first commit

README.md

@@ -0,0 +1,21 @@
+========================================
+ rtsched: The Real-Time scheduling style
+========================================
+
+Author: Giuseppe Lipari (g.lipari@sssup.it)
+Version: 1.0
+Date:    2011/09/29
+
+This package contains the rtsched package for drawing GANTT charts
+(chronograms). The package can be useful for drawing real-time timing
+diagrams in LaTeX, as often needs to be done for preparing articles,
+lectures and presentation in the Real-Time Scheduling research
+community. The package depends on keyval, multido and pstricks.
+
+A more complete documentation, with a set of examples, is available in
+file rtsched-doc.pdf.
+
+This material is subject to the LaTeX Project Public License. See
+http://www.ctan.org/tex-archive/help/Catalogue/licenses.lppl.html for
+the details of that license.
+

rtsched-beamer-doc.tex

@@ -0,0 +1,105 @@
+\documentclass[dvips]{beamer}
+
+\usepackage{rtsched}
+\usepackage[english]{babel}
+\usepackage[latin1]{inputenc}
+
+\title{An example of using the \texttt{rtsched} package with Beamer}
+\author{Giuseppe Lipari}
+\institute[Scuola Superiore Sant'Anna]{Scuola Superiore Sant'Anna -- Pisa}
+
+\usetheme{Madrid}
+
+\begin{document}
+
+\begin{frame}
+  \titlepage
+\end{frame}
+
+\begin{frame}
+  \frametitle{An example with fixed priority}
+  \transduration<2-15>{.5}
+  \begin{itemize}
+  \item After you click on this slides, an animation will start where
+    every move in the schedule is shown for half a second.
+  \end{itemize}
+  \begin{figure}
+    \centering
+    \begin{RTGrid}[width=.7\textwidth]{2}{20}
+      %% the first job of task 1 arrives at time 0, 
+      %% with a relative deadline of 4 
+      \only<+->{
+        \TaskArrDead{1}{0}{4}     
+        \TaskArrDead{2}{0}{4}
+      }
+      \TaskExecution<+->{1}{0}{1}
+      \TaskExecution<+->{2}{1}{4}
+
+      \TaskArrDead<+->{1}{4}{4}
+      \TaskExecution<+->{1}{4}{5}
+
+      \TaskArrDead<+->{2}{6}{4}
+      \TaskExecution<+->{2}{6}{8}
+      \TaskArrDead<+->{1}{8}{4}
+      \TaskExecution<+->{1}{8}{9}
+      \TaskExecution<+->{2}{9}{10}
+      
+      \only<+->{
+        \TaskArrDead{1}{12}{4}
+        \TaskArrDead{2}{12}{4}
+      }
+      \TaskExecution<+->{1}{12}{13}
+      \TaskExecution<+->{2}{13}{16}
+      
+      \TaskArrDead<+->{1}{16}{4}
+      \TaskExecution<+->{1}{16}{17}
+    \end{RTGrid}
+  \end{figure}
+  \begin{itemize}
+  \item<+-> You can now click to move to the next slide
+  \end{itemize}
+\end{frame}
+
+\begin{frame}
+  \frametitle{A simple RTBox to highlight part of the schedule}
+  \transduration<2-22>{.2}
+  \begin{itemize}
+  \item Now, when you click an animation will start that shows a
+    hatched box from time 6 to time 10 in ``slow motion''
+  \end{itemize}
+  \begin{figure}
+    \centering
+    \begin{RTGrid}[width=.7\textwidth]{2}{20}
+      \multido{\i=2+1,\n=6+.2}{20} {
+        \RTBox<\i>{6}{\n}
+      }
+      \RTBox<23>{6}{10}
+
+      \multido{\n=0+4}{5}{        % 5 instances of period 4 
+        \TaskArrDead{1}{\n}{4}    % draw the arrival and deadline
+        \TaskExecDelta{1}{\n}{1}  % draw execution (highest priority), 
+        % from \n to \n+1
+      }
+      
+      \multido{\n=0+6}{3}{        % 3 instances of period 6 
+        \TaskArrDead{2}{\n}{6}    % draw the arrival and deadline
+      }
+      % no simple formula for lowest priority, sorry!
+      \TaskExecution{2}{1}{4}
+      \TaskExecution{2}{6}{8}
+      \TaskExecution{2}{9}{10}
+      \TaskExecution{2}{13}{16}
+
+    \end{RTGrid}
+  \end{figure}
+  \begin{itemize}
+  \item<23> Again, you can now click to move to next animation
+  \end{itemize}
+\end{frame}
+
+\end{document}
+
+%%% Local Variables: 
+%%% mode: latex
+%%% TeX-master: t
+%%% End: 

rtsched-doc.tex

@@ -0,0 +1,623 @@
+\documentclass{article}
+
+\usepackage{rtsched}
+\usepackage{url}
+
+\title{The \texttt{rtsched} package for \LaTeX \\ (version 1.0)}
+\author{Giuseppe Lipari}
+
+\begin{document}
+
+\maketitle
+
+\listoffigures
+
+\section{Introduction}
+
+In this document, I give an overview of the \texttt{rtsched} \LaTeX
+package, which can be used to easily draw chronograms (GANTT charts).
+These diagrams are quite common in real-time scheduling research.
+
+The package depends on keyval, multido and pstricks, all widely
+available on any \TeX distribution.
+
+The drawing capabilities are completely based on the PSTricks: for
+this reason, it may not be safe to use \texttt{pdfLaTeX} to compile a
+document that uses the \texttt{rtsched} package, due to the fact that
+at the time of this writing, PSTricks is not well supported by
+pdfLatex. If you want to produce pdf files (for example for making
+slides with Beamer), consider using the following compilation chain:
+
+\begin{verbatim}
+latex doc.tex && dvips doc.dvi && ps2pdf doc.ps 
+\end{verbatim}
+
+As said, the style works also with Beamer, and it is also possible to
+use animations.
+
+You can find more examples of usage of this style in my lectures,
+which can be downloaded at the following address:
+\url{http://retis.sssup.it/~lipari/courses/}.
+
+I prefer to demonstrate the capabilities of the package by a set of
+examples. You can just cut and paste the examples and play with them
+as you wish.
+
+\section{Basic commands}
+
+\subsection{Simple example with two tasks}
+
+In Figure \ref{fig:ex1} I show a simple example of the Rate Monotonic
+schedule of two simple tasks, followed by the code that generated it.
+To draw the grid, with the numbers, you have to use the
+\texttt{RTGrid} environment:
+\begin{verbatim}
+\begin{RTGrid}[options]{n}{t}
+...
+\end{RTGrid}
+\end{verbatim}
+\noindent where \texttt{n} is the number of horizontal axis (one per
+task, in this case), and \texttt{t} is the length of the axis in time
+units. This also draws the task labels on the left, and the numbering
+on the bottom.
+
+Every job arrival is depicted with an upward arrow; a deadline is
+depicted by a downward arrow (not very visible here, since it concides
+with the next arrival, see Figure \ref{fig:ex1c} for deadlines
+different from periods). The task execution is depicted by a gray box.
+
+The arrival of a job and the corresponding deadline can be obtained by
+using the following commands:
+\begin{verbatim}
+\TaskArrival{i}{t}
+\TaskArrDeadl{i}{t}{reld}
+\end{verbatim}
+\noindent where \texttt{i} is the task index (from 1 to \texttt{n}
+included), \texttt{t} is the arival time, and \texttt{reld} is the
+relative deadline; an absolute deadline will be drawn at \texttt{t +
+  reld}.
+
+In this example there are a lot of repetitions. These can be avoided
+if you use the \texttt{multido} macro, as shown in the example of
+Figure \ref{fig:ex1a}.
+
+To draw the execution rectangle, you can use the following command:
+\begin{verbatim}
+\TaskExecution{i}{t1}{t2}
+\TaskExecDelta{i}{t}{delta}
+\end{verbatim}
+The first one is used to draw an execution rectangle of height 1-unit
+for the \texttt{i}-th task from \texttt{t1} to \texttt{t2}. The second
+command draws a rectangle from \texttt{t} to \texttt{t+delta}.
+
+In Figure \ref{fig:ex1b}, you can see how to only draw arrival upward
+arrows, and how to specify offsets. Finally, in Figure \ref{fig:ex1c}
+you can see an example with 2 tasks with relative deadlines different
+from periods (the so-called \emph{constrained deadline tasks}).
+
+\begin{figure}[h]
+  \centering
+  % 2 tasks, for 20 units of time
+  % we specify the width (10cm is the default
+  % value, so we will stop specifying it from now on)
+  \begin{RTGrid}[width=10cm]{2}{20}
+    %% the first job of task 1 arrives at time 0, 
+    %% with a relative deadline of 4 
+    \TaskArrDead{1}{0}{4}     
+    %% the second job arrives at time 4
+    \TaskArrDead{1}{4}{4}
+    %% etc
+    \TaskArrDead{1}{8}{4}
+    \TaskArrDead{1}{12}{4}
+    \TaskArrDead{1}{16}{4}
+
+    %% the task executes in intervals [0,1], [4,5], etc.
+    \TaskExecution{1}{0}{1}
+    \TaskExecution{1}{4}{5}
+    \TaskExecution{1}{8}{9}
+    \TaskExecution{1}{12}{13}
+    \TaskExecution{1}{16}{17}
+
+    %% the second task
+    \TaskArrDead{2}{0}{4}
+    \TaskArrDead{2}{6}{4}
+    \TaskArrDead{2}{12}{4}
+    \TaskExecution{2}{1}{4}
+    \TaskExecution{2}{6}{8}
+    \TaskExecution{2}{9}{10}
+    \TaskExecution{2}{13}{16}
+  \end{RTGrid}
+\begin{verbatim}
+  % 2 tasks, for 20 units of time
+  % we specify the width (10cm is the default
+  % value, so we will stop specifying it from now on)
+  \begin{RTGrid}[width=10cm]{2}{20}
+    %% the first job of task 1 arrives at time 0, 
+    %% with a relative deadline of 4 
+    \TaskArrDead{1}{0}{4}     
+    %% the second job arrives at time 4
+    \TaskArrDead{1}{4}{4}
+    %% etc
+    \TaskArrDead{1}{8}{4}
+    \TaskArrDead{1}{12}{4}
+    \TaskArrDead{1}{16}{4}
+
+    %% the task executes in intervals [0,1], [4,5], etc.
+    \TaskExecution{1}{0}{1}
+    \TaskExecution{1}{4}{5}
+    \TaskExecution{1}{8}{9}
+    \TaskExecution{1}{12}{13}
+    \TaskExecution{1}{16}{17}
+
+    %% the second task
+    \TaskArrDead{2}{0}{4}
+    \TaskArrDead{2}{6}{4}
+    \TaskArrDead{2}{12}{4}
+    \TaskExecution{2}{1}{4}
+    \TaskExecution{2}{6}{8}
+    \TaskExecution{2}{9}{10}
+    \TaskExecution{2}{13}{16}
+  \end{RTGrid}
+\end{verbatim}
+  \caption{Two tasks, with deadline equal to period, RM scheduling}
+  \label{fig:ex1}
+\end{figure}
+
+\begin{figure}[h]
+  \centering
+  \begin{RTGrid}{2}{20}
+    \multido{\n=0+4}{5}{        % 5 instances of period 4 
+      \TaskArrDead{1}{\n}{4}    % draw the arrival and deadline
+      \TaskExecDelta{1}{\n}{1}  % draw execution (highest priority), 
+                                % from \n to \n+1
+    }
+ 
+    \multido{\n=0+6}{3}{        % 3 instances of period 6 
+      \TaskArrDead{2}{\n}{6}    % draw the arrival and deadline
+    }
+    % no simple formula for lowest priority, sorry!
+    \TaskExecution{2}{1}{4}
+    \TaskExecution{2}{6}{8}
+    \TaskExecution{2}{9}{10}
+    \TaskExecution{2}{13}{16}    
+  \end{RTGrid}
+
+\begin{verbatim}
+  \begin{RTGrid}{2}{20}
+    \multido{\n=0+4}{5}{        % 4 instances of period 4 
+      \TaskArrDead{1}{\n}{4}    % draw the arrival and deadline
+      \TaskExecDelta{1}{\n}{1}  % draw execution (highest priority), 
+                                % from \n to \n+1
+    }
+ 
+    \multido{\n=0+6}{3}{        % 3 instances of period 6 
+      \TaskArrDead{2}{\n}{6}    % draw the arrival and deadline
+    }
+    % no simple formula for lowest priority, sorry!
+    \TaskExecution{2}{1}{4}
+    \TaskExecution{2}{6}{8}
+    \TaskExecution{2}{9}{10}
+    \TaskExecution{2}{13}{16}    
+  \end{RTGrid}
+\end{verbatim}
+  \caption{Using multido to avoid repetitions}
+  \label{fig:ex1a}
+\end{figure}
+
+\begin{figure}[h]
+  \centering
+  \begin{RTGrid}{3}{14}
+    \multido{\n=0+3}{4}{        % 4 instances of period 3, starting from 0 
+      \TaskArrival{1}{\n}       % draw only the arrival
+      \TaskExecDelta{1}{\n}{1}  % draw execution (highest priority), 
+                                % from \n to \n+1
+    }
+ 
+    \multido{\n=3+4}{3}{        % 3 instances of period 4, starting from 3 
+      \TaskArrival{2}{\n}       % draw only the arrival
+    }
+    \TaskExecDelta{2}{4}{1}
+    \TaskExecDelta{2}{7}{1}
+    \TaskExecDelta{2}{11}{1}
+
+    \multido{\n=1+5}{3}{        % 3 instances of period 5, starting from 1 
+      \TaskArrival{3}{\n}       % draw only the arrival
+    }
+    \TaskExecDelta{3}{1}{1}
+    \TaskExecDelta{3}{8}{1}
+    \TaskExecDelta{3}{12}{1}
+  \end{RTGrid}
+
+\begin{verbatim}
+  \begin{RTGrid}{3}{14}
+    \multido{\n=0+3}{4}{        % 4 instances of period 3 
+      \TaskArrival{1}{\n}       % draw only the arrival
+      \TaskExecDelta{1}{\n}{1}} % draw execution (highest priority), 
+                                % from \n to \n+1
+ 
+    \multido{\n=3+4}{3}{        % 3 instances of period 4, starting from 3 
+      \TaskArrival{2}{\n}}      % draw only the arrival
+
+    \TaskExecDelta{2}{4}{1}
+    \TaskExecDelta{2}{7}{1}
+    \TaskExecDelta{2}{11}{1}
+
+    \multido{\n=1+5}{3}{        % 3 instances of period 5, starting from 1 
+      \TaskArrival{3}{\n}}      % draw only the arrival
+
+    \TaskExecDelta{3}{1}{1}
+    \TaskExecDelta{3}{8}{1}
+    \TaskExecDelta{3}{12}{1}
+  \end{RTGrid}
+\end{verbatim}
+  \caption{Three tasks with offsets, and only arrivals with no deadlines}
+  \label{fig:ex1b}
+\end{figure}
+
+\begin{figure}[h]
+  \centering
+  \begin{RTGrid}[width=8cm]{2}{15}
+    \multido{\n=0+6}{3}{
+    \TaskArrDead{1}{\n}{3}}
+    \multido{\n=2+8}{2}{
+    \TaskArrDead{2}{\n}{5}}
+  \end{RTGrid}
+\begin{verbatim}
+    \multido{\n=0+6}{3}{
+    \TaskArrDead{1}{\n}{3}}
+    \multido{\n=2+8}{2}{
+    \TaskArrDead{2}{\n}{5}}
+\end{verbatim}
+  \caption{Deadlines less than periods}
+  \label{fig:ex1c}
+\end{figure}
+
+It is also possible to visualise preempted tasks with a hatched fill
+style. An example is in Figure~\ref{fig:resp-time} that uses command
+\texttt{TaskRespTime}. 
+
+\begin{figure}
+  \centering
+  \begin{RTGrid}{2}{20}
+    \multido{\n=0+4}{5}{        % 5 instances of period 4 
+      \TaskArrDead{1}{\n}{4}    % draw the arrival and deadline
+      \TaskExecDelta{1}{\n}{1}  % draw execution (highest priority), 
+                                % from \n to \n+1
+    }
+ 
+    \multido{\n=0+6}{3}{        % 3 instances of period 6 
+      \TaskArrDead{2}{\n}{6}    % draw the arrival and deadline
+    }
+
+    \TaskRespTime{2}{0}{4}
+    \TaskExecution{2}{1}{4}
+    \TaskRespTime{2}{6}{4}
+    \TaskExecution{2}{6}{8}
+    \TaskExecution{2}{9}{10}
+    \TaskRespTime{2}{12}{4}
+    \TaskExecution{2}{13}{16}    
+  \end{RTGrid}  
+\begin{verbatim}
+  \begin{RTGrid}{2}{20}
+    \multido{\n=0+4}{5}{         
+      \TaskArrDead{1}{\n}{4}    
+      \TaskExecDelta{1}{\n}{1}}
+    \multido{\n=0+6}{3}{        
+      \TaskArrDead{2}{\n}{6}}
+
+    \TaskRespTime{2}{0}{4}   % draws the hatched rectangle in [0,4]
+    \TaskExecution{2}{1}{4}  % draws execution (over the previous rectangle)
+    \TaskRespTime{2}{6}{4}   % draws the hatched rectangle in [6,10]
+    \TaskExecution{2}{6}{8}  % draws execution
+    \TaskExecution{2}{9}{10} % draws execution
+    \TaskRespTime{2}{12}{4}   % draws the hatched rectangle in [12,16]
+    \TaskExecution{2}{13}{16} % draws execution   
+  \end{RTGrid}  
+\end{verbatim}
+  \caption{Example with TaskRespTime}
+  \label{fig:resp-time}
+\end{figure}
+
+
+\subsection{Controlling visualization}
+
+It is possible to specify many options in the \texttt{RTGrid}
+environment.  Maybe you don't like the grid: then, you can decide to
+not visualise it as in Figure \ref{fig:ex2}, where we also removed the
+task symbols.
+\begin{figure}[h]
+  \centering
+  %% no grid and no symbols
+  \begin{RTGrid}[nogrid=1,nosymbols=1]{2}{20}
+    \multido{\n=0+4}{5}{         
+      \TaskArrDead{1}{\n}{4}    
+      \TaskExecDelta{1}{\n}{1}}
+    \multido{\n=0+6}{3}{         
+        \TaskArrDead{2}{\n}{6}}
+    \TaskExecution{2}{1}{4}
+    \TaskExecution{2}{6}{8}
+    \TaskExecution{2}{9}{10}
+    \TaskExecution{2}{13}{16}        
+  \end{RTGrid}
+\begin{verbatim}
+  %% no grid and no symbols
+  \begin{RTGrid}[nogrid=1,nosymbols=1]{2}{20}
+    \multido{\n=0+4}{5}{         
+      \TaskArrDead{1}{\n}{4}    
+      \TaskExecDelta{1}{\n}{1}}
+    \multido{\n=0+6}{3}{         
+        \TaskArrDead{2}{\n}{6}}
+    \TaskExecution{2}{1}{4}
+    \TaskExecution{2}{6}{8}
+    \TaskExecution{2}{9}{10}
+    \TaskExecution{2}{13}{16}        
+  \end{RTGrid}
+\end{verbatim}
+  \caption{Removing visualization of the grid and of the task names}
+  \label{fig:ex2}
+\end{figure}
+
+The next figure \ref{fig:ex2a} uses different task symbols, does not
+show the numbers on the time line, and the color of the boxes that
+denote the execution of the second instance of the second task are
+changed to red. Also, I am changing the width, so the figure looks
+smaller.
+
+\begin{figure}[h]
+  \centering
+  %% specify 1) no numbers on the time line, 2) a different symbol, 3)
+  %% a different size of the symbol (default is 8pt).
+  %% Notice that you should not use the math mode in the
+  %% specification of the symbol, as the symbol is already used in a
+  %% math environment inside the macro
+  \begin{RTGrid}[width=8cm,symbol=\gamma,nonumbers=1,labelsize=11pt]{2}{20}
+    \multido{\n=0+4}{5}{         
+      \TaskArrDead{1}{\n}{4}    
+      \TaskExecDelta{1}{\n}{1}}
+    \multido{\n=0+6}{3}{         
+      \TaskArrDead{2}{\n}{6}    
+    }
+    %% here, the border changes to cyan, and the fill to white
+    \TaskExecution[linecolor=cyan,color=white]{2}{1}{4}
+    %% the next two boxes are filled with red instead of gray
+    \TaskExecution[color=red]{2}{6}{8}
+    \TaskExecution[color=red]{2}{9}{10}
+    \TaskExecution{2}{13}{16}        
+  \end{RTGrid}
+
+\begin{verbatim}
+  %% specify 1) no numbers on the time line, 2) a different symbol, 3)
+  %% a different size of the symbol (default is 8pt).
+  %% Notice that you should not use the math mode in the
+  %% specification of the symbol, as the symbol is already used in a
+  %% math environment inside the macro
+  \begin{RTGrid}[symbol=\gamma,nonumbers=1,labelsize=11pt]{2}{20}
+    \multido{\n=0+4}{5}{         
+      \TaskArrDead{1}{\n}{4}    
+      \TaskExecDelta{1}{\n}{1}}
+    \multido{\n=0+6}{3}{         
+      \TaskArrDead{2}{\n}{6}    
+    }
+    %% here, the border changes to cyan, and the fill to white
+    \TaskExecution[linecolor=cyan,color=white]{2}{1}{4}
+    %% the next two boxes are filled with red instead of gray
+    \TaskExecution[color=red]{2}{6}{8}
+    \TaskExecution[color=red]{2}{9}{10}
+    \TaskExecution{2}{13}{16}        
+  \end{RTGrid}
+\end{verbatim}
+  \caption{Different symbols (with size 11pt), no numbers, a different
+    task color}
+  \label{fig:ex2a}
+\end{figure}
+
+Do you want to specify an arbitrary symbol at a certain row?
+No problem! See the example in Figure \ref{fig:ex2b}. Here we use the command:
+\begin{verbatim}
+\RowLabel{i}{label}
+\end{verbatim}
+which writes the \texttt{label} at the specified row (index 1 stays at
+the top). Here we show also how to specify an arbitrary starting
+number in the time line, using the \texttt{numoffset=12} option.
+
+\begin{figure}[h]
+  \centering
+  %% specify 1) no numbers on the time line, 2) number starting from
+  %% 12
+  \begin{RTGrid}[nosymbols=1,numoffset=12]{2}{20}
+    %% the symbol for the first row
+    \RowLabel{1}{Server}
+    %% the symbol for the second row
+    \RowLabel{2}{$\Pi_2$}
+    \multido{\n=0+4}{5}{         
+      \TaskArrDead{1}{\n}{4}    
+      \TaskExecDelta{1}{\n}{1}}
+    \multido{\n=0+6}{3}{         
+      \TaskArrDead{2}{\n}{6}
+    }
+    \TaskExecution{2}{1}{4}
+    \TaskExecution{2}{6}{8}
+    \TaskExecution{2}{9}{10}
+    \TaskExecution{2}{13}{16}        
+  \end{RTGrid}
+\begin{verbatim}
+  %% specify 1) no numbers on the time line, 2) number starting from 12
+  \begin{RTGrid}[nosymbols=1,numoffset=12]{2}{20}
+    %% the symbol for the first row
+    \RowLabel{1}{Server}
+    %% the symbol for the second row
+    \RowLabel{2}{$\Pi_2$}
+    \multido{\n=0+4}{5}{         
+      \TaskArrDead{1}{\n}{4}    
+      \TaskExecDelta{1}{\n}{1}}
+    \multido{\n=0+6}{3}{         
+      \TaskArrDead{2}{\n}{6}
+    }
+    \TaskExecution{2}{1}{4}
+    \TaskExecution{2}{6}{8}
+    \TaskExecution{2}{9}{10}
+    \TaskExecution{2}{13}{16}        
+  \end{RTGrid}
+\end{verbatim}
+  \caption{Arbitrary symbols with an appropriate offset, no grid, numbering starting from 12}
+  \label{fig:ex2b}
+\end{figure}
+
+% In the last example (Figure \ref{fig:ex2c}), we show an empty grid in
+% which we specify width and height.
+
+% \begin{figure}[h]
+%   \centering
+%   %% 3 tasks, 10 units of time
+%   \begin{RTGrid}[width=12cm, height=4cm]{3}{10}
+    
+%   \end{RTGrid}
+
+% \begin{verbatim}
+%   %% 3 tasks, 10 units of time
+%   \begin{RTGrid}[width=12cm, height=4cm]{3}{10}
+    
+%   \end{RTGrid}
+% \end{verbatim}
+%   \caption{Empty grid with strange width and height}
+%   \label{fig:ex2c}
+% \end{figure}
+
+\subsection{Highlighting and labeling objects}
+
+Sometimes it may be important to say that one task has caused the
+activation of another task. You can use the following command, as
+shown in Figure \ref{fig:ex3a}:
+\begin{verbatim}
+\Activation{i}{t1}{j}{t2}
+\end{verbatim}
+which draws an arrow from the baseline of task \texttt{i} at time
+\texttt{t1} to the baseline of task \texttt{j} at time \texttt{t2}.
+Also, you can put an arbitrary label inside a shadow box with the
+following command:
+\begin{verbatim}
+\Label{y}{x}{label}
+\end{verbatim}
+which draws a boxed label at position \texttt{x,y} in the grid.
+
+Finally, it is possible to draw a rectangular box with rounded corners
+to highlight a portion of the schedule with \texttt{RTBox}:
+\begin{verbatim}
+\RTBox{t1}{t2}
+\end{verbatim}
+
+\begin{figure}[h]
+  \centering
+  \begin{RTGrid}{2}{20}
+    \RTBox{12}{16}
+    \multido{\n=0+6}{4}{
+      \TaskArrival{1}{\n}
+      \TaskExecDelta{1}{\n}{2}}
+    \TaskArrival{2}{10}
+    \TaskExecDelta{2}{10}{3}
+    \Activation{1}{8}{2}{10}
+    \Label{6}{7}{$\delta$}
+  \end{RTGrid}
+\begin{verbatim}
+  \begin{RTGrid}{2}{20}
+    \RTBox{12}{16}
+    \multido{\n=0+6}{4}{
+      \TaskArrival{1}{\n}
+      \TaskExecDelta{1}{\n}{2}}
+    \TaskArrival{2}{10}
+    \TaskExecDelta{2}{10}{3}
+    \Activation{1}{8}{2}{10}
+    \Label{6}{7}{$\delta$}
+  \end{RTGrid}
+\end{verbatim}
+  \caption{Activation (from one task to another one), and an arbitrary label}
+  \label{fig:ex3a}
+\end{figure}
+
+Notice that the order with which the objects are drawn is exactly the
+same as the order in which they are specified in the code. For
+example, in Figure \ref{fig:ex3a}, the executions of all the tasks are
+drawn on top of the box. You can try to move the \texttt{RTBox}
+command at the end to see what happens.
+
+\subsection{Priority Inheritance}
+
+An example of task locking/unlocking and the use of the Priority
+Inheritance Protocol is shown in Figure \ref{fig:pi}. Here, task
+$\tau_3$ locks resource $S$ at time $t=2$. This is obtained by using
+command:
+\begin{verbatim}
+\TaskLock{3}{2}{S}
+\end{verbatim}
+Unlock is similarly obtained by using command: 
+\begin{verbatim}
+\TaskUnlock{3}{7}{S}
+\end{verbatim}
+
+Task $\tau_1$ tries to lock the same resource at time $t=5$. The
+priority of $\tau_1$ is then inherited by $\tau_3$: the inheritance
+rule is depicted by using a dashed tick arrow from the baseline of
+$\tau_1$ to $\tau_3$, using command:
+\begin{verbatim}
+\Inherit{1}{3}{4}
+\end{verbatim}
+The fact that $\tau_3$ is executing inside a critical section is
+denoted by putting a label inside the execution block, using the
+following command:
+\begin{verbatim}
+\TaskExecution[color=white,execlabel=S]{3}{4}{5}
+\end{verbatim}
+
+\begin{figure}
+  \centering
+  \begin{RTGrid}[width=12cm]{3}{25}
+    \TaskArrDead{3}{0}{20}
+    \TaskExecution{3}{0}{2}
+    \TaskLock{3}{2}{S}
+    \TaskExecution[color=white,execlabel=S]{3}{2}{3}
+    \TaskArrDead{1}{3}{9}  
+    \TaskExecution{1}{3}{4}
+    \TaskLock{1}{4}{S}
+    \Inherit{1}{3}{4}
+    \TaskExecution[color=white,execlabel=S]{3}{4}{5}
+    \TaskArrDead{2}{5}{12}
+    \TaskExecution[color=white,execlabel=S]{3}{5}{7}
+    \TaskUnlock{3}{7}{S}
+    \TaskExecution[color=white,execlabel=S]{1}{7}{9}
+    \TaskUnlock{1}{9}{S}
+    \TaskExecution{1}{9}{10}
+    \TaskExecution{2}{10}{15}
+    \TaskExecution{3}{15}{17}
+  \end{RTGrid}
+  \caption{Task blocking on resources: the Priority Inheritance Protocol}
+  \label{fig:pi}
+\begin{verbatim}
+  \begin{RTGrid}[width=12cm]{3}{25}
+    \TaskArrDead{3}{0}{20}
+    \TaskExecution{3}{0}{2}
+    \TaskLock{3}{2}{S}
+    \TaskExecution[color=white,execlabel=S]{3}{2}{3}
+    \TaskArrDead{1}{3}{9}  
+    \TaskExecution{1}{3}{4}
+    \TaskLock{1}{4}{S}
+    \Inherit{1}{3}{4}
+    \TaskExecution[color=white,execlabel=S]{3}{4}{5}
+    \TaskArrDead{2}{5}{12}
+    \TaskExecution[color=white,execlabel=S]{3}{5}{7}
+    \TaskUnlock{3}{7}{S}
+    \TaskExecution[color=white,execlabel=S]{1}{7}{9}
+    \TaskUnlock{1}{9}{S}
+    \TaskExecution{1}{9}{10}
+    \TaskExecution{2}{10}{15}
+    \TaskExecution{3}{15}{17}
+    \end{RTGrid}
+\end{verbatim}
+  \caption{Priority Inheritance example}
+  \label{fig:ex4}
+\end{figure}
+
+\end{document}
+%%% Local Variables: 
+%%% mode: latex
+%%% TeX-master: t
+%%% End: 

rtsched.sty

@@ -0,0 +1,469 @@
+\NeedsTeXFormat{LaTeX2e}[1995/12/01]
+\ProvidesPackage{rtsched}[2005/01/01]
+\typeout{'rtsched' style for Latex and PSTricks}
+\typeout{Easily draw real-time schedules in TeX/Latex.}
+\typeout{(c) 2005, Giuseppe Lipari, Pisa, Italy (g.lipari@sssup.it)}
+\typeout{Version 1.0}
+
+\RequirePackage{multido}
+\RequirePackage{pstricks}
+\RequirePackage{keyval}
+
+%%
+%% These can be changed at any time
+%% 
+\def\RTWindowLength{10cm}    % window length
+\def\RTWindowHeight{0cm}     % window height
+\def\RTNullWindowHeight{0cm} % nullwindow height
+\def\RTTaskLabelSize{10pt}   % Size in pt of the task label
+\def\RTNumberLabelSize{10pt} % Size in pt of the number labels
+\def\RTDefTaskSymbol{\tau}
+\def\RTDefNumberOffset{0}
+\def\RTDefTaskFill{solid}
+\def\RTDefTaskColor{gray}
+\def\RTDefLineColor{black}
+\def\RTDefXScale{1}
+\def\RTDefWriteSymbols{0}
+\def\RTDefGridInvisible{0}
+\def\RTDefNumbersInvisible{0}
+\def\RTDefRowLabelOffset{0pt}
+
+\def\RTExecLabel{\ }
+\def\RTTaskSymbol{\RTDefTaskSymbol}
+\def\RTTaskFill{\RTDefTaskFill}
+\def\RTTaskColor{\RTDefTaskColor}
+\def\RTLineColor{\RTDefLineColor}
+\def\RTXScale{\RTDefXScale}
+\def\RTWriteSymbols{\RTDefWriteSymbols}
+\def\RTNumberOffset{\RTDefNumberOffset}
+\def\RTNumberOffset{\RTDefNumberOffset}
+\def\RTGridInvisible{\RTDefGridInvisible}
+\def\RTNumbersInvisible{\RTDefGridInvisible}
+\def\RTRowLabelOffset{\RTDefRowLabelOffset}
+
+\define@key{RT}{height}[\RTNullWindowHeight]{\def\RTWindowHeight{#1}}
+\define@key{RT}{width}[10cm]{\def\RTWindowLength{#1}}
+\define@key{RT}{labelsize}[10pt]{\def\RTTaskLabelSize{#1}}
+\define@key{RT}{numbersize}[10pt]{\def\RTNumberLabelSize{#1}}
+\define@key{RT}{color}[\RTDefTaskColor]{\def\RTTaskColor{#1}}
+\define@key{RT}{linecolor}[\RTDefLineColor]{\def\RTLineColor{#1}}
+\define@key{RT}{execlabel}[\ ]{\def\RTExecLabel{#1}}
+\define@key{RT}{fillstyle}[\RTDefTaskFill]{\def\RTTaskFill{#1}}
+\define@key{RT}{nocommand}{}
+\define@key{RT}{xscale}[\RTDefXScale]{\def\RTXScale{#1}}
+\define@key{RT}{symbol}[{\tau}]{\def\RTTaskSymbol{#1}}
+\define@key{RT}{nosymbols}[\RTDefWriteSymbols]{\def\RTWriteSymbols{#1}}
+\define@key{RT}{numoffset}[\RTDefNumberOffset]{\def\RTNumberOffset{#1}}
+\define@key{RT}{nogrid}[\RTDefGridInvisible]{\def\RTGridInvisible{#1}}
+\define@key{RT}{nonumbers}[\RTDefNumbersInvisible]{\def\RTNumbersInvisible{#1}}
+\define@key{RT}{labeloffset}[\RTDefRowLabelOffset]{\def\RTRowLabelOffset{#1}}
+
+
+%%
+%% temporaries
+\newdimen\sx % slot length
+\newdimen\sy % slot height
+\newdimen\hy % frame height
+\newdimen\xx % x position
+\newdimen\yy % y position
+\newdimen\xxx % x position
+\newdimen\yyy % y position
+\newcount\nsx % number of horizontal slots
+\newcount\nsy % number of vertical slots
+\newcount\nhl % number of horizonatal lines
+\newcount\nvl % number of vertical lines
+\newcount\tmp % temp
+
+\newcounter{myLabel}
+
+\def\RTGrid{\@ifnextchar[\@mygrid@begin{\@mygrid@begin[]}}
+
+\def\RTGridBegin{\@ifnextchar[\@mygrid@begin{\@mygrid@begin[]}}
+\def\@mygrid@begin[#1]#2#3{\setkeys{RT}{#1}%
+  %% number of horizontal steps in the grid
+  \nsx = #3 \advance \nsx by 2 %
+  %% real lenght of the window (approx)
+  \nvl = \nsx \advance \nvl by 1 %
+  %% compute lenght of a step
+  \sx = \RTWindowLength \divide \sx by \nsx %
+  %% number of vertical steps in the grid
+  \nsy = #2 \multiply \nsy by 3 \advance \nsy by 1 %
+  %% compute lenght of a vertical step (if height is null, \sy is the
+  %% same as \sx)
+  \ifx\RTWindowHeight\RTNullWindowHeight%
+    \sy = \sx%
+    \hy = \sy \multiply \hy by \nsy \advance \hy by \sy%
+  \else 
+    \sy = \RTWindowHeight \divide \sy by \nsy %
+    \hy = \RTWindowHeight \advance \hy by \sy %
+  \fi
+  %% compute real height
+  \nhl = \nsy \advance \nhl by 1 %
+  \advance \nsy by -1 \advance \nsx by -1
+  %% the picture
+  \begin{pspicture}(0,0)(\RTWindowLength,\hy) %
+    %% draw grid (if not invisible)
+    \if\RTGridInvisible\RTDefGridInvisible
+      \multips(0,\sy)(0,\sy){\nsy}{\psline[linecolor=lightgray]{-}(0,\sy)(\RTWindowLength,\sy)}%
+      \multips(\sx,0)(\sx,0){\nsx}{\psline[linecolor=lightgray]{-}(0,\sy)(0,\hy)}%
+      \psframe(0,\sy)(\RTWindowLength,\hy)%
+    \else\relax
+    \fi
+    %% draw numbers (if not invisible)
+    \if\RTNumbersInvisible\RTDefNumbersInvisible
+      \tmp = #3 \divide \tmp by 2 \advance \tmp by 1%
+      \pssetlength{\xx}{\sx}%
+      \setcounter{myLabel}{\RTNumberOffset}
+      \multido{\n=0+1}{\tmp}{%
+        \uput{4pt}[d](\xx,\sy){%
+          \usefont{T1}{phv}{m}{n}%
+          \fontsize{\RTNumberLabelSize}{\RTNumberLabelSize}%
+          \selectfont{\arabic{myLabel}}}%
+        \psaddtolength{\xx}{\sx}%
+        \psaddtolength{\xx}{\sx}%
+        \addtocounter{myLabel}{2}
+      }
+    \else\relax
+    \fi
+    % 
+    %% Task Names
+    \setcounter{myLabel}{1}
+    \pssetlength{\yy}{\hy}%
+    \psaddtolength{\yy}{-\sy}
+    \multido{\n=0+1}{#2}{%
+      \uput{4pt}[d](-\sx,\yy){
+        \usefont{T1}{phv}{m}{n}
+        \fontsize{\RTTaskLabelSize}{\RTTaskLabelSize}
+        \if\RTWriteSymbols\RTDefWriteSymbols\selectfont{$\RTTaskSymbol_{\arabic{myLabel}}$}
+          \else\relax
+        \fi
+      }%
+      \psaddtolength{\yy}{-3\sy}%
+      \addtocounter{myLabel}{1}
+    }%    
+    %% Horizontal axes
+    \xx = \sx \xxx = \RTWindowLength \advance \xxx by -\sx
+    \yy = 2\sy 
+    \multido{\n=0+1}{#2}{
+      \psline{->}(\xx,\yy)(\xxx,\yy)
+      \advance \yy by 3\sy
+    }
+}
+
+
+\def\@RTDefaultValues{%
+  \setkeys{RT}{height}%
+  \setkeys{RT}{width}%
+  \setkeys{RT}{labelsize}%
+  \setkeys{RT}{numbersize}%
+  \setkeys{RT}{symbol}%
+  \setkeys{RT}{fillstyle}%
+  \setkeys{RT}{color}
+  \setkeys{RT}{linecolor}%
+  \setkeys{RT}{xscale}%
+  \setkeys{RT}{nosymbols}%
+}
+
+\def\@RTExecDefaultValues{
+  \setkeys{RT}{color}%
+  \setkeys{RT}{execlabel}%
+  \setkeys{RT}{linecolor}%
+}
+
+\def\RTGridEnd{
+    \end{pspicture}%
+    \@RTDefaultValues%
+}
+
+\def\endRTGrid{
+    \end{pspicture}%
+    \@RTDefaultValues%
+}
+
+\newcommand{\RTSet}[1]{
+  \setkeys{RT}{#1}
+}
+
+\newcommand{\RTSetDefault}{
+  \@RTDefaultValues
+}
+
+%% internal
+\newcommand{\@compute@xx}[1]{
+  \xx = #1\sx
+  \divide \xx by \RTXScale
+  \advance \xx by \sx
+}
+
+\newcommand{\@compute@xxx}[1]{
+  \xxx = #1\sx
+  \divide \xxx by \RTXScale
+  \advance \xxx by \sx
+}
+
+\newcommand{\@compute@yy}[1]{
+  \yy = -3\sy \multiply \yy by #1
+  \advance \yy by \hy
+}
+
+
+%% Task Arrival: draws an up arrow at the specified slot
+%% #1  : task number from 1 to n
+%% #2  : slot number from 0 to l-1
+\newcommand{\TaskArrival}[3][nocommand=1]{%
+    \setkeys{RT}{#1}%
+    \@compute@yy{#2}
+    \@compute@xx{#3}
+    \yyy = \yy \advance \yyy by 2\sy%
+    \psline[linecolor=\RTLineColor]{->}(\xx,\yy)(\xx,\yyy)%
+    \@RTExecDefaultValues%
+}
+
+%% Task Arrival and deadline: draws an up arrow and a down arrow at the specified slots
+%% #1  : task number from 1 to n
+%% #2  : slot number from 0 to l-1
+%% #3  : relative deadline
+\newcommand{\TaskArrDead}[4][nocommand=1]{
+  \setkeys{RT}{#1}%
+  \@compute@yy{#2}
+  \@compute@xx{#3}
+  \yyy = \yy \advance \yyy by 2\sy
+  \psline[linecolor=\RTLineColor]{->}(\xx,\yy)(\xx,\yyy)
+  \advance \xx by #4\sx
+  \psline[linecolor=\RTLineColor]{->}(\xx,\yyy)(\xx,\yy)
+  \@RTExecDefaultValues
+}
+
+
+%% Task Deadline: draws a down arrow at the specified slot
+%% #1  : task number from 1 to n
+%% #2  : slot number from 0 to l-1
+\newcommand{\TaskDeadline}[3][nocommand=1]{
+  \setkeys{RT}{#1}%
+  \@compute@yy{#2}
+  \@compute@xx{#3}
+  \yyy = \yy \advance \yyy by 2\sy
+  \psline[linecolor=\RTLineColor]{<-}(\xx,\yy)(\xx,\yyy)
+  \@RTExecDefaultValues
+}
+
+\newcommand{\TaskExecution}[4][nocommand=1]{
+  \setkeys{RT}{#1}%
+  \@compute@yy{#2}
+  \@compute@xx{#3}
+  \yyy = \yy \advance \yyy by \sy
+  \@compute@xxx{#4}
+  \psframe[fillstyle=\RTTaskFill,fillcolor=\RTTaskColor,linecolor=\RTLineColor](\xx,\yy)(\xxx,\yyy)
+  \advance \xx by \xxx \xx = .5\xx
+  \uput{2pt}[u](\xx,\yy){%
+    \usefont{T1}{phv}{m}{n}%
+    \fontsize{\RTNumberLabelSize}{\RTNumberLabelSize}%
+    \selectfont{\RTExecLabel}%
+  }
+  \@RTExecDefaultValues
+}
+
+% Task Lock
+% par 1:  task 
+% par 2:  time
+% par 3:  resource
+%
+\newcommand{\TaskLock}[4][nocommand=1]{
+  \setkeys{RT}{#1}%
+  \@compute@yy{#2}
+  \@compute@xx{#3}
+  \yyy = \yy \advance \yyy by \sy
+  \uput{2pt}[u](\xx,\yyy){%
+    \usefont{T1}{phv}{m}{n}%
+    \fontsize{\RTNumberLabelSize}{\RTNumberLabelSize}%
+    \selectfont{L(#4)}%
+  }
+  \@RTExecDefaultValues
+}
+
+% \TaskUnlock
+% par 1:  task 
+% par 2:  time
+% par 3:  resource
+%
+\newcommand{\TaskUnlock}[4][nocommand=1]{
+  \setkeys{RT}{#1}%
+  \@compute@yy{#2}
+  \@compute@xx{#3}
+  \yyy = \yy \advance \yyy by \sy
+  \uput{2pt}[u](\xx,\yyy){%
+    \usefont{T1}{phv}{m}{n}%
+    \fontsize{\RTNumberLabelSize}{\RTNumberLabelSize}%
+    \selectfont{U(#4)}%
+  }
+  \@RTExecDefaultValues
+}
+
+% 
+% par 1:  number of vertical slot 
+% par 2:  time
+% par 3:  label
+%
+\newcommand{\Label}[4][nocommand=1]{
+  \setkeys{RT}{#1}%
+  %\@compute@yy{#2}
+  \@compute@xx{#3}
+  \yy = -\sy \multiply \yy by #2
+  \advance \yy by \hy
+  \yyy = \yy \advance \yyy by \sy
+  \uput{2pt}[u](\xx,\yyy){%
+    \psshadowbox{
+      \usefont{T1}{phv}{m}{n}%
+      \fontsize{\RTNumberLabelSize}{\RTNumberLabelSize}%
+      \selectfont{{#4}}}%
+  }
+  \@RTExecDefaultValues
+}
+
+% 
+% par 1:  higher priority task (from) 
+% par 2:  lower priority task (to)
+% par 3:  time
+%
+\newcommand{\Inherit}[4][nocommand=1]{
+  \setkeys{RT}{#1}%
+  \@compute@yy{#2}
+  \@compute@xx{#4}
+  \yyy = -3\sy \multiply \yyy by #3 \advance \yyy by \sy
+  \advance \yyy by \hy \advance \yyy by -\sy % \RTWindowHeight
+  \psline[linestyle=dashed,linewidth=1.5pt]{->}(\xx,\yy)(\xx,\yyy)
+  \@RTExecDefaultValues
+}
+
+% 
+% par 1:  activating task (from) 
+% par 2:  signal start time 
+% par 3:  activated task (to)
+% par 4:  signal arrival time
+%
+\newcommand{\Activation}[5][nocommand=1]{
+  \setkeys{RT}{#1}%
+  \@compute@yy{#2}
+  \@compute@xx{#3}
+  \yyy = -3\sy \multiply \yyy by #4 %\advance \yyy by \sy
+  \advance \yyy by \hy %\advance \yyy by -\sy %\RTWindowHeight
+  \xxx = #5\sx \advance \xxx by \sx
+  \psline[linestyle=dashed,linewidth=1pt]{->}(\xx,\yy)(\xxx,\yyy)
+}
+
+% 
+% par 1:  time1
+% par 2:  time2
+%
+\newcommand{\RTBox}[3][nocommand=1]{
+  \setkeys{RT}{#1}%
+  \yy = 0cm
+  \advance \yy by \hy
+  \yyy = \sy
+  \@compute@xx{#2}
+  \@compute@xxx{#3}
+  \psframe[fillstyle=crosshatch,hatchwidth=.2pt,hatchsep=2pt,hatchcolor=lightgray,linewidth=0pt,framearc=.2](\xx,\yy)(\xxx,\yyy)
+  \@RTExecDefaultValues
+}
+
+% %
+% % par 1: task
+% % par 2: first instant (arrival)
+% % par 3: second instant (deadline)
+% %
+% \newcommand{\Interval}[4][nocommand=1]{
+%   \setkeys{RT}{#1}%
+%   \@compute@yy{#2}
+%   \advance \yy by 2.5\sy
+%   \@compute@xx{#3}
+%   \@compute@xxx{#4}
+%   % da cambiare con psarc
+%   \pscurve*[linecolor=\RTLineColor]{-}(\xx,\yy)(\xxx,\yy)
+%   \@RTExecDefaultValues  
+% }
+
+\newcommand{\RowLabel}[3][nocommand=1]{
+  \setkeys{RT}{#1}%
+  \@compute@yy{#2}
+  \advance \yy by 1.5\sy
+  \xx = \RTRowLabelOffset %\advance \xx by \sx
+  \uput{4pt}[dl](-\xx,\yy){
+    \usefont{T1}{phv}{m}{n}
+    \fontsize{\RTTaskLabelSize}{\RTTaskLabelSize}
+    \selectfont{#3}
+  }%
+}
+
+\newcommand{\TaskExecDelta}[4][nocommand=1]{
+  \setkeys{RT}{#1}%
+  \@compute@yy{#2}
+  \@compute@xx{#3}
+  \yyy = \yy \advance \yyy by \sy
+  %\@compute@xxx{#4}
+  \xxx = \xx \advance \xxx by #4\sx
+  \psframe[fillstyle=\RTTaskFill,fillcolor=\RTTaskColor,linecolor=\RTLineColor](\xx,\yy)(\xxx,\yyy)
+  \advance \xx by \xxx \xx = .5\xx
+  \uput{2pt}[u](\xx,\yy){%
+    \usefont{T1}{phv}{m}{n}%
+    \fontsize{\RTNumberLabelSize}{\RTNumberLabelSize}%
+    \selectfont{\RTExecLabel}%
+  }
+  \@RTExecDefaultValues
+}
+
+\newcommand{\TaskRespTime}[4][nocommand=1]{
+  \setkeys{RT}{#1}
+  \@compute@yy{#2}
+  \@compute@xx{#3}
+  \yyy = \yy \advance \yyy by \sy  
+  \xxx = \xx \advance \xxx by #4\sx
+  \psframe[fillstyle=crosshatch*,hatchcolor=white,
+  hatchwidth=.4pt,hatchsep=1pt,
+  linestyle=none,fillcolor=\RTTaskColor](\xx,\yy)(\xxx,\yyy)
+  \@RTExecDefaultValues
+}
+
+\@ifclassloaded{beamer}{
+  \renewcommand<>{\TaskArrival}[3][nocommand=1]{
+    \only#4{\beameroriginal{\TaskArrival}[#1]{#2}{#3}}
+  }
+  \renewcommand<>{\TaskArrDead}[4][nocommand=1]{
+    \only#5{\beameroriginal{\TaskArrDead}[#1]{#2}{#3}{#4}}
+  }
+  \renewcommand<>{\TaskDeadline}[3][nocommand=1]{
+    \only#4{\beameroriginal{\TaskDeadline}[#1]{#2}{#3}}
+  }
+  \renewcommand<>{\TaskExecution}[4][nocommand=1]{
+    \only#5{\beameroriginal{\TaskExecution}[#1]{#2}{#3}{#4}}
+  }
+  \renewcommand<>{\TaskExecDelta}[4][nocommand=1]{
+    \only#5{\beameroriginal{\TaskExecDelta}[#1]{#2}{#3}{#4}}
+  }
+  \renewcommand<>{\TaskRespTime}[4][nocommand=1]{
+    \only#5{\beameroriginal{\TaskRespTime}[#1]{#2}{#3}{#4}}
+  }
+  \renewcommand<>{\TaskLock}[4][nocommand=1]{
+    \only#5{\beameroriginal{\TaskLock}[#1]{#2}{#3}{#4}}
+  }
+  \renewcommand<>{\TaskUnlock}[4][nocommand=1]{
+    \only#5{\beameroriginal{\TaskUnlock}[#1]{#2}{#3}{#4}}
+  }
+  \renewcommand<>{\Label}[4][nocommand=1]{
+    \only#5{\beameroriginal{\Label}[#1]{#2}{#3}{#4}}
+  }
+  \renewcommand<>{\Inherit}[4][nocommand=1]{
+    \only#5{\beameroriginal{\Inherit}[#1]{#2}{#3}{#4}}
+  }
+  \renewcommand<>{\Activation}[5][nocommand=1]{
+    \only#6{\beameroriginal{\Activation}[#1]{#2}{#3}{#4}{#5}}
+  }
+  \renewcommand<>{\RTBox}[3][nocommand=1]{
+    \only#4{\beameroriginal{\RTBox}[#1]{#2}{#3}}
+  }  
+}
+{
+  \typeout{beamer not loaded}
+}
+
+\endinput
+