Computers are used to control a wide range of systems from simple domestic machines, through games controllers, to entire manufacturing plants. These computers interact directly with hardware devices. Their software must react to events generated by the hardware and often issue control signals in response to these events. These signals result in an action, such as the initiation of a phone call, the movement of a character on the screen, the opening of a valve, or the display of the system status. The software in these systems is embedded in system hardware, often in read-only memory. It responds, in real time, to events from the system’s environment. By real time, I mean that the software system has a deadline for responding to external events. ...
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