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prelude

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  • Julien Forget's avatar
    Forget Julien authored
    git-svn-id: https://svn.onera.fr/Prelude/Prelude/trunk@891 49f62630-d767-4ccd-930e-b3f5589f52e1
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                                    Prelude
                                    -------
    
    Introduction
    ============
    
    Prelude is a high-level language for programming embedded control
    systems. It is built upon Synchronous Languages (such as Lustre) and
    inherits their formal properties. It adds real-time primitives to enable
    the programming of multi-periodic systems. The objective of the language
    is not to replace other synchronous languages but instead to provide a
    higher layer of abstraction, on top of classic synchronous languages. It
    can be considered as a real-time software architecture language that
    enables to assemble locally mono-periodic synchronous systems into a
    globally multi-periodic synchronous system. A complete definition of the
    language is available in [forgetPHD] (see Section 4 mainly). A shorter
    presentation is available in [forgetSAC'10].
    
    The preludec compiler generates synchronized multi-task C code that is
    independent of the target OS. Communication is achieved by a tailor-made
    buffering communication protocol. The compilation was defined formally
    and produces deterministic code, which respects the real-time semantics
    of the original program (period, deadlines, release dates and
    precedences) as well as its functional semantics (respect of variables
    consumption). Prelude compiler produces code for either monocore or
    multicore architectures.
    
    Distribution Directory Overview
    ===============================
    
    - INSTALL: Installation instructions.
    
    - README: This file.
    
    - lib/prelude: C header files included by C code generated by Prelude
    - share: C source files and makefiles to compile and link C programs generated by Prelude
    
    - examples: Prelude program examples
    
    - examples/sampling_loop: a complete example with everything required to
      execute it. For new users, the README there is a good starting point.
    
    Using preludec
    ==============
    Use preludec -help for a complete list of options.
    
    For a standard compilation with default options, use:
    preludec -node <main_node> <program.plu>
    
    The compiler generates two C files:
    <program>_c/<main_node>.c and <program>_c/<main_node>.h
    
    The main variants for the code generation are:
    
    -aer: produce code that follows the Acquisition-Execution-Restitution
     multi-phase task model, which splits execution into communication
     phases (A/R) and computation phases (E);
    -with_encoding: communication synchronizations are ensured by precedence
     encoding mechanisms
    (default): mono-phase task model+synchronizations are ensured by semaphores
    
    In all variants, the code is completely independent from the target RTOS.
    
    Compiling and executing code generated by preludec
    ==================================================
    
    The code generated by preludec is not the complete final program. An
    "integration code" is required, to build threads/tasks from the task set
    defined in the generated code. This part is OS-dependent. From there,
    you have several choices:
    
    A- Using Linux+ptask
    1) Install ptask from https://github.com/glipari/ptask
    2) Start by following the instructions in Examples/sampling_loop/README
    3) Follow the instructions in that README to adapt your own program.
    
    B- Using SchedMCore.
    Prelude integration is directly supported by the SchedMCore framework:
    1) Install SchedMCore from http://sites.onera.fr/schedmcore/
    2) Start by following the instructions in Examples/sampling_loop/README
    3) Follow the instructions in that README to adapt your own program.
    
    C- Using your favorite RTOS:
    1) You need to implement the "integration code" that builds threads from
    the code generated by Prelude. See share/ptask_wrapper.c for an example;
    2) If you want to rely on the scheduling policy based on precedence
    encoding, you need to implement the EDF policy modified to support
    deadline words, i.e. the equivalent of the "sched/sched_pluedf.c"
    included in SchedMCore source distribution.
    
    
    References
    ==========
    [forgetPHD]
    J. Forget
    A Synchronous Language for Critical Embedded Systems with Multiple Real-Time Constraints.
    PhD thesis, ISAE, Toulouse, France, November 2009.
    
    [forgetSAC'10]
    J. Forget, F. Boniol, D. Lesens, C. Pagetti
    A Real-Time Architecture Design Language for Multi-Rate Embedded Control Systems.
    In 25th ACM Symposium on Applied Computing (SAC'10), Sierre, Switzerland, March 22-26 2010.
    
    [PreludeSchedMCore-RTNS2011]
    M. Cordovilla, F. Boniol, J. Forget, E. Noulard, C. Pagetti
    Developing critical embedded systems on multicore architectures: the Prelude-SchedMCore toolset.
    In 19th International Conference on Real-Time and Network Systems, RTNS2011, Sep. 3 2013.
    
    [AER-RTNS2018]
    Pagetti, Claire, Julien Forget, Heiko Falk, Dominic Oehlert, and Arno Luppold.
    Automated generation of time-predictable executables on multicore.
    In 26th International Conference on Real-Time Networks and Systems, Oct 10-12 2018.
    
    --------------------------------------------------------------------------
      Contact Address:                          Home site:
      julien.forget@univ-lille.fr    http://www.cristal.univ-lille.fr/~forget/
                                      https://svn.onera.fr/Prelude
                                      https://forge.onera.fr/projects/prelude
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