Model Checking Race-freedom When "Sequential Consistency for Data-race-free Programs" is Guaranteed

Many parallel programming models guarantee that if all sequentially consistent (SC) executions of a program are free of data races, then all executions of the program will appear to be sequentially consistent. This greatly simplifies reasoning about the program, but leaves open the question of how to verify that all SC executions are race-free. In this paper, we show that with a few simple modifications, model checking can be an effective tool for verifying race-freedom. We explore this technique on a suite of C programs parallelized with OpenMP

Dynamic race detection for C++11

The intricate rules for memory ordering and synchronisation associated with the C/C++11 memory model mean that data races can be difficult to eliminate from concurrent programs. Dynamic data race analysis can pinpoint races in large and complex applications, but the state-of-the-art ThreadSanitizer (tsan) tool for C/C++ considers only sequentially consistent program executions, and does not correctly model synchronisation between C/C++11 atomic operations. We present a scalable dynamic data race analysis for C/C++11 that correctly captures C/C++11 synchronisation, and uses instrumentation to support exploration of a class of non sequentially consistent executions. We concisely define the memory model fragment captured by our instrumentation via a restricted axiomatic semantics, and show that the axiomatic semantics permits exactly those executions explored by our instrumentation. We have implemented our analysis in tsan, and evaluate its effectiveness on benchmark programs, enabling a comparison with the CDSChecker tool, and on two large and highly concurrent applications: the Firefox and Chromium web browsers. Our results show that our method can detect races that are beyond the scope of the original tsan tool, and that the overhead associated with applying our enhanced instrumentation to large applications is tolerable

Deep Drone Racing: From Simulation to Reality with Domain Randomization

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of autonomous, vision-based drone racing in dynamic environments. A racing drone must traverse a track with possibly moving gates at high speed. We enable this functionality by combining the performance of a state-of-the-art planning and control system with the perceptual awareness of a convolutional neural network (CNN). The resulting modular system is both platform- and domain-independent: it is trained in simulation and deployed on a physical quadrotor without any fine-tuning. The abundance of simulated data, generated via domain randomization, makes our system robust to changes of illumination and gate appearance. To the best of our knowledge, our approach is the first to demonstrate zero-shot sim-to-real transfer on the task of agile drone flight. We extensively test the precision and robustness of our system, both in simulation and on a physical platform, and show significant improvements over the state of the art.Comment: Accepted as a Regular Paper to the IEEE Transactions on Robotics Journal. arXiv admin note: substantial text overlap with arXiv:1806.0854

Hybrid Data Race Detection for Multicore Software

Multithreaded programs are prone to concurrency errors such as deadlocks, race conditions and atomicity violations. These errors are notoriously difficult to detect due to the non-deterministic nature of concurrent software running on multicore hardware. Data races result from the concurrent access of shared data by multiple threads and can result in unexpected program behaviors. Main dynamic data race detection techniques in the literature are happens-before and lockset algorithms which suffer from high execution time and memory overhead, miss many data races or produce a high number of false alarms. Our goal is to improve the performance of dynamic data race detection, while at the same time improving its accuracy by generating fewer false alarms. We develop a hybrid data race detection algorithm that is a combination of the happens-before and lockset algorithms in a tool. Rather than focusing on individual memory accesses by each thread, we focus on sequence of memory accesses by each thread, called a segment. This allows us to improve the performance of data race detection. We implement several optimizations on our hybrid data race detector and compare our technique with traditional happens-before and lockset detectors. The experiments are performed with C/C++ multithreaded benchmarks using Pthreads library from PARSEC suite and large applications such as Apache web server. Our experiments showed that our hybrid detector is 15 % faster than the happens-before detector and produces 50 % less potential data races than the lockset detector. Ultimately, a hybrid data race detector can improve the performance and accuracy of data race detection, enhancing its usability in practice

Efficient Precise Dynamic Data Race Detection For Cpu And Gpu

Data races are notorious bugs. They introduce non-determinism in programs behavior, complicate programs semantics, making it challenging to debug parallel programs. To make parallel programming easier, efficient data race detection has been a research topic in the last decades. However, existing data race detectors either sacrifice precision or incur high overhead, limiting their application to real-world applications and scenarios. This dissertation proposes approaches to improve the performance of dynamic data race detection without undermining precision, by identifying and removing metadata redundancy dynamically. This dissertation also explores ways to make it practical to detect data races dynamically for GPU programs, which has a disparate programming and execution model from CPU workloads. Further, this dissertation shows how the structured synchronization model in GPU programs can simplify the algorithm design of data race detection for GPU, and how the unique patterns in GPU workloads enable an efficient implementation of the algorithm, yielding a high-performance dynamic data race detector for GPU programs

Dynamic Race Prediction in Linear Time

Writing reliable concurrent software remains a huge challenge for today's programmers. Programmers rarely reason about their code by explicitly considering different possible inter-leavings of its execution. We consider the problem of detecting data races from individual executions in a sound manner. The classical approach to solving this problem has been to use Lamport's happens-before (HB) relation. Until now HB remains the only approach that runs in linear time. Previous efforts in improving over HB such as causally-precedes (CP) and maximal causal models fall short due to the fact that they are not implementable efficiently and hence have to compromise on their race detecting ability by limiting their techniques to bounded sized fragments of the execution. We present a new relation weak-causally-precedes (WCP) that is provably better than CP in terms of being able to detect more races, while still remaining sound. Moreover it admits a linear time algorithm which works on the entire execution without having to fragment it.Comment: 22 pages, 8 figures, 1 algorithm, 1 tabl

Dynamic Analysis of Embedded Software

abstract: Most embedded applications are constructed with multiple threads to handle concurrent events. For optimization and debugging of the programs, dynamic program analysis is widely used to collect execution information while the program is running. Unfortunately, the non-deterministic behavior of multithreaded embedded software makes the dynamic analysis difficult. In addition, instrumentation overhead for gathering execution information may change the execution of a program, and lead to distorted analysis results, i.e., probe effect. This thesis presents a framework that tackles the non-determinism and probe effect incurred in dynamic analysis of embedded software. The thesis largely consists of three parts. First of all, we discusses a deterministic replay framework to provide reproducible execution. Once a program execution is recorded, software instrumentation can be safely applied during replay without probe effect. Second, a discussion of probe effect is presented and a simulation-based analysis is proposed to detect execution changes of a program caused by instrumentation overhead. The simulation-based analysis examines if the recording instrumentation changes the original program execution. Lastly, the thesis discusses data race detection algorithms that help to remove data races for correctness of the replay and the simulation-based analysis. The focus is to make the detection efficient for C/C++ programs, and to increase scalability of the detection on multi-core machines.Dissertation/ThesisDoctoral Dissertation Computer Science 201

Dynamic analysis for concurrent modern C/C++ applications

Concurrent programs are executed by multiple threads that run simultaneously. While this allows programs to run more efficiently by utilising multiple processors, it brings with it numerous complications. For example, a program may behave unpredictably or erroneously when multiple threads modify the same memory location in an uncoordinated manner. Issues such as this are difficult to avoid, and when introduced, can break the program in unpredictable ways. Programmers will therefore often turn towards automated tools to aide in the detection of concurrency bugs. The work presented in this thesis aims to provide methods to aid in the creation of tools for the purpose of finding and explaining concurrency bugs. In particular, the following studies have been conducted: Dynamic Race Detection for C/C++11 With the introduction of a weak memory model in C++, many tools that provide dynamic race detection have become outdated, and are unable to adequately identify data races. This work updates an existing data race detection algorithm such that it can identify data races according to this new definition. A method for allowing programs to explore many of the weak behaviours that this new memory model permits is also provided. Record and Replay Much work has gone into record and replay, however, most of this work is focussed on whole system replay, whereby a tool will aim to record as much of the program execution as possible. Contrasting this, the work presented here aims to record as little as possible. This sparse approach has many interesting implications: some programs that were previously out of reach for record and reply become tractable, and vice versa. To back this up, controlled scheduling is introduced that is capable of applying different scheduling strategies, which combined with the record and replay is beneficial for helping to root out bugs. Tool Support Both of the above techniques have been implemented in a tool, tsan11rec, that builds on the tsan dynamic race detection tool. A large experimental evaluation is presented investigating the effectiveness of the enhanced data race detection algorithm when applied to the Firefox and Chromium web browsers, and of the novel approach to record and replay when applied to a diverse set of concurrent applications.Open Acces