right: Time) return Boolean;

function "<="(Left, Right: Time) return Boolean;

function ">" (Left, Right: Time) return Boolean;

function ">="(Left, Right: Time) return Boolean;

function "+" (Left, Right: Time_Span) return Time_Span;

function "-" (Left, Right: Time_Span) return Time_Span;

function "-" (Right: Time_Span) return Time_Span;

function "/" (Left,Right : Time_Span) return Integer;

function "/" (Left : Time_Span; Right : Integer)

function "<" (Left, Right: Time_Span) return Boolean;

function "<="(Left, Right: Time_Span) return Boolean;

function ">" (Left, Right: Time_Span) return Boolean;

function ">="(Left, Right: Time_Span) return Boolean;

function "abs"(Right : Time_Span) return Time_Span;

function To_Duration (Ts : Time_Span) return Duration;

function To_Time_Span (D : Duration) return Time_Span;

function Nanoseconds (NS: Integer) return Time_Span;

function Microseconds (US: Integer) return Time_Span;

function Milliseconds (MS: Integer) return Time_Span;

procedure Split(T : in Time; SC: out Seconds_Count;

to consider them in detail here

To illustrate how the above packages could be used, consider the following codewhich tests to see if some sequence of statements executes within 1.7 seconds:

1.3 Ada’s time and clock facilities 11

raise Overrun_Error; a user-defined exception.

end if;

end;

The above code fragment would also execute correctly with the real-time clock

if Interval were declared as follows:

Interval : Time_Span := To_Time_Span(1.7);

for use with Ada.Real_Time.Time

busy-wait to delay ten seconds.

con-The difference between the actual delay and the desired value is called the local

drift If a repeating loop contains a delay statement (as in, for example, a periodic

activity – see Chapter 13), the local drift values will accumulate to give increasing

cumulative drift This can be eliminated by use of the following alternative delay

primitive

The use of delay supports a relative time period (that is, ten seconds from now)

If a delay to an absolute time is required, then the delay until statement should be

used For example, if an action should take place ten seconds after the start of someother action, then the following code should be used (with Ada.Calendar):

In order for this second formulation to have the same behaviour as the first, then

delay (Start + 10.0) - Clock;

would have to be an uninterruptible action, which it is not For example, if

Fir-st Actiontook two seconds to complete, then

(Start + 10.0) - Clock;

would equate to eight seconds But after having calculated this value, if the taskinvolved is preempted by some other task then it could be three seconds (say)before it next executes At that time, it will delay for eight seconds rather than five

The delay until formulation does not suffer from this problem, and it can be used

with time values from either clock package

As with delay, delay until is accurate only in its lower bound The task involved

will not be released before the current time has reached that specified in the ment, but it may be released later

state-Warning: The ‘delay’ statement only takes an expression that evaluates to

an object of type Duration In contrast, the expression in

a ‘delay until’ statement can evaluate to any Time type ject (e.g., Calendar.Time or Real Time.Time) including animplementation-defined one

ob-1.4 Summary 13

1.4 Summary

Support for concurrency is essential in a modern programming language in der to support both the construction of parallel algorithms and the development

or-of complex real-time embedded systems This book initially focuses on the topic

of concurrent programming and explores, in detail, the Ada model Both strengthsand weaknesses are discussed Following this, attention is turned to one of the mostimportant application areas for concurrent programming, that of real-time systems.The Ada approach is examined in depth Throughout, examples are given of goodprogramming practice to exploit the powerful Ada abstractions

The chapter also includes a discussion of clocks and time Ada provides a dard package for accessing a clock function and an abstract data type for time Animplementation may also support a real-time package that supports a monotonic,fine grain clock Ada also defines delay primitives that allow a task to delay itselffor an absolute or relative period of time

stan-1.5 Further reading

J Barnes, Programming in Ada 2005, Addison-Wesley, 2006.

A Burns and A.J Wellings, Real-Time Systems and Programming Languages, 3rd

Edition Addison-Wesley, 2001

The nature and uses of concurrent programming

Any language, natural or computer, has the dual property of enabling expressionwhilst at the same time limiting the framework within which that expressive powermay be applied If a language does not support a particular notion or concept,then those that use the language cannot apply that notion and may even be totallyunaware of its existence Pascal, C, C++, Eiffel, Fortran and COBOL share thecommon property of being sequential languages Programs written in these lan-guages have a single thread of control They start executing in some state and thenproceed, by executing one statement at a time, until the program terminates Thepath through the program may differ due to variations in input data, but for anyparticular execution of the program there is only one path

A modern computer system will, by comparison, consist of one or more centralprocessors and many I/O devices, all of which are operating in parallel Moreover,

an operating system that provides for interactive use will always support manyexecuting programs (called processes†), in the sense that they are being time-

sliced onto the available processors The effect of fast process switching is togive behaviour that is almost indistinguishable from true parallelism In the pro-gramming of embedded systems, one must deal with the inherent parallelism ofthe larger system A real-time language must therefore provide some facility formulti-programming This can be achieved by specifying a standard interface to amultiprocessing operating system‡ or by allowing multiple process systems to be

expressed in the language itself

Ada provides for the direct programming of parallel activities Within an Ada

program there may be a number of tasks, each of which has its own thread of

con-trol It is thus possible to match the parallel nature of the application area with

† Each process typically executes in its own address space Early operating systems only supported a single

thread of control within a process Nowadays, most operating systems support multi-threaded processes.

‡ However, care must be taken with this approach If the compiler is unaware that a concurrent program is being

written, it might perform some inappropriate code optimisations.

syntactical forms that reflect these structures This has proved to be an invaluableaid in the production of clear and correct software Languages whose conceptual

framework includes parallelism are known as concurrent programming languages.

Ada is such a language but it is by no means the first (or last); for example C#, Java,SCOOP, CHILL, CSP, PEARL, occam and LINDA all deal with concurrency, al-though in radically different ways In addition to these procedural languages, thereare also functional, logic-based and data-flow languages available for the specifi-cation and implementation of concurrent systems Even C++ is now consideringdirectly supporting a standard library for concurrent programming

In general, each individual thread of control within a concurrent program is

known as a process, although Ada uses the term task No distinction is made, in

this book, between tasks and processes The execution of a process usually takesone of three forms:

(1) All processes may share a single processor

(2) Each process may have its own processor, and the processors share commonmemory

(3) Each process may have its own processor, and the processors are distributed(that is, they are connected by a communications network)

Hybrids of these three methods are also evident Ada is designed for all the above

situations Because of the different implementation methods, the term concurrent, rather than parallel, is of more use in this area of computing Two processes are said to be executing in parallel if at any instant they are both executing Therefore,

in the above classifications only cases (2) and (3) are truly parallel

By comparison, two processes are said to be concurrent if they have the potential

for executing in parallel A concurrent program is thus one that has more thanone thread of control Execution of this program will, if processors are available,run each of these threads of control in parallel Otherwise, the threads will beinterleaved The important concept is therefore concurrency (as it encompassesall three of the above cases) irrespective of whether or not the implementation

of concurrency involves parallelism or pseudo-parallelism A correct concurrentprogram will execute in accordance with its functional specification on all threeplatforms Only its performance should change, perhaps dramatically, as the nature

of the hardware is altered

Concurrent programming is the name given to programming notations and niques for expressing potential parallelism and for solving the resulting synchro-nisation and communication problems Implementation of parallelism is a topic incomputer systems (hardware and software) that is essentially independent of con-current programming Concurrent programming is important because it provides

tech-2.1 Uses of concurrent programming 17

an abstract setting in which to study parallelism without getting bogged down inthe implementation details (Ben-Ari, 1982)

The problems of synchronisation and communication are considered in the nextchapter

2.1 Uses of concurrent programming

Concurrency is used extensively in the programming of embedded systems A

system is also real-time if its specification has time-dependent features Virtually

all embedded systems are inherently parallel; the software must, therefore, controlthe simultaneous operations of the coexisting hardware components Typically,this is achieved by associating with each external device a process that controlsthe input and output operations of that device These processes, together withthe necessary internal data management processes, constitute the software model.Embedded systems themselves are to be found in a wide variety of applications,for example:

• command and control systems.

The implementation of these multi-task systems can be achieved by integratingseveral sequential programs, but this necessitates the support of an underlying op-erating system that will map programs onto the processes and allow data commu-nication The use of a concurrent programming language may, however, precludeoperating system support, in which case the run-time system of the language im-plementation must control scheduling; data communication (plus synchronisation)

is programmed directly in the language

Concurrency is also of value in mapping software efficiently onto multiprocessorhardware to exploit the properties of concurrent algorithms For instance, the need

to sort 10,000 objects (a standard sequential problem) may be more effectively dertaken as ten parallel processes, each sorting 1,000 objects, followed by a mergeoperation Here, the distinction between pseudo- and true parallelism is important:the above algorithm will almost certainly be less efficient than a standard approach

un-if the processes are time-sliced onto a single processor The hardware ture can, therefore, have a serious effect upon certain non-functional aspects of theportability of concurrent programs

architec-It should be noted that concurrent programming is not the only way of exploitingparallel hardware Array and vector processors are better utilised by having access

to concurrent operators such as vector addition Also, certain data-flow machines

require a completely different computational model None the less, concurrentprogramming does represent one of the main ways of gaining access to standardmulti-processor hardware.

Software engineering principles indicate that the implementation languagesshould, wherever possible, mimic the structure of the application domain If theapplication contains inherent parallelism, then the design and construction of thesoftware product will be less error-prone, easier to prove correct and easier to adapt

if concurrency is available in the design and implementation languages Two amples of this type of use of Ada are in the development of information processingsystem prototypes and HCI components In the first of these, a data-flow descrip-tion of an information processing system consists, primarily, of tasks (where infor-mation is processed) and data-flows that link these tasks The transformation of thisdescription into a series of sequential programs is time consuming and error-prone.With a concurrent language such as Ada, the implementation is straightforward andcan be undertaken almost automatically An HCI subsystem enables the applica-tion software (which may be multi-tasking) and the user interface implementation

ex-to be designed separately and programmed as concurrent objects

These two quite different examples indicate that concurrency is not just cerned with coding embedded systems but also a fundamental language issue Thewide availability and use of Ada allow programmers from many differing applica-tion domains to have available, if necessary, concurrent programming facilities It

con-is therefore important that all users of Ada understand the tasking model

2.2 Program entities

The object-oriented programming paradigm encourages system (and program) ders to consider the artifact under construction as a collection of co-operating ob-

buil-jects (or, to use a more neutral term, entities) Within this paradigm, it is

construc-tive to consider two kinds of entities – acconstruc-tive and reacconstruc-tive

Definition: Activeentities undertake spontaneous actions (with the help of a

pro-cessor): they enable the computation to proceed Reactive entities,

by comparison, only perform actions when ‘invoked’ by an active

entity Both active and reactive entities can be accessed via

2.2 Program entities 19take a more abstract view: an Ada program is deemed to consist of (be populatedby) active entities, reactive entities and passive entities Only active entities giverise to spontaneous actions.

Definition: Resources are reactive but can control access to their internal states

(and any real resources they control)

Some resources can only be used by one agent at a time; in other cases, the erations that can be carried out at a given time depend on the resources’ currentstates A common example of the latter is a data buffer whose elements cannot beextracted if it is empty

op-Definition: The term passive will be used to indicate a reactive entity that can

allow open access

The implementation of resource entities requires some form of control agent If thecontrol agent is itself passive (such as a semaphore), then the resource is said to be

protected Alternatively, if an active agent is required to program the correct level

of control, then the resource is in some sense active

Definition: The term server will be used to identify an active resource entity,

and the term protected resource to indicate the passive kind

Syn-chronized interfaces allow clients to access resources without being

concerned with whether the resource controller is active or protected

The four abstract program entities used in this book, therefore, are active, passive,

server and protected resource.

In a concurrent programming language, active entities are represented by cesses Passive entities either can be represented directly as data variables or can

pro-be encapsulated by some module/package construct that provides a procedural terface Protected resources may also be encapsulated in a module-like constructand require the availability of a low-level synchronisation facility Servers, becausethey need to program the control agent, require a process

in-A key question for language designers is whether to support primitives for bothprotected resources and servers Resources, because they typically use a low-levelcontrol agent, are normally efficient (at least on single-processor systems) Butthey can be inflexible and lead to poor program structures for some classes ofproblem (this is discussed further in the next chapter) Servers, because the controlagent is programmed using a process, are eminently flexible The drawback ofthis approach is that it can lead to proliferation of processes, with a resulting highnumber of context switches during execution This is particularly problematic if

the language does not support protected resources and hence servers must be usedfor all such entities.

Important

note:

Ada 83 only supported the single notion of a task; thus active and

all control entities were encoded in tasks Ada 95 introduced a new

abstraction for resource entities – the protected type An object

of such a type can control access to the data it protects but does nothave a thread of control Thus resources should be coded as protectedobjects, with tasks being used for active objects and servers

The design of a concurrent Ada program must therefore incorporate early nition of the key active, passive, resource (protected) and server entities, and usethe appropriate Ada language features for representing their required behaviour di-rectly Ada 2005 provides extra support by allowing better integration between itsconcurrency mechanisms and the object-oriented programming paradigm

recog-2.3 Process representation

Various notations are used to specify the concurrent components of a program, anddifferent methods are also employed to indicate when a process should start exe-cuting and when it should terminate Coroutines were one of the first methods ofexpressing concurrency, although the coroutines themselves cannot actually exe-cute in parallel A coroutine is structured like a procedure; at any one time a singlecoroutine is executing, with control being passed to another coroutine by means

of the resume statement The scheduling of the coroutines is therefore explicitly

expressed in the program A resumed coroutine continues executing, from its lastexecuting state, until it again encounters a resume statement The resume statementitself names the coroutine to be resumed

Coroutines have been used, primarily, in discrete event simulation languagessuch as SIMULA, although they are also supported in Modula-2 Because corou-tines are not adequate for true parallel processing, they are not available in Ada.Instead, Ada, like many other concurrent programming languages, uses a directrepresentation of process which, as has been noted, is called a task Moreover, theexecution of a task is started, in effect, by the scope rules of the language This is incontrast to languages such as Algol68, CSP and occam where execution is started

by a cobegin coend or Par structure; for example

cobegin not Ada

P1; P2; P3;

coend;

will cause the concurrent execution of processes P1, P2 and P3

2.4 A simple embedded system 21

A detailed examination of task declaration is given in Chapter 4 However, amore informal description will be of use at this stage Consider the followingprogram skeleton:

procedure Main is

task A;

task body A is separate; implementation of task A.

task body B is separate; implementation of task B.

deemed to commence immediately after begin, that is, before any of the statements

of Main

2.4 A simple embedded system

In order to illustrate some of the advantages and disadvantages of concurrent gramming, a simple embedded system will now be considered Figure 2.1 outlinesthis simple system: a process T takes readings from a set of thermocouples (via

pro-an pro-analogue-to-digital converter, ADC) pro-and makes appropriate chpro-anges to a heater(via a digitally controlled switch) Process P has a similar function, but for pressure(it uses a digital to analogue converter, DAC) Both T and P must communicate data

to S, which presents measurements to an operator via a screen Note that P and Tare active entities; S is a resource (it just responds to requests from T and P): it may

be implemented as a protected resource or a server if it interacts more extensivelywith the user

The overall objective of this embedded system is to keep the temperature andpressure of some chemical process within defined limits A real system of this typewould clearly be more complex – allowing, for example, the operator to changethe limits However, even for this simple system, implementation could take one

of three forms:

(1) A single program is used which ignores the logical concurrency of T, P and

S No operating system support is required

S

P

A D C

A D C

D A C

heater

pump/valve SCREEN

Fig 2.1: A simple embedded system

(2) T, P and S are written in a sequential programming language (as either arate programs or distinct procedures in the same program) and operatingsystem primitives are used for program/process creation and interaction.(3) A single concurrent program is used which retains the logical structure of

sep-T, P and S No direct operating system support is required by the program,although a run-time support system is needed

To illustrate these solutions, consider the Ada code to implement the simpleembedded system In order to simplify the structure of the control software, thefollowing passive packages will be assumed to have been implemented:

package Data_Types is

necessary type definitions

2.4 A simple embedded system 23

package IO is

procedures for data exchange with the environment

procedure Read(TR : out Temp_Reading); from ADC

procedure Read(PR : out Pressure_Reading);

note, this is an example of overloading;

two Reads are defined but they have a different

parameter type; this is also the case with the

following Writes

procedure Write(HS : Heater_Setting); to switch

procedure Write(PS : Pressure_Setting); to DAC

procedure Write(PR : Pressure_Reading); to screen

end IO;

package Control_Procedures is

procedures for converting a reading into

an appropriate setting for output

procedure Temp_Convert(TR : Temp_Reading;

This code has the immediate handicap that temperature and pressure readingsmust be taken at the same rate, which may not be in accordance with requirements.

The use of counters and appropriate if statements will improve the situation, but

it may still be necessary to split the computationally intensive sections (the dures Temp Convert and Pressure Convert) into a number of distinct ac-tions, and interleave these actions so as to meet a required balance of work Even

proce-if this were done, there remains a serious drawback with this program structure:while waiting to read a temperature, no attention can be given to pressure (andvice versa) Moreover, if there is a system failure that results in, say, control neverreturning from the temperature Read, then in addition to this problem no furtherpressure Reads would be taken

An improvement on this sequential program can be made by including twoboolean functions in the package IO, Ready Temp and Ready Pres, to indi-cate the availability of an item to read The control program then becomes