Giotto: a time-triggered language for embedded programming

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Cyber Physical Systems: Design Challenges (2008, background): “The concept of “logical execution time” [13] offers a more promising abstraction, but ultimately still relies on being able to get worst-case execution times for software components.”
Cyber–Physical Systems: A Perspective at the Centennial (2012, background): “Giotto [173] provides platform independent high-level abstractions that can be used for specifying time-triggered sensor readings, task”
Quo Vadis, SLD? Reasoning About the Trends and Challenges of System Level Design (2007, background): “The RT scheduling problem can be classified along three axes: 1) Input characteristic : time-driven: continuous (synchronous) inputs; event-driven: discontinuous (asynchronous) inputs; 2) Criticality of timing constraints : Hard RT systems: response of the system within the timing constraints is…”
Real Time Scheduling Theory: A Historical Perspective (2004, background): “This approach is taken in the Giotto programming language [97], I/O and communication are time-triggered and assumed to take zero time, while the computations in-between are assumed to be scheduled in real-time.”
The synchronous languages 12 years later (2003, background): “The family of Time-Triggered Architectures (TTAs) is such a synchrony-compliant architecture [70]–[72].”