@InProceedings{GardnerSolovyov12,
  title =        "{S}upporting {T}imed {CSP} {O}perators in {CSP}++",
  author=        "Gardner,  W. B. and Solovyov,  Yuriy",
  editor=        "Welch, Peter H. and Barnes,  Frederick R. M. and Chalmers,  Kevin and Pedersen,  Jan Bækgaard and Sampson,  Adam T.",
  pages =        "89--106",
  booktitle=     "{C}ommunicating {P}rocess {A}rchitectures 2012",
  isbn=          "978-0-9565409-5-9",
  year=          "2012",
  month=         "aug",
  abstract=      "CSP++ is an open-source code synthesis tool consisting of a
     translator
for a subset of CSPm and a C++ run-time
     framework. Version 5.0 now
supports Timed CSP
     operators--timed interrupt, timed timeout, and
     timed
prefix--as well as untimed variants of interrupt and
     timeout, with only
1\% additional execution and memory
     overhead, though using interrupts is
more costly. We
     describe the implementation and performance of the
     new
operators, illustrating their use with a robot-vacuum
     cleaner case
study. The tool thus becomes more useful for
     specifying the behaviour of
soft real-time systems, and
     generating a timing-enabled executable
program from its
     formal model."
}