The OCTOPUS method provides a systematic approach for developing object-oriented software for embedded real-time systems. This book describes the well-integrated OCTOPUS development process that covers the major phases of developing software. From requirements specifications to implementation, the models are continuously and clearly linked. Covers concurrency, synchronization, communication, the handling of interrupts, ASICs, hardware interfaces, and end-to-end response time through the system. For object-oriented software developers, programmers, and embedded-system engineers.