We propose a model- and component-based approach for communications-oriented development of Distributed Real-time Embedded (DRE) systems with a support for legacy communication protocols, legacy nodes and Holistic Response Time Analysis (HRTA). Because an end-to-end timing model should be available to perform HRTA, we also present a method to extract such models from component-based DRE systems. Moreover, we extend the existing analysis of Controller Area Network to support mixed messages in the system with priority- and FIFO-queued nodes. A mixed message represents a common transmission pattern implemented by some high-level protocols used in the industry. We also provide a proof of concept by extending the existing industrial model, i.e., Rubus Component Model, implementing the HRTA along with the extended analysis in an industrial tool suite, i.e., Rubus-ICE, and conducting an automotive-application case study.
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