RT-HashQ for RTO scheduling

As real-time systems become larger and more complex, attempts to apply the object-oriented paradigm to real-time systems are being made. We introduce a real-time object (RTO) model that is suitable for dynamic real-time environments. We also propose a scheduling algorithm and an implementation of a real-time scheduler for the RTO model. We developed the LLF/MP scheduling algorithm that is good for dynamic real-time environments. A real-time scheduler for the RTO model and LLF/MP scheduling algorithm must guarantee the temporal constraints of both the real-time method and the real-time message, and support an infinite real-time queue efficiently, which LLF/MP needs. To solve these problems, we propose a data structure, RT-HashQ (Real-Time-Hash Queue).