TMO-eCos: an eCos-based real-time micro operating system supporting execution of a TMO structured program

The TMO (time-triggered message-triggered object) model is a well-known real-time object model for distributed and timeliness-guaranteed computing. A couple of years ago, we developed a Linux-based real-time kernel supporting execution of a TMO structured program, named TMO-Linux. TMO-Linux has been used well in various applications including small embedded devices and real-time control applications, but it still has some drawbacks due to its size and server-like characteristics. To overcome these problems, we recently developed a small embedded kernel to support execution of a TMO structured program by modifying eCos™ kernel named TMO-eCos. TMO-eCos supports a deadline-driven scheduling, a network transparent distributed IPC, and time-triggered and message-triggered real-time threads for TMO-based OO programming. In this paper, we present the design of TMO-eCos.