We present an approach to static priority preemptive process scheduling for the synthesis of hard real-time distributed embedded systems where communication plays an important role. The communication model is based on a time-triggered protocol. We have developed an analysis for the communication delays with four different message scheduling policies over a time-triggered communication channel. Optimization strategies for the synthesis of communication are developed, and the four approaches to message scheduling are compared using extensive experiments.
Real-time Systems Journal, 2004, Vol 26, Issue 3, p. 297-325