COSMIC: A real-time event-based middleware for the CAN-bus
The paper describes the event model and the architecture of the COSMIC (COoperating SMart devICes) middleware. Based on the assumption of tiny smart sensors and actuators, COSMIC supports a distributed system of cooperating autonomous devices. COSMIC considers quality of service requirements in the event model and provides an application interface which allows to express the respective temporal and reliability attributes on a high, application related abstraction level. According to the need in most real-time systems, COSMIC supports 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 the layered COSMIC architecture to map the different channel classes to the CAN-Bus.
middleware can-bus real-time event channel cooperative control message scheduling