A Distributed Computing Environment for Embedded Control Systems with Time-Triggered and Event-Triggered Processing

The paper presents a distributed computing environment for embedded control systems with time-triggered and event-triggered distributed processing. We have already presented a time-triggered distributed object model and a time-triggered distributed computing environment for embedded control systems. However, there are many embedded control systems with time-triggered and event-triggered processing. In this paper, we present two kinds of event-triggered distributed object models, a pure event-triggered distributed object model and a data-triggered distributed object model, in addition to the time-triggered distributed object model. We also present a distributed object computing environment based on a time-division scheduling for the mixed architecture with time-triggered and event-triggered distributed processing. The time division scheduling divides an execution cycle into a time-triggered processing segment and a non-time-triggered processing segment. The time-triggered distributed processing is executed in the former segment, and the event-triggered distributed processing is executed in the latter segment. The distributed object computing environment consists of a real-time operating system with the time division scheduling and distributed computing middleware to support the three kinds of distributed object models. We provide a development environment that generates stubs and configuration data to build distributed control systems.