Processes, Tasks, and Monitors: A Comparative Study of Concurrent Programming Primitives

Three notations for concurrent programming are compared, namely CSP, Ada, and monitors. CSP is an experimental language for exploring structuring concepts in concurrent programming. Ada is a general-purpose language with concurrent programming facilities. Monitors are a construct for managing access by concurrent processes to shared resources. We start by comparing "lower-level" communication, synchronization, and nondeterminism in CSP and Ada and then examine "higher-level" module interface properties of Ada tasks and monitors.     

On the Implementation and Use of Ada on Fault-Tolerant Distributed Systems

In this paper, we discuss the use of Ada® on distributed systems in which failure of processors has to be tolerated. We assume that tasks are the primary object of distribution, and that communication between tasks on separate processors will take place using the facilities of the Ada language. It would be possible to build a separate set of facilities for communication between processors, and to treat the software on each machine as a separate program. This is unnecessary and undesirable. In addition, the Ada language Reference Manual states specifically that a system consisting of communicating processors with private memories is suitable for executing an Ada program.     

Real-time interrupt handling in Ada

The Ada? programming language defines the semantics of interrupt handling as part of the tasking mechanism, making it possible to construct implementation-independent interrupt handlers. However, for the Ada mechanism to be effective, an implementation must provide support not specified by the Ada standard, such as for initializing hardware interrupting devices, handling unexpected interrupts and optimizing for real-time performance constraints. This paper analyses some of the constraints that efficient interrupt support places on an implementation. It develops a model for the interaction between interrupt hardware and Ada tasks and describes optimizations for Ada interrupt handlers. Implementation issues, including task priorities and task termination for interrupt handlers, are discussed in detail.     

Concurrent programming in the Ada® language: The polling bias

The rendezvous is an important concept in concurrent programming—two processes need to synchronize, i.e. rendezvous, to exchange information. The Ada programming language is the first programming language to use the rendezvous as the basis of its concurrent programming facilities. Our experience with rendezvous facilities in the Ada language shows that these facilities lead to and encourage the design of programs that poll. Polling is generally, but not always, undesirable because it is wasteful of system resources. We illustrate and examine the reasons for polling bias in the Ada language. We give suggestions on how to avoid polling programs, and suggest changes to the rendezvous facilities to eliminate the polling bias. The ramifications of these changes to the implementation of the Ada language are also discussed. Although we have focused on the rendezvous facilities in the Ada language our analysis is also applicable to other languages. A polling bias can occur in any concurrent programming language based on the rendezvous mechanism if it does not provide appropriate facilities.     

Monitoring for Deadlock and Blocking in Ada Tasking

We present a deadlock monitoring algodrithm for Ada tasking programs which is based on transforming the source program. The transformations introduce a new task called the monitor, which receives information from all other tasks about their tasking activities. The monitor detects deadlocks consisting of circular entry calls as well as some noncircular blocking situations. The correctness of the program transformations is formulated and proved using an operational state graph model of tasking. The main issue in the correctness proof is to show that the deadlock monitor algorithm works correctly without having simultaneous information about the state of the program. In the course of this work, we have developed some useful techniques for programming tasking applications, such as a method for uniformly introducing task identifiers. We argue that the ease of finding and justifying program transformations is a good test of the generality and uniformity of a programming language. The complexity of the full Ada language makes it difficult to safely apply transformational methods to arbitrary programs. We discuss several problems with the current semantics of Ada's tasks.     

Analyzing partially-implemented real-time systems

Most analysis methods for real-time systems assume that all the components of the system are at roughly the same stage of development and can be expressed in a single notation, such as a specification or programming language. There are, however, many situations in which developers would benefit from tools that could analyze partially-implemented systems: those for which some components are given only as high-level specifications while others are fully implemented in a programming language. In this paper, we propose a method for analyzing such partially-implemented real-time systems. We consider real-time concurrent systems for which some components are implemented in Ada and some are partially specified using regular expressions and graphical interval logic (GIL), a real-time temporal logic. We show how to construct models of the partially-implemented systems that account for such properties as run-time overhead and scheduling of processes, yet support tractable analysis of nontrivial programs. The approach can be fully automated, and we illustrate it by analyzing a small example     

Robotics software systems

A robotics software “system” is defined here as one which allows robot users to program robot tasks in terms of key states of the task, instead of manipulator motions. It consists of two subsystems: a language system and a planning system. The language system involves the design of syntax and semantics of a robot programming language whereas the planning system determines specific manipulator movements for a given task defined in a task-level language. This paper describes the major components of a robotics software system and reviews principal research findings in the related aspects including programming languages, manipulator and world modelings, motion planning, and graphic simulation. Underlying research issues are addressed at the end.     

Temporal logic-based deadlock analysis for Ada

A temporal logic-based specification language and deadlock analyzer for Ada is described. The deadlock analyzer is intended for use within Timebench, a concurrent system-design environment with support for Ada. The specification language, COL, uses linear-time temporal logic to provide a formal basis for axiomatic reasoning. The deadlock analysis tool uses the reasoning power of COL to demonstrate that Ada designs specified in COL are systemwide deadlock-free: in essence, it uses a specialized theorem prover to deduce the absence of deadlock. The deadlock algorithm is shown to be decidable for finite systems and acceptable otherwise. It is also shown to have a worst-case computational complexity that is exponential with the number of tasks. The analyzer has been implemented in Prolog. Numerous examples are evaluated using the analyzer, including readers and writers, gas station, five dining philosophers, and a layered communications system. The results indicate that analysis time is reasonable for moderate designs in spite of the worst-case complexity of the algorithm     

Implementing atomic actions in Ada 95

Atomic actions are an important dynamic structuring technique that aid the construction of fault-tolerant concurrent systems. Although they were developed some years ago, none of the well-known commercially-available programming languages directly support their use. This paper summarizes software fault tolerance techniques for concurrent systems, evaluates the Ada 95 programming language from the perspective of its support for software fault tolerance, and shows how Ada 95 can be used to implement software fault tolerance techniques. In particular, it shows how packages, protected objects, requeue, exceptions, asynchronous transfer of control, tagged types, and controlled types can be used as building blocks from which to construct atomic actions with forward and backward error recovery, which are resilient to deserter tasks and task abortion     

Ada95语言评述

Ａｄａ９５语言是在Ａｄａ８３基础上修订而成的，它几乎提供了现代程序设计范型及程序设计实践所需要的一切设施，它可以支持面向对象的程序设计、大型程序设计、实时与并行程序设计等等。     

一个Ada子集的编译设计与实现

Ａｄａ语言是美国国防部（ＤｏＤ）在国际范围内组织设计的软件工程语言。它具有实时性、模块性、并行性，在数据抽象，模块结构、并行控制和异常处理等方面提出一整套新概念、新方法，是现代计算机语言的成功代表。该文主要描述由ＰＣｘ８６／ＵＩＮＸ平台上的Ａｄｚ－ｚ编译系统的信息流导致的软件结构、结构内部的接口定义及每个软件元素的功能。     

The manipulator language with the characteristic of a functional programming language

This article describes the motion-oriented robot language IML (interactive manipulator language) with the characteristic of a functional programming language. The main functions of IML are (1) It is possible to describe the iterative motions without using a loop. (2) The user-defined procedures (commands) can be called by specifying the command name. (3) It is possible to describe robot motion (a sequence of the position and orientation of a robot hand) and force magnitude in the task-oriented Cartesian coordinate system (task coordinate system) suitable for robot tasks. Furthermore, it is possible to describe the translation and rotation of the coordinate system without syntactic distinction. (4) As the teaching data can be easily embedded in the language and can be played back in the force control mode, complex task programming becomes easy. In IML, as the user-defined command and the teaching data can be used just as the builtin system command; the system can be extended easily and naturally. In this article these features are described, and it is shown that these functions can be realized with the unified representation by introducing the concept of a functional programming language. The effectiveness of IML was confirmed by actually making a robot perform some tasks programmed in IML.     

Adam: An Ada-based language for multiprocessing

Adam is a high-level language for parallel processing. It is intended for programming resource scheduling applications, in particular supervisory packages for run-time scheduling of multiprocessing systems. An important design goal was to provide support for implementation of Ada and its run-time environment. Adam has been used to implement Ada task supervision and also as a high-level target language for compilation of Ada tasking. Adam provides facilities corresponding to the Ada sequential constructs (including subprograms, packages, exceptions, generics). In addition, it provides specialized module constructs for implementation of packages that may be shared between parallel processes, and new predefined types for scheduling. The parallel processing constructs of Adam are more primitive than Ada tasking. Strong restrictions are enforced on the ways in which parallel processes can interact. A compiler for Adam has been implemented in MacLisp on DEC PDP-10 computers. Runtime support packages in Adam for scheduling (on a single CPU) and I/O are also provided. The compiler contains a library manipulation facility for separate compilation. The Adam compiler has been used to build an Ada compiler for most of the July 1980 Ada, including task types and rendezvous constructs. This was achieved by implementing the translation of Ada tasking into Adam parallel processing as a preprocessor to the Adam compiler. This present Ada compiler, which has been operational since December 1980, uses a procedure call implementation of tasking. It can be easily modified to other implementations. Compilation of Ada tasking into a high-level target language such as Adam facilitates studying questions of correctness and efficiency of various compilation algorithms, and code optimizations specific to tasking, e.g. elimination of unnecessary threads of control. This paper gives an overview of Adam and examples of its use. Emphasis is placed on the differences from Ada. Experience using Adam to build the experimental Ada system is evaluated. Design of a run-time supervisor in Adam is discussed in detail.     

Rendezvous facilities: Concurrent C and the Ada language

The concurrent programming facilities in both Concurrent C and the Ada language are based on the rendezvous concept. Although these facilities are similar, there are substantial differences. Facilities in Concurrent C were designed keeping in perspective the concurrent programming facilities in the Ada language and their limitations. Concurrent C facilities have also been modified as a result of experience with its initial implementations. The authors compare the concurrent programming facilities in Concurrent C and Ada and show that it is easier to write a variety of concurrent programs in Concurrent C than in Ada     

The cyclic executive model and Ada

Periodic processes are major parts of many real-time embedded computer applications. The programming language Ada permits programming simple periodic processes, but it has some serious limitations; producing Ada programs with real-time performance comparable to those produced to date using traditional cyclic executives requires resorting to techniques that are specific to one machine or compiler. We present and evaluate the cyclic executive model for controlling periodic processes. The features and limitations of Ada for programming cyclic executive software are discussed and demonstrated, and some practical techniques for circumventing Ada limitations are described.     

Caesar: an intelligent domestic service robot

In this paper we present Caesar, an intelligent domestic service robot. In domestic settings for service robots complex tasks have to be accomplished. Those tasks benefit from deliberation, from robust action execution and from flexible methods for human?Crobot interaction that account for qualitative notions used in natural language as well as human fallibility. Our robot Caesar deploys AI techniques on several levels of its system architecture. On the low-level side, system modules for localization or navigation make, for instance, use of path-planning methods, heuristic search, and Bayesian filters. For face recognition and human?Cmachine interaction, random trees and well-known methods from natural language processing are deployed. For deliberation, we use the robot programming and plan language Readylog, which was developed for the high-level control of agents and robots; it allows combining programming the behaviour using planning to find a course of action. Readylog is a variant of the robot programming language Golog. We extended Readylog to be able to cope with qualitative notions of space frequently used by humans, such as ??near?? and ??far??. This facilitates human?Crobot interaction by bridging the gap between human natural language and the numerical values needed by the robot. Further, we use Readylog to increase the flexible interpretation of human commands with decision-theoretic planning. We give an overview of the different methods deployed in Caesar and show the applicability of a system equipped with these AI techniques in domestic service robotics.     

Safety verification of Ada programs using software fault trees

The software fault-tree analysis technique is explained. It is then extended to allow its use on a more complex language involving such features as concurrency and exception handling. Ada is used as the example language because many safety-critical projects are using or planning to use Ada. It also contains complex, real-time programming facilities found in other languages used in these types of projects. Software fault-tree analysis uses failure-mode templates to generate the fault tree. The templates provided can be used to define the procedures for applying the technique to programs written in most other declarative languages. To explain the use of the templates an example Ada program, for a traffic-light-control system, is analyzed. The cost and practicality of the method and its implications for software reuse are assessed. The application of the safety analysis procedures to requirements modeling and specification languages is considered