A Linux-based implementation of a middleware model supporting time-triggered message-triggered objects

Programming and composing deterministic distributed real-time systems is becoming increasingly important, yet remains difficult and error-prone. An innovative approach to such systems is the general-form timeliness-guaranteed design paradigm, which is the basis for the time-triggered message-triggered object (TMO) programming and system specification scheme. This approach was originally developed for Windows programming environments and operating systems. This paper describes the techniques needed to make TMO support the Linux operating system and reports the resulting performance characteristics.