Invocation of Real-Time Objects in a CAN Bus-System

The paper focuses on method invocation of real-time objects in a CAN-based distributed real-time system. A simple object model is introduced, which allows the convenient modelling of hardware and software components. Related to the object model, two issues are discussed. Firstly, a model is introduced which allows to form and address object groups. This reflects a basic need in a real-time system to distribute information to multiple clients efficiently. Secondly, we discuss an approach to express timing requirements for object invocations. To achieve distributed consensus on communication resource access, an EDF-like approach is introduced, which takes advantage of knowledge about deadlines, the number of remaining communication activities, and the remaining worst-case execution time for the invoked method at each point of time