A real-time event channel model for the CAN-Bus

The paper describes a real-time event channel model in a publisher/subscriber communication scheme. The model specifically considers temporal and reliability attributes and suggests an API that integrates the real-time aspects in the event channel model. According to the need in most real-time systems, we support event channels with different timeliness and reliability classes. Hard real-time event channels are considered to meet all temporal requirements under the specified fault assumptions. The resource requirements for this type of channel are statically assigned by an appropriate reservation scheme. Soft real-time event channels are scheduled by their deadlines, but they are not guaranteed under transient overload conditions. Non real-time event channels are used for events without any specified timeliness requirements in a best-effort manner. The paper finally presents how the different channel classes are mapped to the mechanisms necessary to implement the model on the CAN-Bus.