Mach-Based Channel Library

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A comprehensive approach in performance evaluation for modernreal-time operating systems

In real-time computing the accurate characterization of the performance and determinism that a particular real-time operating system/hardware combination can provide for real-time applications is essential. This issue is not properly addressed by existing performance metrics mainly due to the lack of completeness and generalization. In this paper we present a set of comprehensive, easy-to-implement and useful metrics covering three basic real-time operating system features: response to external events, intertask synchronization and resource sharing, and intertask data transferring. The evaluation of real-time operating systems using a set of fine-grained metrics is fundamental to guarantee that we can reach the required determinism in real-world applications.Publicad

libcppa - Designing an Actor Semantic for C++11

Parallel hardware makes concurrency mandatory for efficient program execution. However, writing concurrent software is both challenging and error-prone. C++11 provides standard facilities for multiprogramming, such as atomic operations with acquire/release semantics and RAII mutex locking, but these primitives remain too low-level. Using them both correctly and efficiently still requires expert knowledge and hand-crafting. The actor model replaces implicit communication by sharing with an explicit message passing mechanism. It applies to concurrency as well as distribution, and a lightweight actor model implementation that schedules all actors in a properly pre-dimensioned thread pool can outperform equivalent thread-based applications. However, the actor model did not enter the domain of native programming languages yet besides vendor-specific island solutions. With the open source library libcppa, we want to combine the ability to build reliable and distributed systems provided by the actor model with the performance and resource-efficiency of C++11.Comment: 10 page

Synchronising C/C++ and POWER

Shared memory concurrency relies on synchronisation primitives: compare-and-swap, load-reserve/store-conditional (aka LL/SC), language-level mutexes, and so on. In a sequentially consistent setting, or even in the TSO setting of x86 and Sparc, these have well-understood semantics. But in the very relaxed settings of IBM®, POWER®, ARM, or C/C++, it remains surprisingly unclear exactly what the programmer can depend on. This paper studies relaxed-memory synchronisation. On the hardware side, we give a clear semantic characterisation of the load-reserve/store-conditional primitives as provided by POWER multiprocessors, for the first time since they were introduced 20 years ago; we cover their interaction with relaxed loads, stores, barriers, and dependencies. Our model, while not officially sanctioned by the vendor, is validated by extensive testing, comparing actual implementation behaviour against an oracle generated from the model, and by detailed discussion with IBM staff. We believe the ARM semantics to be similar. On the software side, we prove sound a proposed compilation scheme of the C/C++ synchronisation constructs to POWER, including C/C++ spinlock mutexes, fences, and read-modify-write operations, together with the simpler atomic operations for which soundness is already known from our previous work; this is a first step in verifying concurrent algorithms that use load-reserve/store-conditional with respect to a realistic semantics. We also build confidence in the C/C++ model in its own terms, fixing some omissions and contributing to the C standards committee adoption of the C++11 concurrency model