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Abstract: Preface. Part 1: Programming for the Real World. Chapter 1: Introduction What's POSIX? Doing More the POSIX Way The POSIX Environment The Applications Are Varied The Problems Are the Same Some Solutions to These Problems What POSIX Does Not Do. Chapter 2: The POSIX Way What POSIX Is Compile-Time Checking Run-Time Checking Headers and Namespace Pollution Who's Got What? Conclusion. Chapter 3: The Basics of Real-Time: Multiple Tasks Doing Everything at Once Running in Cycles Multiple Processes Signals Conclusion Exercises. Chapter 4: Better Coordination: Messages, Shared Memory, and Synchronization Communicating Between Processes POSIX.1 Communication: Pipes and FIFOs System V Message Queues POSIX.4 Message Queues POSIX.4 Shared Memory and File Mapping Synchronizing Multiple Processes Conclusion Exercises. Chapter 5: On Time: Scheduling, Time, and Memory Locking Trying to Make Things Happen On Time Rates and Responses Standard Scheduling Solutions Under UNIX Portable Real-Time Scheduling: the POSIX.4 Scheduling Interfaces Making Things Happen On Time Keeping Your Memory Handy: UNIX and POSIX Memory Locking Brass Tacks Nice but Not Necessary: How to Make the Time Readable Conclusion Exercises. Chapter 6: I/O for the Real World I/O Is Everything I/O in Real-Time Systems UNIX Has a Problem with Real-Time I/O Standard UNIX Facilities for Real-World I/O Achieving Greater Control over File Operations Asynchronous I/O: I/O While You Don't Wait Deterministic I/O Conclusion Exercises. Chapter 7: Performance, or How to Choose an Operating System Performance in Real-Time Systems Measuring the Right Thing Metrics for POSIX Systems Conclusion Exercises. Part 2: Manpages.... Part 3: Solutions to Problems Appendix A: Exercise Code. Chapter 3: The Basics of Real-Time: Multiple Tasks. Chapter 4: Better Coordination: Messages, Memory, and Synchronization. Chapter 5: On Time: Scheduling, Time, and Memory Locking. Chapter 6: I/O for the Real World. Chapter 7: Performance, or How To Choose an Operating System. Bibliography. Index. List of Figures. 1-1 Mandatory and optional parts of POSIX.1 and POSIX.4 1-2 Real-time control loop-one device 1-3 Real-time control loop-multiple devices 1-4 Terminals and server 1-5 Multiple servers 2-1 Cross development 2-2 POSIX conformance checking-basic outline 4-1 Result of simultaneous dequeue by two processes 4-2 mmap is used for mapping differing sorts of objects 4-3 How mmap's arguments refer to the mapped region 4-4 A counting semaphore over time 4-5 Mutex and condition variables 5-1 Real-time device monitoring and control 5-2 Race condition when setting an absolute timer by yourself 5-3 Layers of software between you and an errant program 6-1 Normal UNIX disk layout and optimal layout for sequential access 6-2 How AIO proceeds 6-3 Asynchronous I/O error and return status 6-4 Race condition between seek and read/write 6-5 Preventing bad things from happening 7-1 The computer responds 7-2 Layers of an I/O implementation 7-3 Non-contested use of semaphores 7-4 Two processes (P) signalling each other with semaphores (S) 7-5 A generic performance measurement 7-6 Responsiveness measurement application 7-7 External measurement of interrupt and task response. List of Tables. 1-1 Status of POSIX standards as of April, 1994 2-1 The Menu for POSIX.1 Functionality 2-2 The Menu for POSIX.4 Functionality 2-3 _POSIX_VERSION Possible Values 2-4 POSIX Feature Limits: Maxima 2-5 POSIX Feature Limits: Minimum Requirements 2-6 sysconf Options 2-7 pathconf and fpathconf Options 2-8 POSIX Reserved Namespaces 3-1 Signals Required by POSIX (Default Action Termination) 3-2 POSIX Optional Signals 4-1 Coordination Mechanisms 4-2 How to Get Various Shared Memory and File Mapping Facilities 5-1 Example rate-monotonic priority ssignments