Exploration of Dynamic Memory

Since the advent of the Java programming language and the development of real-time garbage collection, Java has become an option for implementing real-time applications. The memory management choices provided by real-time garbage collection allow for real-time eJava developers to spend more of their time implementing real-time solutions. Unfortunately, the real-time community is not convinced that real-time garbage collection works in managing memory for Java applications deployed in a real-time context. Consequently, the Real-Time for Java Expert Group formulated the Real-Time Specification for Java (RTSJ) standards to make Java a real-time programming language. In lieu of garbage collection, the RTSJ proposed a new memory model called scopes, and a new type of thread called NoHeapRealTimeThread (NHRT), which takes advantage of scopes. While scopes and NHRTs promise predictable allocation and deallocation behaviors, no asymptotic studies have been conducted to investigate the costs associated with these technologies. To understand the costs associated with using these technologies to manage memory, computations and analyses of time and space overheads associated with scopes and NHRTs are presented. These results provide a framework for comparing the RTSJ’s memory management model with real-time garbage collection. Another facet of this research concerns the optimization of novel approaches to garbage collection on multiprocessor systems. Such approaches yield features that are suitable for real-time systems. Although multiprocessor, concurrent garbage collection is not the same as real-time garbage collection, advancements in multiprocessor concurrent garbage collection have demonstrated the feasibility of building low latency multiprocessor real-time garbage collectors. In the nineteen-sixties, only three garbage collection schemes were available, namely reference counting garbage collection, mark-sweep garbage collection, and copying garbage collection. These classical approaches gave new insight into the discipline of memory management and inspired researchers to develop new, more elaborate memory-management techniques. Those insights resulted in a plethora of automatic memory management algorithms and techniques, and a lack of uniformity in the language used to reason about garbage collection. To bring a sense of uniformity to the language used to reason about garbage collection technologies, a taxonomy for comparing garbage collection technologies is presented

A Methodology for Transforming Java Applications Towards Real-Time Performance

The development of real-time systems has traditionally been based on low-level programming languages, such as C and C++, as these provide a fine-grained control of the applications temporal behavior. However, the usage of such programming languages suffers from increased complexity and high error rates compared to high-level languages such as Java. The Java programming language provides many benefits to software development such as automatic memory management and platform independence. However, Java is unable to provide any real-time guarantees, as the high-level benefits come at the cost of unpredictable temporal behavior.This thesis investigates the temporal characteristics of the Java language and analyses several possibilities for introducing real-time guarantees, including official language extensions and commercial runtime environments. Based on this analysis a new methodology is proposed for Transforming Java Applications towards Real-time Performance (TJARP). This method motivates a clear definition of timing requirements, followed by an analysis of the system through use of the formal modeling languageVDM-RT. Finally, the method provides a set of structured guidelines to facilitate the choice of strategy for obtaining real-time performance using Java. To further support this choice, an analysis is presented of available solutions, supported by a simple case study and a series of benchmarks.Furthermore, this thesis applies the TJARP method to a complex industrialcase study provided by a leading supplier of mission critical systems. Thecase study proves how the TJARP method is able to analyze an existing and complex system, and successfully introduce hard real-time guaranteesin critical sub-components

Dynamic Assignment of Scoped Memory Regions in the Translation of Java to Real-Time Java

Advances in middleware, operating systems, and popular, general-purpose languages have brought the ideal of reasonably-bound execution time closer to developers who need such assurances for real-time and embedded systems applications. Extensions to the Java libraries and virtual machine have been proposed in a real-time Java standard, which provides for specification of release times, execution costs, and deadlines for a restricted class of threads. To use such features, the programmer is required to use unwieldy code constructs to create region-like areas of storage, associate them with execution scopes, and allocate objects from them. Further, the developer must ensure that they do not violate strict inter-region reference rules. Unfortunately, it is difficult to determine manually how to map object instantiations to execution scopes. Moreover, if ordinary Java code is modified to effect instantiations in scopes, the resulting code is difficult to read, maintain, and reuse. We present a dynamic approach to determining proper placement of objects within scope-bounded regions, and we employ a procedure that utilizes aspect-oriented programming to instrument the original program, realizing the program’s scoped memory concerns in a modular fashion. Using this approach, Java programs can be converted into region-aware Java programs automatically

RTZen: Highly Predictable, Real-Time Java Middleware for Distributed and Embedded Systems

Distributed real-time and embedded (DRE) applications possess stringent quality of service (QoS) requirements, such as predictability, latency, and throughput constraints. Real-Time CORBA, an open middleware standard, allows DRE applications to allocate, schedule, and control resources to ensure predictable end-to-end QoS. The Real-Time Specification for Java (RTSJ) has been developed to provide extensions to Java so that it can be used for real-time systems, in order to bring Java's advantages, such as portability and ease of use, to real-time applications.In this paper, we describe RTZen, an implementation of a Real-Time CORBA Object Request Broker (ORB), designed to comply with the restrictions imposed by RTSJ. RTZen is designed to eliminate the unpredictability caused by garbage collection and improper support for thread scheduling through the use of appropriate data structures, threading models, and memory scopes. RTZen's architecture is also designed to hide the complexities of RTSJ related to distributed programming from the application developer. Empirical results show that RTZen is highly predictable and has acceptable performance. RTZen therefore demonstrates that Real-Time CORBA middleware implemented in real-time Java can meet stringent QoS requirements of DRE applications, while supporting safer, easier, cheaper, and faster development in real-time Java

Unwoven Aspect Analysis

Various languages and tools supporting advanced separation of concerns (such as aspect-oriented programming) provide a software developer with the ability to separate functional and non-functional programmatic intentions. Once these separate pieces of the software have been specified, the tools automatically handle interaction points between separate modules, relieving the developer of this chore and permitting more understandable, maintainable code. Many approaches have left traditional compiler analysis and optimization until after the composition has been performed; unfortunately, analyses performed after composition cannot make use of the logical separation present in the original program. Further, for modular systems that can be configured with different sets of features, testing under every possible combination of features may be necessary and time-consuming to avoid bugs in production software. To solve this testing problem, we investigate a feature-aware compiler analysis that runs during composition and discovers features strongly independent of each other. When the their independence can be judged, the number of feature combinations that must be separately tested can be reduced. We develop this approach and discuss our implementation. We look forward to future programming languages in two ways: we implement solutions to problems that are conceptually aspect-oriented but for which current aspect languages and tools fail. We study these cases and consider what language designs might provide even more information to a compiler. We describe some features that such a future language might have, based on our observations of current language deficiencies and our experience with compilers for these languages

Multiprocessor-safe Wait-free Queue in RTSJ

Currently, most computer systems are running on multiprocessors (or multicores). Moreover, the number of cores inside the processor are expected to increase. To be able to utilise the increased computational power in these systems, developers are enforced to expose more parallelism within their applications. Multi-threading is one of the common techniques that are used to introduce parallelism within computer applications. Shared data structures are in the core of multi-threaded applications; these data structures facilitate the communication between the different threads to help in completing the designed tasks within the application. A control mechanism should be provided such that the access of any thread will not compromise the consistency and correctness of the data structure contents. The increased number of threads will result in an increased competition, this will lead to inevitable difficulties in understanding the interleaving scenarios at runtime, hence, the time analysis will be a very complex task. The Real-Time Specification for Java (RTSJ) introduces different shared queues that can facilitate communication between different threads within the application. However, these queues are uni-directional enabling communication between standard Java threads and the realtime thread classes, which the RTSJ introduces. The work presented in this thesis introduces a novel algorithm for concurrently accessing shared data structures in a shared memory multi-processor (or multi-core) systems. The proposed algorithm is implemented as an arraybased First-In-First-Out (FIFO) queue, which improves the scalability and time predictability in multi-threaded applications. The algorithm utilises the different features that the RTSJ introduces to ensure the time predictability