Time Sampling time Real-time events

Embedded Systems Programming

Lecture 7

Verónica Gaspes
www2.hh.se/staff/vero

Center for Research on Embedded Systems

School of Information Science, Computer and Electrical Engineering
 Time Sampling time Real-time events

Real Time?

In what ways can a program be related to time in the environment

(the real time)?
 Time Sampling time Real-time events

Real Time?

An external process to sample

Reading a real-time clock is like sampling any other external
process value!

An external process to react to

A program can let certain points in time denote events (e.g. by
means of interrupts of a clock)

An external process to be constrained by

A program might be required to hurry enough so that some
externally visible action can be performed before a certain point in
time (comming later on in the course)
 Time Sampling time Real-time events

Real Time?

An external process to sample

Reading a real-time clock is like sampling any other external
process value!

An external process to react to

A program can let certain points in time denote events (e.g. by
means of interrupts of a clock)

An external process to be constrained by

A program might be required to hurry enough so that some
externally visible action can be performed before a certain point in
time (comming later on in the course)
 Time Sampling time Real-time events

Real Time?

An external process to sample

Reading a real-time clock is like sampling any other external
process value!

An external process to react to

A program can let certain points in time denote events (e.g. by
means of interrupts of a clock)

An external process to be constrained by

A program might be required to hurry enough so that some
externally visible action can be performed before a certain point in
time (comming later on in the course)
 Time Sampling time Real-time events

Real Time?

An external process to sample

Reading a real-time clock is like sampling any other external
process value!

An external process to react to

A program can let certain points in time denote events (e.g. by
means of interrupts of a clock)

An external process to be constrained by

A program might be required to hurry enough so that some
externally visible action can be performed before a certain point in
time (comming later on in the course)
 Time Sampling time Real-time events

Sampling the time

Requires a hardware clock that can be read like a regular external

device.

Multitude of alternatives
Units? Seconds? Milliseconds? Cpu cycles?
Since when? Program start? System boot? Jan 1 1970?
Real time? Time that stops when other threads are running?
Time that stops when CPU sleeps? Time that cannot be set
and always increases?
 Time Sampling time Real-time events

Sampling the time

Requires a hardware clock that can be read like a regular external

device.

Multitude of alternatives
Units? Seconds? Milliseconds? Cpu cycles?
Since when? Program start? System boot? Jan 1 1970?
Real time? Time that stops when other threads are running?
Time that stops when CPU sleeps? Time that cannot be set
and always increases?
 Time Sampling time Real-time events

Sampling the time

Requires a hardware clock that can be read like a regular external

device.

Multitude of alternatives
Units? Seconds? Milliseconds? Cpu cycles?
Since when? Program start? System boot? Jan 1 1970?
Real time? Time that stops when other threads are running?
Time that stops when CPU sleeps? Time that cannot be set
and always increases?
 Time Sampling time Real-time events

Sampling the time

Requires a hardware clock that can be read like a regular external

device.

Multitude of alternatives
Units? Seconds? Milliseconds? Cpu cycles?
Since when? Program start? System boot? Jan 1 1970?
Real time? Time that stops when other threads are running?
Time that stops when CPU sleeps? Time that cannot be set
and always increases?
 Time Sampling time Real-time events

Sampling the time

Requires a hardware clock that can be read like a regular external

device.

Multitude of alternatives
Units? Seconds? Milliseconds? Cpu cycles?
Since when? Program start? System boot? Jan 1 1970?
Real time? Time that stops when other threads are running?
Time that stops when CPU sleeps? Time that cannot be set
and always increases?
 Time Sampling time Real-time events

Timer/Counter1 on the AVR

What about the 16-bit counter (accessible through register

TCNT1)?

Units
CPU clock (8Mhz) divided by a programmable prescaling value (1,
8, 64, 256, 1024).

Since when
System reset, timer reset or timer overflow (whichever was last).

Real time
Shows real time although it can be stopped.

Aligning TCNT1 with calendar time will require calculations and

extra storage (for counting overflows).
 Time Sampling time Real-time events

Timer/Counter1 on the AVR

What about the 16-bit counter (accessible through register

TCNT1)?

Units
CPU clock (8Mhz) divided by a programmable prescaling value (1,
8, 64, 256, 1024).

Since when
System reset, timer reset or timer overflow (whichever was last).

Real time
Shows real time although it can be stopped.

Aligning TCNT1 with calendar time will require calculations and

extra storage (for counting overflows).
 Time Sampling time Real-time events

Timer/Counter1 on the AVR

What about the 16-bit counter (accessible through register

TCNT1)?

Units
CPU clock (8Mhz) divided by a programmable prescaling value (1,
8, 64, 256, 1024).

Since when
System reset, timer reset or timer overflow (whichever was last).

Real time
Shows real time although it can be stopped.

Aligning TCNT1 with calendar time will require calculations and

extra storage (for counting overflows).
 Time Sampling time Real-time events

Timer/Counter1 on the AVR

What about the 16-bit counter (accessible through register

TCNT1)?

Units
CPU clock (8Mhz) divided by a programmable prescaling value (1,
8, 64, 256, 1024).

Since when
System reset, timer reset or timer overflow (whichever was last).

Real time
Shows real time although it can be stopped.

Aligning TCNT1 with calendar time will require calculations and

extra storage (for counting overflows).
 Time Sampling time Real-time events

Timer/Counter1 on the AVR

What about the 16-bit counter (accessible through register

TCNT1)?

Units
CPU clock (8Mhz) divided by a programmable prescaling value (1,
8, 64, 256, 1024).

Since when
System reset, timer reset or timer overflow (whichever was last).

Real time
Shows real time although it can be stopped.

Aligning TCNT1 with calendar time will require calculations and

extra storage (for counting overflows).
 Time Sampling time Real-time events

Timestamps

In general clock readings become meaningful only when they are

associated with other events.

Example
The clock showed 11:25 when the teacher left.

In program terms, associating a

clock reading with some other
event means doing the reading in
close proximity to the event
detection.
 Time Sampling time Real-time events

Timestamps

In general clock readings become meaningful only when they are

associated with other events.

Example
The clock showed 11:25 when the teacher left.

In program terms, associating a

clock reading with some other
event means doing the reading in
close proximity to the event
detection.
 Time Sampling time Real-time events

Timestamps

In general clock readings become meaningful only when they are

associated with other events.

Example
The clock showed 11:25 when the teacher left.

In program terms, associating a

clock reading with some other
event means doing the reading in
close proximity to the event
detection.
 Time Sampling time Real-time events

Time spans

The difference between two timestamps is a value that is

independent of the nominal clock values — it is a time span
(characterized only by the clock resolution).

What could each timestamp mean?

The time of some arbitrary program instruction?
The beginning or end of a function call?
The time of sending or receiving an asynchronous message?
All these are internal to a program under execution and have no
meaning to an external observer!
 Time Sampling time Real-time events

Time spans

The difference between two timestamps is a value that is

independent of the nominal clock values — it is a time span
(characterized only by the clock resolution).

What could each timestamp mean?

The time of some arbitrary program instruction?
The beginning or end of a function call?
The time of sending or receiving an asynchronous message?
All these are internal to a program under execution and have no
meaning to an external observer!
 Time Sampling time Real-time events

Time spans

The difference between two timestamps is a value that is

independent of the nominal clock values — it is a time span
(characterized only by the clock resolution).

What could each timestamp mean?

The time of some arbitrary program instruction?
The beginning or end of a function call?
The time of sending or receiving an asynchronous message?
All these are internal to a program under execution and have no
meaning to an external observer!
 Time Sampling time Real-time events

Time spans

The difference between two timestamps is a value that is

independent of the nominal clock values — it is a time span
(characterized only by the clock resolution).

What could each timestamp mean?

The time of some arbitrary program instruction?
The beginning or end of a function call?
The time of sending or receiving an asynchronous message?
All these are internal to a program under execution and have no
meaning to an external observer!
 Time Sampling time Real-time events

Time spans

The difference between two timestamps is a value that is

independent of the nominal clock values — it is a time span
(characterized only by the clock resolution).

What could each timestamp mean?

The time of some arbitrary program instruction?
The beginning or end of a function call?
The time of sending or receiving an asynchronous message?
All these are internal to a program under execution and have no
meaning to an external observer!
 Time Sampling time Real-time events

Time spans

The difference between two timestamps is a value that is

independent of the nominal clock values — it is a time span
(characterized only by the clock resolution).

What could each timestamp mean?

The time of some arbitrary program instruction?
The beginning or end of a function call?
The time of sending or receiving an asynchronous message?
All these are internal to a program under execution and have no
meaning to an external observer!
 Time Sampling time Real-time events

In a scheduled system
What looks like . . .

Event detected Clock read

Subsequent statements

might very well be . . .

Event detected Clock read

Other threads running

Close proximity is not the same as subsequent statements!

 Time Sampling time Real-time events

In a scheduled system
What looks like . . .

Event detected Clock read

Subsequent statements

might very well be . . .

Event detected Clock read

Other threads running

Close proximity is not the same as subsequent statements!

 Time Sampling time Real-time events

Time-stamping events

What we really want is to associate timestamps with the externally

observable events that drive a system!

Idea!
Read the clock inside the interrupt handler that detects the
asociated event
Other interrupts are disabled while the CPU runs an interrupt
handler, hence no scheduling of threads might interfere!
There is a tight upper bound on the timestamp error, which
can be calculated from CPU data and speed!

Example
One could use an arg of an interrupt driven method for passing a
timestamp!
 Time Sampling time Real-time events

Time-stamping events

What we really want is to associate timestamps with the externally

observable events that drive a system!

Idea!
Read the clock inside the interrupt handler that detects the
asociated event
Other interrupts are disabled while the CPU runs an interrupt
handler, hence no scheduling of threads might interfere!
There is a tight upper bound on the timestamp error, which
can be calculated from CPU data and speed!

Example
One could use an arg of an interrupt driven method for passing a
timestamp!
 Time Sampling time Real-time events

Time-stamping events

What we really want is to associate timestamps with the externally

observable events that drive a system!

Idea!
Read the clock inside the interrupt handler that detects the
asociated event
Other interrupts are disabled while the CPU runs an interrupt
handler, hence no scheduling of threads might interfere!
There is a tight upper bound on the timestamp error, which
can be calculated from CPU data and speed!

Example
One could use an arg of an interrupt driven method for passing a
timestamp!
 Time Sampling time Real-time events

Time-stamping events

What we really want is to associate timestamps with the externally

observable events that drive a system!

Idea!
Read the clock inside the interrupt handler that detects the
asociated event
Other interrupts are disabled while the CPU runs an interrupt
handler, hence no scheduling of threads might interfere!
There is a tight upper bound on the timestamp error, which
can be calculated from CPU data and speed!

Example
One could use an arg of an interrupt driven method for passing a
timestamp!
 Time Sampling time Real-time events

Time-stamping events

What we really want is to associate timestamps with the externally

observable events that drive a system!

Idea!
Read the clock inside the interrupt handler that detects the
asociated event
Other interrupts are disabled while the CPU runs an interrupt
handler, hence no scheduling of threads might interfere!
There is a tight upper bound on the timestamp error, which
can be calculated from CPU data and speed!

Example
One could use an arg of an interrupt driven method for passing a
timestamp!
 Time Sampling time Real-time events

Example

Calculate the speed

For a rotating wheel, measuring the time between two subsequent
detections of a passing tap.

typedef struct{
Detector Object super;
int previous;
} Speedo;
...
Speedo speedo:
Other client;
Tap INTERRUPT(SIG_XX,
ASYNC(&speedo,detect,TCNT1));
 Time Sampling time Real-time events

Example

Calculate the speed

For a rotating wheel, measuring the time between two subsequent
detections of a passing tap.

typedef struct{
Detector Object super;
int previous;
} Speedo;
...
Speedo speedo:
Other client;
Tap INTERRUPT(SIG_XX,
ASYNC(&speedo,detect,TCNT1));
 Time Sampling time Real-time events

Example

Calculate the speed

For a rotating wheel, measuring the time between two subsequent
detections of a passing tap.

int detect(Speedo *self, int timestamp){

SYNC(&client,
newSpeed,
PERIMETER/DIFF(timestamp,self->previous));
self->previous=timestamp;
}

DIFF will have ot take care of timer overflows!

 Time Sampling time Real-time events

Example

Calculate the speed

For a rotating wheel, measuring the time between two subsequent
detections of a passing tap.

int detect(Speedo *self, int timestamp){

SYNC(&client,
newSpeed,
PERIMETER/DIFF(timestamp,self->previous));
self->previous=timestamp;
}

DIFF will have ot take care of timer overflows!

 Time Sampling time Real-time events

Real-time events

We know how to sample the real-time clock to obtain externally

meaningful information about the passage of time.

Now suppose we want to take some action when a certain amount

of time has passed.

Example
The wheel is an engine crankshaft
and we have to emit ignition
signals to each cylinder

We would need a way to postpone program execution until certain

points in the future.
 Time Sampling time Real-time events

Real-time events

We know how to sample the real-time clock to obtain externally

meaningful information about the passage of time.

Now suppose we want to take some action when a certain amount

of time has passed.

Example
The wheel is an engine crankshaft
and we have to emit ignition
signals to each cylinder

We would need a way to postpone program execution until certain

points in the future.
 Time Sampling time Real-time events

Reacting to real time events

Very poor man’s solution

Consume a fixed amount of CPU cycles in a (silly) loop

int i;
for(i=0;i<N;i++); // wait
do_future_action();

Problems
1 Determine N by testing!

2 N will be highly platform dependent!

3 A lot of CPU cycles will simply be wasted!
 Time Sampling time Real-time events

Reacting to real time events

Very poor man’s solution

Consume a fixed amount of CPU cycles in a (silly) loop

int i;
for(i=0;i<N;i++); // wait
do_future_action();

Problems
1 Determine N by testing!

2 N will be highly platform dependent!

3 A lot of CPU cycles will simply be wasted!
 Time Sampling time Real-time events

Reacting to real time events

Very poor man’s solution

Consume a fixed amount of CPU cycles in a (silly) loop

int i;
for(i=0;i<N;i++); // wait
do_future_action();

Problems
1 Determine N by testing!

2 N will be highly platform dependent!

3 A lot of CPU cycles will simply be wasted!
 Time Sampling time Real-time events

Reacting to real time events

Very poor man’s solution

Consume a fixed amount of CPU cycles in a (silly) loop

int i;
for(i=0;i<N;i++); // wait
do_future_action();

Problems
1 Determine N by testing!

2 N will be highly platform dependent!

3 A lot of CPU cycles will simply be wasted!
 Time Sampling time Real-time events

Reacting to real time events

Very poor man’s solution

Consume a fixed amount of CPU cycles in a (silly) loop

int i;
for(i=0;i<N;i++); // wait
do_future_action();

Problems
1 Determine N by testing!

2 N will be highly platform dependent!

3 A lot of CPU cycles will simply be wasted!
 Time Sampling time Real-time events

Reacting to real time events

The nearly as poor man’s solution

Configure a timer/counter with a known clock speed, and
busy-wait for a suitable time increment

unsigned int i = TCNT1+N;

while(TCNT1<i); // wait
do_future_action();

Problems
1 Determine N by calculation so platform dependency disapears.

2 Still a lot of wasted CPU!

 Time Sampling time Real-time events

Reacting to real time events

The nearly as poor man’s solution

Configure a timer/counter with a known clock speed, and
busy-wait for a suitable time increment

unsigned int i = TCNT1+N;

while(TCNT1<i); // wait
do_future_action();

Problems
1 Determine N by calculation so platform dependency disapears.

2 Still a lot of wasted CPU!

 Time Sampling time Real-time events

Reacting to real time events

The nearly as poor man’s solution

Configure a timer/counter with a known clock speed, and
busy-wait for a suitable time increment

unsigned int i = TCNT1+N;

while(TCNT1<i); // wait
do_future_action();

Problems
1 Determine N by calculation so platform dependency disapears.

2 Still a lot of wasted CPU!

 Time Sampling time Real-time events

Reacting to real time events

The nearly as poor man’s solution

Configure a timer/counter with a known clock speed, and
busy-wait for a suitable time increment

unsigned int i = TCNT1+N;

while(TCNT1<i); // wait
do_future_action();

Problems
1 Determine N by calculation so platform dependency disapears.

2 Still a lot of wasted CPU!

 Time Sampling time Real-time events

Reacting to real time events

The standard solution

Use an Operating system call that fakes the timer increment
busy-wait loop while making better use of the CPU resources

delay(N); // wait (blocking OS call)

do_future_action();

No platform dependency!
No wasted CPU cycles (at the expense of complex OS
internals)

Still a problem . . .
. . . common to all solutions . . .
 Time Sampling time Real-time events

Reacting to real time events

The standard solution

Use an Operating system call that fakes the timer increment
busy-wait loop while making better use of the CPU resources

delay(N); // wait (blocking OS call)

do_future_action();

No platform dependency!
No wasted CPU cycles (at the expense of complex OS
internals)

Still a problem . . .
. . . common to all solutions . . .
 Time Sampling time Real-time events

Reacting to real time events

The standard solution

Use an Operating system call that fakes the timer increment
busy-wait loop while making better use of the CPU resources

delay(N); // wait (blocking OS call)

do_future_action();

No platform dependency!
No wasted CPU cycles (at the expense of complex OS
internals)

Still a problem . . .
. . . common to all solutions . . .
 Time Sampling time Real-time events

Reacting to real time events

The standard solution

Use an Operating system call that fakes the timer increment
busy-wait loop while making better use of the CPU resources

delay(N); // wait (blocking OS call)

do_future_action();

No platform dependency!
No wasted CPU cycles (at the expense of complex OS
internals)

Still a problem . . .
. . . common to all solutions . . .
 Time Sampling time Real-time events

Reacting to real time events

The standard solution

Use an Operating system call that fakes the timer increment
busy-wait loop while making better use of the CPU resources

delay(N); // wait (blocking OS call)

do_future_action();

No platform dependency!
No wasted CPU cycles (at the expense of complex OS
internals)

Still a problem . . .
. . . common to all solutions . . .
 Time Sampling time Real-time events

In a scheduled system
What looks like . . .
Event detected call do_future_action()

delay(N)

subsequent statements

might very well be . . .

Event detected call do_future_action()

delay(N)

Other threads get to run!

Had we known the scheduler’s choice, a smaler N had been used!

 Time Sampling time Real-time events

In a scheduled system
What looks like . . .
Event detected call do_future_action()

delay(N)

subsequent statements

might very well be . . .

Event detected call do_future_action()

delay(N)

Other threads get to run!

Had we known the scheduler’s choice, a smaler N had been used!

 Time Sampling time Real-time events

Relative delays

The problem is that these delay services are always specified using
relative time:
The constructed real-time event will occur at a time obtained
by adding the delay parameter N to now.
But now is not a very meaningful time reference in a
scheduled system, as it is not related to any externally
observable signals.

Other common OS services share this problem: sleep, usleep

and nanosleep.

We are not going to use OS services in the course.

 Time Sampling time Real-time events

Relative delays

The problem is that these delay services are always specified using
relative time:
The constructed real-time event will occur at a time obtained
by adding the delay parameter N to now.
But now is not a very meaningful time reference in a
scheduled system, as it is not related to any externally
observable signals.

Other common OS services share this problem: sleep, usleep

and nanosleep.

We are not going to use OS services in the course.

 Time Sampling time Real-time events

Relative delays

The problem is that these delay services are always specified using
relative time:
The constructed real-time event will occur at a time obtained
by adding the delay parameter N to now.
But now is not a very meaningful time reference in a
scheduled system, as it is not related to any externally
observable signals.

Other common OS services share this problem: sleep, usleep

and nanosleep.

We are not going to use OS services in the course.

 Time Sampling time Real-time events

Relative delays

The problem is that these delay services are always specified using
relative time:
The constructed real-time event will occur at a time obtained
by adding the delay parameter N to now.
But now is not a very meaningful time reference in a
scheduled system, as it is not related to any externally
observable signals.

Other common OS services share this problem: sleep, usleep

and nanosleep.

We are not going to use OS services in the course.

 Time Sampling time Real-time events

Relative delays

The problem is that these delay services are always specified using
relative time:
The constructed real-time event will occur at a time obtained
by adding the delay parameter N to now.
But now is not a very meaningful time reference in a
scheduled system, as it is not related to any externally
observable signals.

Other common OS services share this problem: sleep, usleep

and nanosleep.

We are not going to use OS services in the course.

 Time Sampling time Real-time events

Yet another problem

Even if other threads were not to interfere, using delay services as

a means of specifying future points in time has another
fundamental drawback.

Example
Consider a task running a CPU-heavy function do work() every
100 millisecods. Using delay(), the naive implementation would
be:

while(1){
do_work();
delay(100);
}
 Time Sampling time Real-time events

Yet another problem

Even if other threads were not to interfere, using delay services as

a means of specifying future points in time has another
fundamental drawback.

Example
Consider a task running a CPU-heavy function do work() every
100 millisecods. Using delay(), the naive implementation would
be:

while(1){
do_work();
delay(100);
}
 Time Sampling time Real-time events

Accumulating drift

X X X X
100 100 100

100 100 100 100 100 100

X is the time take to do work

With relative delays, each turn in the loop will take at least 100+X
milliseconds.

A drift of X milliseconds will accumulate every turn!

 Time Sampling time Real-time events

Accumulating drift

X X X X
100 100 100

100 100 100 100 100 100

X is the time take to do work

With relative delays, each turn in the loop will take at least 100+X
milliseconds.

A drift of X milliseconds will accumulate every turn!

 Time Sampling time Real-time events

Accumulating drift

X X X X
100 100 100

100 100 100 100 100 100

X is the time take to do work

With relative delays, each turn in the loop will take at least 100+X
milliseconds.

A drift of X milliseconds will accumulate every turn!

 Time Sampling time Real-time events

Accumulating drift

X X X
100 100 100

100 100 100 100 100 100

With other threads in the system, the already bad scenario gets
worse!

That means that even if we knew X, we wouldn’t be able to

compensate the delay time in any predictable manner!
 Time Sampling time Real-time events

Accumulating drift

X X X
100 100 100

100 100 100 100 100 100

With other threads in the system, the already bad scenario gets
worse!

That means that even if we knew X, we wouldn’t be able to

compensate the delay time in any predictable manner!
 Time Sampling time Real-time events

A stable reference

What we need is a stable time reference to use as a basis whenever

we specify a relative time (instead of now).

Baselines
We introduce the baseline of a message to mean the earliest time a
message is allowed to start.

Time stamps of interrupts!

The baseline of an event is its timestamp:
Baseline: start after Actual method execution

Interrupt signal
 Time Sampling time Real-time events

A stable reference

What we need is a stable time reference to use as a basis whenever

we specify a relative time (instead of now).

Baselines
We introduce the baseline of a message to mean the earliest time a
message is allowed to start.

Time stamps of interrupts!

The baseline of an event is its timestamp:
Baseline: start after Actual method execution

Interrupt signal
 Time Sampling time Real-time events

A stable reference

What we need is a stable time reference to use as a basis whenever

we specify a relative time (instead of now).

Baselines
We introduce the baseline of a message to mean the earliest time a
message is allowed to start.

Time stamps of interrupts!

The baseline of an event is its timestamp:
Baseline: start after Actual method execution

Interrupt signal
 Time Sampling time Real-time events

A stable reference
SYNC
Calling methods with SYNC doesn’t change the baseline (the call
inherits the baseline)

Baseline: start after

A
SYNC(B,meth,arg)

Original event

same baseline: start after

B
 Time Sampling time Real-time events

A stable reference
ASYNC
By default ASYNC method calls will inherit the baseline

Baseline: start after

A
ASYNC(B,meth,arg)

Original event
Pseudo parallel execution

same baseline: start after

B
 Time Sampling time Real-time events

A stable reference

For ASYNC we may also consider adding a baseline offset N!

Baseline: start after

A
AFTER(N,B,meth,arg)

Original event

N
new baseline

actual time of call plays NO role in this baseline calculation!

 Time Sampling time Real-time events

Periodic tasks

To create a cyclic reaction, simply call self with the same method
and a new baseline:

new baseline new baseline

Baseline: start after

Original event AFTER(SEC(2),self,meth,arg)

AFTER(SEC(2),self,meth,arg)

AFTER(SEC(2),self,meth,arg)

etc
2 seconds 2 seconds

SEC is a convenient macro that makes the call independent of

current timer resolution.
 Time Sampling time Real-time events

Periodic tasks

To create a cyclic reaction, simply call self with the same method
and a new baseline:

new baseline new baseline

Baseline: start after

Original event AFTER(SEC(2),self,meth,arg)

AFTER(SEC(2),self,meth,arg)

AFTER(SEC(2),self,meth,arg)

etc
2 seconds 2 seconds

SEC is a convenient macro that makes the call independent of

current timer resolution.
 Time Sampling time Real-time events

Implementing AFTER

1 Let the baseline be stored in every message (as part of the

Msg structure)
2 AFTER is the same as ASYNC, but
New baseline is
MAX(now, offset+current->baseline)
If baseline > now , put message in a timerQ instead of
readyQ
Set up a timer to generate an interrupt after earliest baseline
At each timer interrupt, move first timerQ message to readyQ
and configure a new timer interrupt

In fact ASYNC can now be defined as

#define ASYNC(to,meth,arg) AFTER(0,to,meth,arg)
 Time Sampling time Real-time events

Implementing AFTER

1 Let the baseline be stored in every message (as part of the

Msg structure)
2 AFTER is the same as ASYNC, but
New baseline is
MAX(now, offset+current->baseline)
If baseline > now , put message in a timerQ instead of
readyQ
Set up a timer to generate an interrupt after earliest baseline
At each timer interrupt, move first timerQ message to readyQ
and configure a new timer interrupt

In fact ASYNC can now be defined as

#define ASYNC(to,meth,arg) AFTER(0,to,meth,arg)
 Time Sampling time Real-time events

Implementing AFTER

1 Let the baseline be stored in every message (as part of the

Msg structure)
2 AFTER is the same as ASYNC, but
New baseline is
MAX(now, offset+current->baseline)
If baseline > now , put message in a timerQ instead of
readyQ
Set up a timer to generate an interrupt after earliest baseline
At each timer interrupt, move first timerQ message to readyQ
and configure a new timer interrupt

In fact ASYNC can now be defined as

#define ASYNC(to,meth,arg) AFTER(0,to,meth,arg)
 Time Sampling time Real-time events

Implementing AFTER

1 Let the baseline be stored in every message (as part of the

Msg structure)
2 AFTER is the same as ASYNC, but
New baseline is
MAX(now, offset+current->baseline)
If baseline > now , put message in a timerQ instead of
readyQ
Set up a timer to generate an interrupt after earliest baseline
At each timer interrupt, move first timerQ message to readyQ
and configure a new timer interrupt

In fact ASYNC can now be defined as

#define ASYNC(to,meth,arg) AFTER(0,to,meth,arg)
 Time Sampling time Real-time events

Implementing AFTER

1 Let the baseline be stored in every message (as part of the

Msg structure)
2 AFTER is the same as ASYNC, but
New baseline is
MAX(now, offset+current->baseline)
If baseline > now , put message in a timerQ instead of
readyQ
Set up a timer to generate an interrupt after earliest baseline
At each timer interrupt, move first timerQ message to readyQ
and configure a new timer interrupt

In fact ASYNC can now be defined as

#define ASYNC(to,meth,arg) AFTER(0,to,meth,arg)
 Time Sampling time Real-time events

Implementing AFTER

1 Let the baseline be stored in every message (as part of the

Msg structure)
2 AFTER is the same as ASYNC, but
New baseline is
MAX(now, offset+current->baseline)
If baseline > now , put message in a timerQ instead of
readyQ
Set up a timer to generate an interrupt after earliest baseline
At each timer interrupt, move first timerQ message to readyQ
and configure a new timer interrupt

In fact ASYNC can now be defined as

#define ASYNC(to,meth,arg) AFTER(0,to,meth,arg)
 Time Sampling time Real-time events

Implementing AFTER

1 Let the baseline be stored in every message (as part of the

Msg structure)
2 AFTER is the same as ASYNC, but
New baseline is
MAX(now, offset+current->baseline)
If baseline > now , put message in a timerQ instead of
readyQ
Set up a timer to generate an interrupt after earliest baseline
At each timer interrupt, move first timerQ message to readyQ
and configure a new timer interrupt

In fact ASYNC can now be defined as

#define ASYNC(to,meth,arg) AFTER(0,to,meth,arg)
 Time Sampling time Real-time events

Implementing AFTER

1 Let the baseline be stored in every message (as part of the

Msg structure)
2 AFTER is the same as ASYNC, but
New baseline is
MAX(now, offset+current->baseline)
If baseline > now , put message in a timerQ instead of
readyQ
Set up a timer to generate an interrupt after earliest baseline
At each timer interrupt, move first timerQ message to readyQ
and configure a new timer interrupt

In fact ASYNC can now be defined as

#define ASYNC(to,meth,arg) AFTER(0,to,meth,arg)