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Practical UML Statecharts in C/C++ Second Edition bridges the gap between high-level abstract concepts of the Unified Modeling Language (UML) and the actual programming aspects of modern hierarchical state machines (UML statecharts). The book describes a lightweight, open source, active object (actor) framework, called QP that enables direct manual coding UML statecharts and concurrent event-driven applications in C or C++.
This book is presented in two parts. In Part I, you get a practical description of the relevant state machine concepts starting from traditional finite state automata to modern UML state machines followed by state machine coding techniques and state-machine design patterns, all illustrated with executable examples. In Part II, you find a detailed design study of a generic real-time framework indispensable for combining concurrent, event-driven state machines into robust applications. Part II begins with a clear explanation of the key event-driven programming concepts such as inversion of control (”Hollywood Principle”), blocking versus non-blocking code, run-to-completion (RTC) execution semantics, the importance of event queues, dealing with time, and the role of state machines to maintain the context from one event to the next. This background is designed to help software developers in making the transition from the traditional sequential to the modern event-driven programming, which can be one of the trickiest paradigm shifts.
The lightweight QP active object framework goes several steps beyond the traditional real-time operating system (RTOS). In the simplest configuration, QP runs on bare-metal microcontroller completely replacing the RTOS. QP can also work with almost any OS/RTOS to take advantage of the existing device drivers, communication stacks, and other middleware.
The accompanying website to this book (state-machine.com/psicc2) contains complete open source code for QP and the free QM graphical modeling tool for QP, ports to popular processors, including ARM Cortex-M, ARM7/9, MSP430, AVR/AVR32, PIC24, RX, etc., as well as QP ports to operating systems, such as Linux, Windows, and Android.
- Sales Rank: #534510 in Books
- Brand: Brand: Newnes
- Published on: 2008-10-01
- Original language: English
- Number of items: 1
- Dimensions: 9.25" h x 1.49" w x 7.52" l, 2.73 pounds
- Binding: Paperback
- 728 pages
- Used Book in Good Condition
Review
"This book and the free QP download are your entry into the 21st century of embedded systems programming."
— Rob Wehrli (Knoxville, TN), Amazon.com review
"It is rare to find an author who is so strong theoretically, while paying such close attention to implementation details like microcontroller resource conservation."-- Robert Jones (MI USA), Amazon.com review
"This book took me from being a C programming novice, to writing 1000s of lines of embedded control systems code, that has been running reliably for several years, with just one bug - my own!"— Haitham Hindi "H.H." (Palo Alto, CA), Amazon.com review
From the Author
You can't just look at state machines and the event-driven active object framework as a collection of features, because some of the features will make no sense in isolation. You can only use these powerful concepts effectively if you are thinking about incremental, iterative design, not simply coding. And to understand state machines that way, you must understand the problems with programming event-driven systems in general.
This book discusses problems inherent in reactive systems, why they are problems, and how state machines and active object computing model can help. Thus, I begin most chapters with the programming problems the chapter will address. In this way, I hope to move you, a little at a time, to the point where active objects and hierarchical state machines become a much more natural way of solving the problems than the traditional approaches such as deeply nested IFs and ELSEs for coding stateful behavior or using blocking calls, such as semaphores or time delays to signal events in a traditional RTOS.
When you start using the techniques described in this book, your problems will change. You will no longer struggle with 15 levels of convoluted IF-ELSE statements, and you will stop worrying about semaphores or other such low-level RTOS mechanisms. Instead, you'll start thinking at a higher level of abstraction about state machines, events, and active objects. After you experience this quantum leap you will find, as I did, that programming can be much more fun.
About the Author
Dr. Miro Samek is the founder of Quantum Leaps (state-machine.com), an open source company providing lightweight active object (actor) frameworks for microcontrollers. His practical books about UML state machines and event-driven active object (actor) frameworks for embedded systems are among the most popular on the market. Miro has also published dozens of technical articles, including a column for C/C++ Users Journal, as well as numerous articles for Embedded Systems Design and Dr. Dobb's Journal. He is a regular speaker at the Embedded Systems Conferences, and serves on the editorial review board of the Embedded Systems Design magazine. His extensive industry experience ranges from safety-critical software development at GE Medical Systems through hard real-time embedded software design at two Silicon Valley companies specializing in GPS technologies. Software he wrote continues to power millions of products. Dr. Samek earned his Ph.D. in nuclear physics at GSI (Darmstadt, Germany).
Most helpful customer reviews
30 of 30 people found the following review helpful.
Required reading for "old school" embedded systems programmers!
By Rob Wehrli
If you are an accomplished or aspiring embedded systems programmer and resort to the "superloop" as your foremost implementation method, you absolutely MUST read this book.
While not new concepts to the industry, the concepts presented in Miro's book are certainly not commonplace in many of the embedded systems code I've seen over many years in the industry.
While UML makes for a clean, now defacto standard for presenting concepts, the real beauty in Miro's book is the use of a readily-available frameworks for immediately adopting the many lessons-learned and provided in the book. These complete, well written and excellently coded frameworks are available under the GPL and an alternate, low-cost license for those who wish to keep their code private.
For strong C programmers, the implementation of the frameworks is a delight as one reads through the code and is treated to an incredibly simple, lightweight and extremely powerful system that will forever put an end to your future plans to "superloop" again--albeit for any system where C (or C++) is adequately supported by the hardware. For anyone admitting that "we've always done superloop and it has always worked in the past," get ready for a real-time, highly responsive system that actually IS event driven and thrives in as little as a few bytes of RAM and perhaps a K of ROM.
For those who must hold on to the "superloop is king" mindset, consider the consequences of adding to your superloop an entirely new set of features and how that may affect the timing through your loop. I started with the "dining philosophers" example code discussed in the book and ported it to my own board (using a Renesas H8S-2166 microcontroller) and augmented the code to be responsive to external events (mechanical switches). This required software debouncing. While my "example" was somewhat "trivial" in terms of what the functionality actually did, it is, in my opinion, extremely typical of changing requirements of both new and legacy code in the day-to-day evolution of embedded systems programming.
My changes to the example code were to implement a "bike light" feature set. That is, whenever a switched was pressed, the bike light--if off--would illuminate. An LED on the board was used for this purpose. Pressed again, the light would blink. Pressed and held for 1 second while on or blinking, the light would turn off.
The typical implementation in superloop would often require a considerate approach to ensure that the new functionality was "injected" into the "right" part of the loop, so as to be of minimal impact to other areas of critical timing code. If any kind of action within the new code delayed the loop processing, then the whole of the superloop could come under further scrutiny and therefore cause more pain as one trials and tests system responsiveness on a number of potential new fronts.
Atop of this new functionality, the frameworks-provided QSpy code instrumentation system, which allows one to have a stream of information about the system states and transitions, was ported to use a UART on the H8S. Imagine adding all of this new functionality in a traditional superloop body of code. Now, imagine adding it in a matter of perhaps two hours using the frameworks AND not adversely impacting the "legacy" application code at all!
One of the most beautiful aspects of these frameworks is the ability to focus strictly on the code necessary for the task at hand instead of the entire system as a whole. The frameworks substantially frees the programmer from having to manually manage system responsiveness typical of the superloop.
Using UML to design and document an embedded system is relatively new to many embedded systems programmers. Miro also provides a free download stencil set for MS Visio for easily implementing statecharts, which should help those interested in pursuing the many benefits of the technology included in this book.
I first met Miro at a developer's conference in San Diego, CA. One thing that comes out in his book and his discussions of this exciting technology is his passion for it. I was very interested in it, as he was displaying his software running on a very resource constrained microcontroller--all in about 40 bytes of RAM or a bit less.
Drawn to his topic by his enthusiasm, I admired the frameworks even more as I began looking at the implementation and design of the code. The entire C bundle, with royalty-free 'private commerical use' license, one of either cooperative or preemptive schedulers (both are provided), event processor, code instrumentation support and more is all for under $2K. Of course, one may explore the entire frameworks for the cost of only a free download before ever making a licensing decision for a given product.
Combined with the low-cost solution of using such powerful frameworks in conjunction with learning the valuable content of this book, teams everywhere can exploit the years of experience and very robust, capable code in a matter of hours instead of weeks, months and even years of doing things the "old school" way using superloops and other facilities instead of truly event-driven designs.
This book and the free QF download are your entry into the 21st century of embedded systems programming. Because the code is provided in C, porting is rather easy and running on embedded systems and desktop systems is practical and easy. I was able to build and run the code as provided without modifications on my Linux, Mac and Windows systems and on the H8S and a Microchip PIC 24 with only a minimalist porting effort of about a half a day in each case. Imagine being able to run an entire real-time system that features excellent extensibility while freeing you from the rigors of managing superloop timing on your own hardware all within a few hours. Then, spend a couple of hours extending the system without impacting the rest of it? Lather, rinse, repeat...it is truly that simple and robust.
Best of all, this book will open your eyes to modern methods and concepts for programming event-driven embedded systems. That is, systems that respond to internal and external events that naturally occur in all embedded systems designs. It is my firm belief that after reading this book and exploring the code on your own, you'll discover why I so heartily endorse it and now share the passion Miro has for this wonderful, very lightweight but robust, complete solution for modern embedded systems programming.
5 of 6 people found the following review helpful.
Many years , one book ! ..simply a best seller book ...
By Ricardo D. Raupp
For guys, like me, who has spent the last years searching, and coding at the same time!, for a way to generate powefull realtime, scalable, elegant, cost eefctive (memories size) and specially maintenance source code, this book is really a"PEARL".
In fact, you can collect many of Samek approachings over the net, but,have it all inside a book is simply perfect.
It seems you have a big buffet, ranging from hotdogs to salmon speciallities dishes under the same table :)
State machines is a very powerfull approach wich any designer should use extensively, since the begining, for almost everything.
After many years (unfurtenely) I got it ...
Samek put it to work in the middle of a "complete EMBEDDED" system context, I mean, events handling, objects / tasks switching, system exchanging messages etc etc.
He also shows the "prices" to pay for simple vesrsus more sophisticated issues, like cooperative x preemptive OS , simple versus hierarchical state machines.It is a very important point if you don't have endless memory devices.
Well, sometimes to make the thing work is easier then to explain anothers to how and why it is working...Samek made it clearly.
I really appreciated this book and strongly recommend it.
13 of 13 people found the following review helpful.
An Indispensable Embedded Systems Classic!
By Haitham Hindi
This book took me from being a C programming novice, to writing 1000s of lines of embedded control systems code, that has been running reliably for several years, with just one bug - my own! This book has been an indispensable resource to me in my work.
Embedded systems programming can be such a perilous task, riddled with potential pitfalls an mistakes that can lead to potentially catastrophic bugs that are virtually impossible to track down. Throughout the text, important practical lessons and good design practices are shared, based on years of real-world experience, which can save novices from countless hours of painful debugging.
The book is amazingly thorough, not only showing you "how", but also teaching you "why". All of the details of the framework and its implementation are clearly described, and the source code is available in the book and online, ready for immediate use on real applications.
Samek does a truly masterful job of constructing an extremely lean yet very powerful framework for safe embedded systems programming. The approach is based on both on proven practical and solid academic foundations, such as: actor oriented programming, UML statecharts, publish-subscribe, design patterns, realtime operating systems, design by contract, etc.
This second edition contains a lot of new material, including: new support for software tracing in event driven systems, along with interfaces to Matlab; a new chapter on QP-nano, an ultra-lightweight event driven infrastructure, that can run on low-end 8- and 16-bit MCUs; the first chapter, which introduces the main ideas and techniques in the book via real-time fly&shoot game was so much fun to read; and numerous new explanations. In addition, the emphasis has shifted from C++ to C, with C++ codes available online. The first edition hit the markets around 2002, and became and instant classic; this second edition will no doubt continue that trend.
- H.H., (Xerox) PARC.
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