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Chapter 1: Introduction to Real-Time Systems and Objects1

1.1 What Is Special About Real-Time Systems?2

1.2 Dealing with Time7

1.3 Model-Based Development11

1.3.1 Development Activities of the ROPES Process12

1.4 Advantages of Objects16

1.5 Object Orientation with UML19

1.5.1 Objects20

1.5.2 Attributes25

1.5.3 Behavior25

1.5.4 Messaging29

1.5.5 Concurrency31

1.5.6 Classes31

1.5.7 Relations Among Classes and Objects34

1.6 UML Diagrams and Notation43

1.7 A Look Ahead47

1.8 References47

Chapter 2: Requirements Analysis of Real-Time Systems49

2.1 Use Cases50

2.1.1 Actors50

2.1.2 Requirements55

2.1.3 Use Case Relations57

2.1.4 Using Use Cases59

2.2 Filling Out the Details of the Use Cases59

2.2.1 Scenarios61

2.2.2 Sequence Diagrams62

2.2.3 Message Properties64

2.2.4 Capturing Time and Timeliness68

2.2.5 Statecharts and Use Cases71

2.3 Identifying Use Cases73

2.4 Looking Ahead76

2.5 References77

Chapter 3: Analysis: Defining the Object Structure79

3.1 The Object Discovery Process80

3.2 Connecting the Object Model with the Use Case Model81

3.3 Key Strategies for Object Identification83

3.3.1 Underline the Noun Strategy83

3.3.2 Identify the Casual Objects86

3.3.3 Identify Services （Passive Contributors）88

3.3.4 Identify Real-World Items89

3.3.5 Identify Physical Devices89

3.3.6 Identify Key Concepts90

3.3.7 Identify Transactions91

3.3.8 Identify Persistent Information93

3.3.9 Identify Visual Elements93

3.3.10 Identify Control Elements97

3.3.11 Apply Scenarios97

3.4 Identify Object Associations99

3.5 Object Attributes102

3.6 Discovering Candidate Classes105

3.7 Class Diagrams106

3.7.1 Elevator Class Diagram Example109

3.8 Defining Class Relationships111

3.8.1 Associations112

3.8.2 Aggregation and Composition114

3.8.3 RTOS Example114

3.8.4 Associative Classes118

3.8.5 Generalization Relationships121

3.9 Looking Ahead129

3.10 References130

Chapter 4: Analysis: Defining Object Behavior131

4.1 Object Behavior132

4.1.1 Simple Behavior132

4.1.2 State Behavior133

4.1.3 Continuous Behavior134

4.2 Defining Object State Behavior134

4.3 UML Statecharts137

4.3.1 Basic Statecharts138

4.3.2 And-States150

4.3.3 Submachines157

4.3.4 Inherited State Models159

4.3.5 Cardiac Pacemaker Example161

4.4 The Role of Scenarios in the Definition of Behavior170

4.4.1 Timing Diagrams170

4.4.2 Sequence Diagrams174

4.4.3 Event Hierarchies179

4.5 Defining Operations180

4.5.1 Types of Operations182

4.5.2 Strategies for Defining Operations185

4.6 Looking Ahead188

4.7 References188

Chapter 5: Architectural Design191

5.1 Overview of Design192

5.2 What Is Architectural Design?194

5.2.1 Physical Architecture Issues195

5.2.2 Software Architecture Issues196

5.3 Representing Physical Architecture in UML202

5.4 Architectural Patterns205

5.4.1 Master-Slave Pattern207

5.4.2 Microkernel Pattern209

5.4.3 Proxy Pattern211

5.4.4 Broker Pattern213

5.5 Concurrency Design215

5.6 Representing Threads215

5.6.1 System Task Diagram216

5.6.2 Concurrent State Diagrams217

5.7 Defining Threads220

5.7.1 Identifying Threads221

5.8 Assigning Objects to Threads223

5.9 Defining Thread Rendezvous224

5.9.1 Sharing Resources226

5.9.2 Assigning Priorities226

5.10 Looking Ahead227

5.11 References228

Chapter 6: Mechanistic Design229

6.1 What Is Mechanistic Design?230

6.2 Mechanistic Design Patterns232

6.2.1 Simple Patterns234

6.2.2 Reuse Patterns247

6.3 Looking Ahead260

6.4 References261

Chapter 7: Detailed Design263

7.1 What Is Detailed Design?263

7.2 Data Structure264

7.2.1 Data Collection Structure270

7.3 Associations271

7.4 Operations274

7.5 Visibility276

7.6 Algorithms277

7.7 Exceptions286

7.8 Summary289

7.9 References290

Appendix A: Notational Summary291

Appendix B: The Future of the UML for Real-Time311

Index317