A model and an implementation of a run-time environment for specifying and monitoring properties of real-time systems are presented. The proposed approach supports annotating real-time programs with events that are recorded and examined at run-time. The authors provide two general methods for synchronous or asynchronous monitoring of real-time constraints. In the synchronous case, a system constraint is embedded inside a program; thus, the constraint is examined at a particular point in the execution of a real-time task. In the asynchronous case, a constraint is monitored by a separate task during the entire execution of real-time tasks. The authors also describe an implementation of a run-time monitoring toolkit as a set of library function calls in C.
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