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[flexotask-commits] SF.net SVN: flexotask:[87] trunk/flexotask/doc/flexotaskProgramming.html
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From: <jsa...@us...> - 2008-11-12 16:40:24
|
Revision: 87
http://flexotask.svn.sourceforge.net/flexotask/?rev=87&view=rev
Author: jsauerbach
Date: 2008-11-12 16:40:13 +0000 (Wed, 12 Nov 2008)
Log Message:
-----------
Programmer's guide further progress: documentation of template API and other cleanups and improvements.
Modified Paths:
--------------
trunk/flexotask/doc/flexotaskProgramming.html
Modified: trunk/flexotask/doc/flexotaskProgramming.html
===================================================================
--- trunk/flexotask/doc/flexotaskProgramming.html 2008-11-11 20:26:31 UTC (rev 86)
+++ trunk/flexotask/doc/flexotaskProgramming.html 2008-11-12 16:40:13 UTC (rev 87)
@@ -41,11 +41,14 @@
<li><a href="#testingRuntime">Testing and Using the Real-Time Runtime</a>
</ul>
<li><a href="#templates">Constructing Templates</a>
+<ul>
+<li><a href="#templateAPI">The Template API</a>
+</ul>
<li><a href="#tasks">Writing Flexotasks</a>
</ul>
</ul>
-<h2><a name="post-install"></a>Post-Install Testing</h2>
+<br><hr><br><h2><a name="post-install"></a>Post-Install Testing</h2>
<p>Everyone should perform this step to ensure that Flexible Task
Graphs have been correctly installed.
@@ -73,7 +76,7 @@
that the <b>JUnit</b> view eventually shows (after about a minute)
that all tests ran successfully.
-<h2><a name="papers"></a>Relevant papers</h2>
+<br><hr><br><h2><a name="papers"></a>Relevant papers</h2>
<p>The Flexible Task Graph systems is described in a paper in LCTES
2008, and the four programming models that it consolidates are each
@@ -101,7 +104,7 @@
R. Guerraoui, J. Vitek, published in OOPSLA 2007
</ul>
-<h2><a name="samples"></a>The Samples</h2>
+<br><hr><br><h2><a name="samples"></a>The Samples</h2>
<p>The <b>flexotask-functiontest</b> project will run as a JUnit test
for quick verification after system changes, but it is deliberately
@@ -110,7 +113,7 @@
occupies a package. The procedure for creating this project is
described under <a href="#post-install">post-install testing</a>.
-<h3><a name="pendulum"></a>The Inverted Pendulum example from the
+<br><hr><br><h3><a name="pendulum"></a>The Inverted Pendulum example from the
LCTES 2007 Exotasks Paper</h3>
<p>The package for this example is called <b>lctes2007</b> The example
@@ -174,7 +177,7 @@
Flexotask editor to complete the example. This limitation may be
removed soon if someone wants to work on eliminating it.
-<h3><a name="modes"></a>A Multiple Mode Example also illustrating
+<br><hr><br><h3><a name="modes"></a>A Multiple Mode Example also illustrating
Simple Parameters</h3>
<p>The <b>modes</b> example illustrates the more advanced of the two
@@ -211,7 +214,7 @@
class) but they use the parameter as an <b>Integer</b> comparand to
cause the two predicates to perform different tests.
-<h3><a name="communicating"></a>A Weakly Isolated Task Graph
+<br><hr><br><h3><a name="communicating"></a>A Weakly Isolated Task Graph
(Communicating Parameters)</h3>
<p>The <b>communicating</b> example is an example of how a Flexible
@@ -239,7 +242,7 @@
href="com/ibm/realtime/flexotask/tools/FlexotaskXMLParser.html">FlexotaskXMLParser</a>
class programmatically.
-<h3><a name="types"></a>An Example for Experimenting with allowed Data Types</h3>
+<br><hr><br><h3><a name="types"></a>An Example for Experimenting with allowed Data Types</h3>
<p>The <b>types</b> example illustrates that both <b>ArrayList</b> and
<b>HashMap</b> are acceptable types to be passed between Flexotasks
@@ -251,13 +254,13 @@
transmitted between the two Flexotasks.
<p>This example also illustrates that a <a
-href="com/ibm/realtime/flexotask/template/FlexotaskTemplate.html">FlexotaskTemplate</a>
+href="com/ibm/realtime/flexotask/template/package-summary.html">FlexotaskTemplate</a>
can be built up programmatically (the <b>Generator</b> classes in the
<b>lctes2007</b> and <b>modes</b> examples do this internally). The
<b>Main</b> class of this example constructs the graph directly and then validates it.
The editor and XML parser were not used anywhere in the development cycle.
-<h3><a name="highfreq"></a>The High Frequency Reader Example from the LCTES 2008 Paper</h3>
+<br><hr><br><h3><a name="highfreq"></a>The High Frequency Reader Example from the LCTES 2008 Paper</h3>
<p>The <b>highfreqread</b> example closely resembles the code used to
collect the data for Section 5.1 of our Flexible Task Graphs paper
@@ -289,12 +292,12 @@
running in the same virtual machine with the task graph.
</ul>
-<h2><a name="application"></a>Notes for Application Programmers</h2>
+<br><hr><br><h2><a name="application"></a>Notes for Application Programmers</h2>
<p>This section provides information that is of use for writing and
testing actual Flexotask applications.
-<h3><a name="simReal"></a>Simulated and real-time execution modes</h3>
+<br><hr><br><h3><a name="simReal"></a>Simulated and real-time execution modes</h3>
<p>When you test a Flexotask program under Eclipse, you are running in
"simulated" mode. That is,
@@ -341,7 +344,8 @@
<p><img width=441 height=136 src="runtimeExportError.jpg"></p>
<p>This means you do not have the plugin to generate the parts of the
-runtime needed for real-time execution. Follow the procedure in <a
+runtime needed for real-time execution. Choose <b>Cancel</b>, then
+cancel the main export wizard and follow the procedure in <a
href="#obtainingJ9Bridge">the next subsection</a>.
<p>If you do have the necessary IBM support, you will get something
@@ -366,7 +370,7 @@
<a href="#testingRuntime">below</a> which also provides general
information about running programs in the real-time execution mode.
-<h4><a name="obtainingJ9Bridge"></a>Obtaining the Runtime to
+<br><hr><br><h4><a name="obtainingJ9Bridge"></a>Obtaining the Runtime to
Use with IBM WebSphere Real Time</h4>
<p>This procedure is only necessary if you installed Flexible Task
@@ -377,7 +381,7 @@
<p>Use the Eclipse Update Manager to obtain the support. The
procedure differs somewhat between Eclipse 3.3.x and Eclipse 3.4.x.
-<h5>Obtaining the IBM Runtime using Eclipse 3.3.x</h5>
+<br><hr><br><h5>Obtaining the IBM Runtime using Eclipse 3.3.x</h5>
<p><p>Select <b>Help→Software Updates→Find And
Install</b>, then select <b>Search For New Features to Install</b> and
@@ -387,7 +391,7 @@
<b>Flexible Task Graphs Runtime for IBM WebSphere Real Time</b> and
select it. Complete the dialog to install the feature.
-<h5>Obtaining the IBM Runtime using Eclipse 3.4.x</h5>
+<br><hr><br><h5>Obtaining the IBM Runtime using Eclipse 3.4.x</h5>
<p><p>Select <b>Help→Software Updates</b>, then select the
<b>Available Software</b> tab. If you don't see the update site
@@ -398,7 +402,7 @@
<b>Flexible Task Graphs Runtime for IBM WebSphere Real Time</b> and
select it. Complete the dialog to install the feature.
-<h4><a name="obtainingWRT"></a>Obtaining The IBM WebSphere Real Time VM Itself</h4>
+<br><hr><br><h4><a name="obtainingWRT"></a>Obtaining The IBM WebSphere Real Time VM Itself</h4>
<p>You can download copies of the IBM WebSphere Real Time VM from <a
href="http://www.ibm.com/developerworks/java/jdk/linux/download.html">IBM
@@ -409,14 +413,13 @@
you choose the Java 6 version, note that you must use the "WebSphere
Real Time" product, <em>not</em> the "WebSphere Soft Real Time"
product. Flexotask support for the soft real time product may be
-offered in the future.
+offered in the future. Our supplied runtime will also
+work with some still-older versions of WRT (Version 1 SR1 and SR2) if
+you have obtained these at an earlier time.
<p>The Flexible Task Graphs code was most extensively tested with
-Version 1 SR3 but we are working to achieve equivalent results on
-Version 2 and it mostly seems to work. Our supplied runtime will also
-work with some still-older versions of WRT (Version 1 SR1 and SR2) if
-you have obtained these at an earlier time. However, we will not
-spend much effort debugging on those versions.
+Version 1 SR3 but the same functionality appears to work on Version 2
+and we will emphasize support for the latest version in the long run.
<p>To use WRT effectively with these releases you need a Linux kernel
at version 2.6.21 or later. Version 2 of WRT was tested with Red Hat
@@ -425,12 +428,13 @@
will work if they have the real-time capabilities (the suffix -rt
indicates this).
-<h4><a name="testingRuntime"></a>Testing and Using the Real-Time Runtime</h4>
+<br><hr><br><h4><a name="testingRuntime"></a>Testing and Using the Real-Time Runtime</h4>
<p>The <b>flexotask-functiontest</b> project provides a script for
-packing the necessary tests into a <b>jar</b> file. Locate the file
-<b>export.xml</b>, right click and select <b>Run As→Ant
-Build</b>. Refresh the project and find the file
+packaging itself as a <b>jar</b> file so that you can repeat the same
+JUnit tests that you ran under Eclipse, this time using a real-time
+VM. Locate the file <b>export.xml</b>, right click and select <b>Run
+As→Ant Build</b>. Refresh the project and find the file
<b>flexotaskFunctionTest.jar</b>. Copy this file to the Linux machine
on which you have IBM WebSphere Real Time installed and to which you
exported your Flexotask runtime.
@@ -463,9 +467,315 @@
<p>This example should be readily extended to running your own
programs.
-<h3><a name="templates"></a>Constructing Templates</h3>
+<br><hr><br><h3><a name="templates"></a>Constructing Templates</h3>
-<h3><a name="tasks"></a>Writing Flexotasks</h3>
+<p>A Flexible Task Graph starts out its life as a <em>template</em>
+which is then validated and instantiated by the system. The template
+describes
+<ol>
+<li>the tasks that will make up the task graph (at least one)
+<li>the input and output <em>ports</em> of those tasks (if any)
+<li>the connections between the ports (if any)
+<li>the Java classes that implement each task
+<li>(optionally) a parameter to use as part of the initialization of each task
+</ol>
+The template as a whole, plus the specification of each task, port,
+and connection, has certain properties that can assume certain values.
+Some (but not all) of these properties are <em>timing annotations</em>
+whose syntax depends on the selected <em>timing grammar</em> for the
+template.
+<p>Templates have both an XML representation and a runtime
+representation as a tree of Java classes. There are at present three
+scenarios for creating templates and making them available at runtime.
+
+<ol>
+<li>The runtime representation of a template can be created
+programmatically using the API provided by the <a
+href="com/ibm/realtime/flexotask/template/package-summary.html">com.ibm.realtime.flexotask.template</a>
+package. This approach is suitable for small simple graphs,
+particularly single-task graphs.
+
+<li>A template can be created with the Flexotask Editor, saved as XML,
+and then converted by the <a
+href="com/ibm/realtime/flexotask/tools/FlexotaskXMLParser.html#main(java.lang.String[])">FlexotaskXMLParser
+main program</a> into Java source. The Java source is then compiled
+into a class whose static <b>generateGraph()</b> method is invoked to
+create the runtime representation of the template. This approach is
+suitable for large task graphs, especially when the target virtual
+machine is an embedded system that lacks an XML parser.
+
+<li>A template can be created with the Flexotask Editor, saved as XML,
+and then parsed directly from XML to the runtime representation using
+the <b>parse</b>, <b>parsefile</b>, <b>parseStream</b>, or
+<b>parseString</b> method of <a
+href="com/ibm/realtime/flexotask/tools/FlexotaskXMLParser.html">FlexotaskXMLParser</a>.
+This approach is the most straightforward for large task graphs when
+the target system has an XML parser.
+</ol>
+
+<br><hr><br><h4><a name="templateAPI"></a>The Template API</h4>
+
+<p>For fast reference to subsections, use this outline.
+<ul>
+<li><a href="#templateGlobal">Template Global Properties</a>
+<li><a href="#templateTasks">Adding Tasks to a Template</a>
+<li><a href="#templatePorts">Adding Ports to a Task</a>
+<li><a href="#templatePredicates">Adding Predicates to a Template</a>
+<li><a href="#templateCommunicators">Adding Communicators to a Template</a>
+<li><a href="#templateConnections">Adding Connections to a Template</a>
+</ul>
+
+<p>To begin the construction of a template, use <b>new
+FlexotaskTemplate()</b>. From this starting point, you add global
+properties, tasks, and connections. Tasks include normal tasks,
+predicates, and communicators.
+
+<br><hr><br><h5><a name="templateGlobal"></a>Template Global Properties</h5>
+
+<p>Methods that manipulate global properties include
+<ul>
+<li><b>setAllocating</b> to establish whether tasks of the graph are allowed to allocate (default is <b>true</b>)
+
+<li><b>setStableMode</b> to establish how storage in the task's private memory area is to be partitioned
+into stable and transient areas (default is to make all storage stable, as in the Exotasks model)
+
+<li><b>setSynchronizing</b> to establish whether tasks of the graph
+are allowed to use Java synchronized methods and blocks (default is
+<b>true</b>, but if the graph is strongly isolated, then the
+synchronization will have no effect).
+
+<li><b>setTimingData</b> to establish the timing grammar for the graph
+and any global properties that go with that timing grammar. More on
+this below.
+</ul>
+
+There is more detail on these options <a
+href="com/ibm/realtime/flexotask/template/FlexotaskTemplate.html">in
+the javadoc</a>.
+
+<p>An additional global property of a template is whether the
+resulting graph is weakly or strongly isolated. There is no API for
+setting or interrogating this property. Instead, the property is
+inferred from task properties. If any task in the graph is weakly
+isolated, then the graph is weakly isolated. If all tasks of the
+graph are strongly isolated, then the graph is strongly isolated.
+
+<p>The <b>TimingData</b> property of a template must be set if the
+template is to be schedulable. The argument to <b>setTimingData</b>
+must be a class that extends <a
+href="com/ibm/realtime/flexotask/timing/FlexotaskGlobalTimingData.html">FlexotaskGlobalTimingData</a>.
+Note that <em>all</em> of the methods defined in the abstract parent class are
+for use by aspects of the implementation: all of the "interesting"
+information is determined by the particular concrete implementation that you
+choose. In the core Flexible Task Graphs system, we provide <a
+href="com/ibm/realtime/flexotask/timing/simple/Period.html">Period</a>
+and <a
+href="com/ibm/realtime/flexotask/timing/simple/ModeList.html">ModeList</a>,
+both of which cause one of the built-in <em>time triggered</em> timing
+grammars to apply to the rest of template. The former assigns a
+period of execution to the entire graph. The latter establishes one
+or more <em>modes</em>, each of which has its own period and contains
+a subset of the tasks in the graph. Other timing grammars exist and
+will (we hope) become available as plugins. These include a streaming
+grammar developed by Jesper Spring as part of his thesis at EPFL, a
+PTIDES grammar being developed by Jia Zou and Edward Lee at UC
+Berkeley, and an HTL grammar originally developed for Exotasks by
+Daniel Iercan at the University of Salzburg, which is in the process
+of being converted into a Flexotask timing grammar.
+
+<br><hr><br><h5><a name="templateTasks"></a>Adding Tasks to a Template</h5>
+
+<p>Most generally, tasks may be "normal" tasks, predicates or
+communicators. This section describes how to add normal tasks.
+Predicates and communicators are discussed separately.
+
+<p>To add a normal task, first create a default, empty, <a
+href="com/ibm/realtime/flexotask/template/FlexotaskTaskTemplate.html">FlexotaskTaskTemplate</a>
+with <b>new FlexotaskTaskTemplate()</b>. Finish initializing it, then
+add it to the <b>Set</b> obtained by calling <a
+href="com/ibm/realtime/flexotask/template/FlexotaskTemplate.html#getTasks()">getTasks()</a>
+on the main template. In a Java 1.5 (or later) project, <b>getTasks()</b>
+returns a <b>Set<FlexotaskTaskTemplate></b> instead of a raw
+<b>Set</b>.
+
+<p>A task has properties, and optionally input and output ports. Each
+port has some properties.
+
+<p>Task global properties are as follows.
+<ul>
+<li><b>setName</b> establishes a name for the task. Every task in a
+Flexible Task Graph must have a unique name.
+
+<li><b>setImplementationClass</b> establishes the implementation class
+for the task. The argument is a String but it must name a class that
+implements <a
+href="com/ibm/realtime/flexotask/Flexotask.html">Flexotask</a> (either
+directly or by implementing a subinterface or by extending another
+class, which might be the special abstract class <a
+href="com/ibm/realtime/flexotask/AtomicFlexotask.html">AtomicFlexotask</a>).
+
+<li><b>setParameterType</b> establishes the type of a default
+parameter that will be declared statically as part of the template and
+passed to the task's <b>initialize</b> method if (and only if) no
+parameter is supplied at runtime via the parameter map
+
+<li><b>setParameterValue</b> establishes the value of a default
+parameter whose type is given by <b>setParameterType</b>.
+
+<li><b>setWeaklyIsolated</b> establishes whether the task is strongly
+or weakly isolated. The default (contradicting what is stated in the
+paper) is strong isolation (this may change in the future).
+
+<li><b>setTimingData</b> establishes a timing annotation for the task.
+More on this below.
+</ul>
+There is more detail on these options <a
+href="com/ibm/realtime/flexotask/template/FlexotaskTaskTemplate.html">in
+the javadoc</a>.
+
+<p>The <b>ParameterType</b> and <b>ParameterName</b> properties form a
+pair; if one is specified, both must be specified.
+
+<p>Not all tasks necessarily need timing annotations. Whether they
+need them, and what timing annotation to use, is determined by the
+timing grammar (which is, in turn determined by the
+<b>setTimingData</b> call on the main template). A timing annotation
+applied to a task or connection must extend <a
+href="com/ibm/realtime/flexotask/timing/FlexotaskTimingData.html">FlexotaskTimingData</a>.
+As is the case with the global timing data, all of the interesting
+properties are determined by the timing grammar. With the time
+triggered grammars, the only annotation that can apply to a normal
+task is <a
+href="com/ibm/realtime/flexotask/timing/simple/SimpleTimingAnnotation.html">SimpleTimingAnnotation</a>.
+The simplest usage is to assign exactly one time offset to the task
+using <b>new SimpleTimingAnnotation(offset)</b> but the javadoc
+describes some more advanced options.
+
+<br><hr><br><h5><a name="templatePorts"></a>Adding Ports to a Task</h5>
+
+<p>The least error-prone way to specify ports programmatically is as follows.
+
+<ol>
+<li>Create a <a
+href="com/ibm/realtime/flexotask/template/FlexotaskPortTemplate.html">FlexotaskPortTemplate</a>
+for each port.
+
+<li>Set the name, type, and buffering properties of each port via its
+template. The type is required. Buffering defaults to <b>false</b>
+(unbuffered). The name defaults to a system generated name based on
+the type of port and its index position amongst the ports of the task.
+
+<li>Create the array of input port templates in the desired index
+order and add it to the task template by calling <a
+href="com/ibm/realtime/flexotask/template/FlexotaskTaskTemplate.html#setInputPorts(com.ibm.realtime.flexotask.template.FlexotaskPortTemplate[])">the
+<b>setInputPorts</b> function for that form of argument</a>.
+
+<li>Do the same with the output ports, calling <b>setOutputPorts</b>
+instead.
+</ol>
+
+<p>There are also convenience forms of <a
+href="com/ibm/realtime/flexotask/template/FlexotaskTaskTemplate.html#setInputPorts(java.lang.String[],%20boolean[],%20java.lang.String[])">setInputPorts</a>
+and <b>setOutputPorts</b> that bypass the creation of port templates.
+These can be used when the number of ports is small and most port
+names and buffering attributes are defaulted.
+
+<br><hr><br><h5><a name="templatePredicates"></a>Adding Predicates to a Template</h5>
+
+<p>To add a predicate task, first create a default, empty, <a
+href="com/ibm/realtime/flexotask/template/FlexotaskPredicateTemplate.html">FlexotaskPredicateTemplate</a>
+with <b>new FlexotaskPredicateTemplate()</b>. Finish initializing it, then, since a predicate is a task,
+add it to the <b>Set</b> obtained by calling <a
+href="com/ibm/realtime/flexotask/template/FlexotaskTemplate.html#getTasks()">getTasks()</a>
+on the main template. In a Java 1.5 (or later) project, <b>getTasks()</b>
+returns a <b>Set<FlexotaskTaskTemplate></b> instead of a raw
+<b>Set</b>. A predicate template is a subclass of task template.
+
+<p>A predicate may not have output ports, and its implementation class
+must implement <a
+href="com/ibm/realtime/flexotask/FlexotaskPredicate.html">FlexotaskPredicate</a>
+Otherwise, the initialization of a predicate template follows the same
+pattern as a task template.
+
+<p>The timing data for a predicate will often differ from that of a
+normal task because predicates are intended to affect the scheduler.
+In the TT timing grammar, predicates must be assigned a <a
+href="com/ibm/realtime/flexotask/timing/simple/SimpleModeSwitch.html">SimpleModeSwitch</a>
+annotation so that the predicate can assume its expect role in
+controlling mode switches.
+
+<br><hr><br><h5><a name="templateCommunicators"></a>Adding Communicators to a Template</h5>
+
+<p>To add a communicator task, first create a default, empty, <a
+href="com/ibm/realtime/flexotask/template/FlexotaskCommunicatorTemplate.html">FlexotaskCommunicatorTemplate</a>
+with <b>new FlexotaskCommunicatorTemplate()</b>. Finish initializing
+it, then, since a communicator is a task, add it to the <b>Set</b>
+obtained by calling <a
+href="com/ibm/realtime/flexotask/template/FlexotaskTemplate.html#getTasks()">getTasks()</a>
+on the main template. In a Java 1.5 (or later) project, <b>getTasks()</b>
+returns a <b>Set<FlexotaskTaskTemplate></b> instead of
+a raw <b>Set</b>. A communicator template is a subclass of task
+template.
+
+<p>To initialize a communicator template, <b>setName</b> and
+<b>setParameterType</b> <em>must</em> be called, while
+<b>setParameterValue</b> and <b>setTimingData</b> <em>may</em> be
+called. Most other aspects of task template initialization are
+illegal for communicators: the parameter type determines the types of
+its two ports and no other ports may be specified. A communicator has
+a fixed implementation provided by the system. It is always weakly
+isolated and that property cannot be changed.
+
+<br><hr><br><h5><a name="templateConnections"></a>Adding Connections to a Template</h5>
+
+<p>To add a connection, first create a default, empty, <a
+href="com/ibm/realtime/flexotask/template/FlexotaskConnectionTemplate.html">FlexotaskConnectionTemplate</a>
+with <b>new FlexotaskConnectionTemplate()</b>. Finish initializing
+it, then add it to the <b>Set</b> obtained by calling <a
+href="com/ibm/realtime/flexotask/template/FlexotaskTemplate.html#getConnections()">getConnections()</a>
+on the main template. In a Java 1.5 (or later) project,
+<b>getConnections()</b> returns a
+<b>Set<FlexotaskConnectionTemplate></b> instead of a raw
+<b>Set</b>. There is also a convenience constructor that permits the
+creation of a connection template in one step, since these templates
+are usually created after all the tasks have been specified.
+
+<p>A connection has the following properties.
+<ul>
+<li><b>setName</b> provides an optional name for the connection. If
+no name is supplied, the system will generate a convenient name.
+Connection names are generally only important in diagnostic messages.
+
+<li><b>setInput</b> (required) establishes the task whose output port
+provides the input to the connection
+
+<li><b>setOutputPortToRead</b> specifies the particular output port of
+the input task that should be read. If not specified, the first (or
+only) output port is assumed.
+
+<li><b>setOutput</b> (required) establishes the task whose input port
+will receive the output of the connection
+
+<li><b>setInputPortToWrite</b> specifies the particular input port of
+the output task that should be written. If not specified, the first (or
+only) input port is assumed.
+
+<li><b>setConnectionMode</b> specifies how object references are
+transmitted on the connection. The three options ("by reference", "by
+deep clone" and "hybrid") are described in detail in the description
+of the <a
+href="com/ibm/realtime/flexotask/template/FlexotaskConnectionMode.html">FlexotaskConnectionMode</a>
+class.
+
+<li><b>setTimingData</b> establishes a timing annotation for the
+connection. Not all connections need timing annotations and not all
+timing grammars even allow connections to have timing annotations. In
+the TT timing grammar, connections can have annotations on the same
+basis as tasks.
+</ul>
+
+<br><hr><br><h3><a name="tasks"></a>Writing Flexotasks</h3>
+
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