• Added measurement-based Worst-Case Execution Time (WCET) analyzer for CPAL code
• Added process instrospection at run-time (#70)

  
  /* Introspection can serve to implement adaptive behaviours, 
  such as algorithms that depend on the rate of execution 
  or the execution jitter of the process */
  
  processdef aProcess()
  {
    state Main {
      println("pid %u", self.pid);
      println("period %t",self.period);
      println("offset %t",self.offset);
      println("curr %t",self.current_activation);
      println("last %t",self.previous_activation);
      if (self.current_activation > 0ms) {
        assert((self.current_activation-self.previous_activation) == self.period);
      }
    }
  }
  
  process aProcess: p1[100ms]();
  

• Added functions to re-interpret a memory area storing a variable x into another type, x in the following can be of an arbitrary type: uint8.cast(x), uint16.cast(x), uint32.cast(x), uint64.cast(x), int8.cast(x), int16.cast(x), int32.cast(x), int64.cast(x), time64.cast(x), bool.cast(x) (#197) Warning: binary re-interpretation is different from conversion between types available through type.as(x)

  
  init() {
    assert(uint8.cast(time64.FIRST) == 0);
    assert(int32.cast(uint64.FIRST) == 0);
    assert(time64.cast(true)  == 1ps);
    assert(time64.cast(false) == 0ps);
    assert(bool.cast(0) == false);
    assert(bool.cast(int64.LAST)  == true);
    println("assert() successfully executed");
  }
  

• Added modulo between time64 and (u)intX (#222)

  
  processdef UnderTest()
  {
    state Main {
      /* 
  	This assert will fail in real-time mode if other processes 
  	delay the activation of this one. Activation is the first time
  	when the process instance obtains the CPU. 
  	*/ 
      assert((self.current_activation mod self.period) == 0ms);
      println("before sleep: %t", self.current_activation mod 13ms);
      sleep(2ms);
      println("after sleep: %t", time() mod 111us);
    }
  }
  
  process UnderTest: mainTask[10ms]();
  

• [CPAL-editor] New: use XULRunner as embedded browser on all desktop platforms (#227)
• Added help command in the interpreter when running in interactive mode (#229)
• Added float32.min(a,b) and float32.max(a,b) functions (#247)

What has been fixed or improved

• Fixed: tasks2tsv crashes on Win32 when loading file which does not parse (#208)
• Fixed: Parser does not know how to deal with enumerations having same enumerators (#221). Enumerators can now be prefixed by the enum name

  
  enum aFirstEnum {red, blue, yellow};
  enum aSecondEnum {red, green, black};
  
  init() {
    var aFirstEnum: i = aFirstEnum.red;
    var aSecondEnum: j = aSecondEnum.red;
    println("%u %u",i,j);
  }
  

• Added ‘%b’format specifier to print booleans (#226)
• Fixed: step command in interactive mode of the interpreter (#228)
• Fixed: time() function on Windows platforms (#236)
• Added ‘%c’ format specifier to print an (u)intX as a character (#245)
• Added ‘%x’ format specifier to print an (u)intX in hexadecimal (#246)
• Improved: assert messages now report filename and line number which is convenient for included files (#247)

Code metrics and overhead data

• Test code coverage for the execution engine: 88.8% (loc), 93.2% (functions)
• Tests: parser=3594, interpreter=670, embedded targets=236
• Timing overhead (Cortex M4 at 120MHz with floating point unit): timer interrupt = 0.6us, scheduler overhead at process activation = 1.6us + n x 4.6 us where n is the number of active processes, process switching time = 2us