Synthesis of Safe, QoS Extendible, Application Specific Schedulers for Heterogeneous Real-Time Systems

We present a new scheduler architecture, which permits adding QoS (quality of service) policies to the scheduling decisions. We also present a new scheduling synthesis method which allows a designer to obtain a safe scheduler for a particular application. Our scheduler architecture and scheduler synthesis method can be used for heterogeneous applications where the tasks communicate through various synchronization primitives. We present a prototype implementation of this scheduler architecture and related mechanisms on top of an open-source OS (operating system) for embedded systems

Multi-task implementation of multi-periodic synchronous programs

International audienceThis article presents a complete scheme for the integration and the development of multi-periodic critical embedded systems. A system is formally specified as a modular and hierarchical assembly of several locally mono-periodic synchronous functions into a globally multi-periodic synchronous system. To support this, we introduce a real-time software architecture description language, named \prelude, which is built upon the synchronous languages and which provides a high level of abstraction for describing the functional and the real-time architecture of a multi-periodic control system. A program is translated into a set of real-time tasks that can be executed on a monoprocessor real-time platform with an on-line priority-based scheduler such as Deadline-Monotonic or Earliest-Deadline-First. The compilation is formally proved correct, meaning that the generated code respects the real-time semantics of the original program (respect of periods, deadlines, release dates and precedences) as well as its functional semantics (respect of variable consumption)

A distributed hard real-time Java system for high mobility components

In this work we propose a methodology for providing real-time capabilities to component-based, on-the-fly reconfigurable, distributed systems. In such systems, software components migrate across computational resources at run-time to allow applications to adapt to changes in user requirements or to external events. We describe how we achieve run-time reconfiguration in distributed Java applications by appropriately migrating servers. Guaranteed-rate schedulers at the servers provide the necessary temporal protection and so simplify remote method invocation management. We describe how we manage overhead and resource utilization by controlling the parameters of the server schedulers. According to our measurements, this methodology provides real-time capability to component-based reconfigurable distributed systems in an effcient and effective way. In addition, we propose a new resource discovery protocol, REALTOR, which is based on a combination of pull-based and push-based resource information dissemination. REALTOR has been designed for real-time component-based distributed applications in very dynamic or adverse environments. REALTOR supports survivability and information assurance by allowing the migration of components to safe locations under emergencies suchas externalattack, malfunction, or lackofresources. Simulation studies show that under normal and heavy load conditions REALTOR remains very effective in finding available resources, and does so with a reasonably low communication overhead.REALTOR 1)effectively locates resources under highly dynamic conditions, 2) has an overhead that is system-size independent, and 3) works well in highlyadverse environments.We evaluate the effectiveness of a REALTOR implementation as part of Agile Objects, an infrastructure for real-time capable, highly mobile Java components

Virtualization of network I/O on modern operating systems

Network I/O of modern operating systems is incomplete. In this networkage, users and their applications are still unable to control theirown traffic, even on their local host. Network I/O is a sharedresource of a host machine, and traditionally, to address problemswith a shared resource, system research has virtualized the resource.Therefore, it is reasonable to ask if the virtualization can providesolutions to problems in network I/O of modern operating systems, inthe same way as the other components of computer systems, such asmemory and CPU. With the aim of establishing the virtualization ofnetwork I/O as a design principle of operating systems, thisdissertation first presents a virtualization model, hierarchicalvirtualization of network interface. Systematic evaluation illustratesthat the virtualization model possesses desirable properties forvirtualization of network I/O, namely flexible control granularity,resource protection, partitioning of resource consumption, properaccess control and generality as a control model. The implementedprototype exhibits practical performance with expected functionality,and allowed flexible and dynamic network control by users andapplications, unlike existing systems designed solely for systemadministrators. However, because the implementation was hardcoded inkernel source code, the prototype was not perfect in its functionalcoverage and flexibility. Accordingly, this dissertation investigatedhow to decouple OS kernels and packet processing code throughvirtualization, and studied three degrees of code virtualization,namely, limited virtualization, partial virtualization, and completevirtualization. In this process, a novel programming model waspresented, based on embedded Java technology, and the prototypeimplementation exhibited the following characteristics, which aredesirable for network code virtualization. First, users program inJava to carry out safe and simple programming for packetprocessing. Second, anyone, even untrusted applications, can performinjection of packet processing code in the kernel, due to isolation ofcode execution. Third, the prototype implementation empirically provedthat such a virtualization does not jeopardize system performance.These cases illustrate advantages of virtualization, and suggest thatthe hierarchical virtualization of network interfaces can be aneffective solution to problems in network I/O of modern operatingsystems, both in the control model and in implementation

Composition and synchronization of real-time components upon one processor

Many industrial systems have various hardware and software functions for controlling mechanics. If these functions act independently, as they do in legacy situations, their overall performance is not optimal. There is a trend towards optimizing the overall system performance and creating a synergy between the different functions in a system, which is achieved by replacing more and more dedicated, single-function hardware by software components running on programmable platforms. This increases the re-usability of the functions, but their synergy requires also that (parts of) the multiple software functions share the same embedded platform. In this work, we look at the composition of inter-dependent software functions on a shared platform from a timing perspective. We consider platforms comprised of one preemptive processor resource and, optionally, multiple non-preemptive resources. Each function is implemented by a set of tasks; the group of tasks of a function that executes on the same processor, along with its scheduler, is called a component. The tasks of a component typically have hard timing constraints. Fulfilling these timing constraints of a component requires analysis. Looking at a single function, co-operative scheduling of the tasks within a component has already proven to be a powerful tool to make the implementation of a function more predictable. For example, co-operative scheduling can accelerate the execution of a task (making it easier to satisfy timing constraints), it can reduce the cost of arbitrary preemptions (leading to more realistic execution-time estimates) and it can guarantee access to other resources without the need for arbitration by other protocols. Since timeliness is an important functional requirement, (re-)use of a component for composition and integration on a platform must deal with timing. To enable us to analyze and specify the timing requirements of a particular component in isolation from other components, we reserve and enforce the availability of all its specified resources during run-time. The real-time systems community has proposed hierarchical scheduling frameworks (HSFs) to implement this isolation between components. After admitting a component on a shared platform, a component in an HSF keeps meeting its timing constraints as long as it behaves as specified. If it violates its specification, it may be penalized, but other components are temporally isolated from the malignant effects. A component in an HSF is said to execute on a virtual platform with a dedicated processor at a speed proportional to its reserved processor supply. Three effects disturb this point of view. Firstly, processor time is supplied discontinuously. Secondly, the actual processor is faster. Thirdly, the HSF no longer guarantees the isolation of an individual component when two arbitrary components violate their specification during access to non-preemptive resources, even when access is arbitrated via well-defined real-time protocols. The scientific contributions of this work focus on these three issues. Our solutions to these issues cover the system design from component requirements to run-time allocation. Firstly, we present a novel scheduling method that enables us to integrate the component into an HSF. It guarantees that each integrated component executes its tasks exactly in the same order regardless of a continuous or a discontinuous supply of processor time. Using our method, the component executes on a virtual platform and it only experiences that the processor speed is different from the actual processor speed. As a result, we can focus on the traditional scheduling problem of meeting deadline constraints of tasks on a uni-processor platform. For such platforms, we show how scheduling tasks co-operatively within a component helps to meet the deadlines of this component. We compare the strength of these cooperative scheduling techniques to theoretically optimal schedulers. Secondly, we standardize the way of computing the resource requirements of a component, even in the presence of non-preemptive resources. We can therefore apply the same timing analysis to the components in an HSF as to the tasks inside, regardless of their scheduling or their protocol being used for non-preemptive resources. This increases the re-usability of the timing analysis of components. We also make non-preemptive resources transparent during the development cycle of a component, i.e., the developer of a component can be unaware of the actual protocol being used in an HSF. Components can therefore be unaware that access to non-preemptive resources requires arbitration. Finally, we complement the existing real-time protocols for arbitrating access to non-preemptive resources with mechanisms to confine temporal faults to those components in the HSF that share the same non-preemptive resources. We compare the overheads of sharing non-preemptive resources between components with and without mechanisms for confinement of temporal faults. We do this by means of experiments within an HSF-enabled real-time operating system