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Increasing capabilities of modern microcontrollers greatly increase their applicability to more and more unstable and complex environments. Dynamic reconfiguration provides a powerful mechanism to adapt in such environments. However, the implementation of dynamic reconfiguration is still challenging for embedded real-time control software systems. In this paper, we present our real-time component framework which simultaneously supports hard real-time control and non-real-time adaption management while keeping the implementation as lean as possible. Our contribution is the hybrid component model in which one part is designed to support the real-time task while its non-real-time counterpart deals with component adaptation and management functions. A detailed analysis of the intra-component management interface was provided. XML was employed to describe and configure real-time task. We also designed an interface between real-time objects to achieve an inter-real-time task communication scheme based on global shared memory. In the non real-time domain, by mapping much of the management functions to the OSGi system service, we realized the components management service. Our framework can achieve complex component management while providing hard real-time assurance.

A hybrid real-time component model for reconfigurable embedded systems