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<p>The real-time object model, an extended object-oriented model for describing real-time systems, is described. The design and implementation of RTC++, a programming language that extends C++ on the basis of the real-time object model, are discussed. The schedulability analysis and specification of rigid timing constraints in systems with active objects are reviewed.</p>
Clifford W. Mercer, Hideyuki Tokuda, Yutaka Ishikawa, "An Object-Oriented Real-Time Programming Language", Computer, vol. 25, no. , pp. 66-73, October 1992, doi:10.1109/2.161281
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