Evaluation of the communication latency over real-time channel in HARTS

In this paper, the end-to-end communication latency in HARTS (Hexagonal Architecture for Real-Time Systems) is evaluated, which depends on the intra-node delay as well as the inter-node delay. While the inter-node delay is bounded due to the point-to-point real-time channel, the intra-node delay is variable according to the message traffic and the internal structure of a HARTS node. The intra-node delay is evaluated analytically and by computer simulation for the various implementational models, and an arbitration algorithm is proposed to provide real-time scheduling for VMEbus-based HARTS node.