Programming with non-heap memory in the real time specification for Java

The Real-Time Specification for Java (RTSJ) provides facilities for deterministic, real-time execution in a language that is otherwise subject to variable latencies in memory allocation and garbage collection. A major consequence of these facilities is that the normal Java practice of passing around references to objects in heap memory cannot be used in hard real-time activities. Instead, designers must think carefully about what type of non-heap memory to use and how to transfer data between components without violating RTSJ's memory-area assignment rules. This report explores the issues of programming with non-heap memory from a practitioner's view in designing and programming real-time control loops using a commercially available implementation of the RTSJ.