Worst-case response time analysis of real-time tasks under fixed-priority scheduling with deferred preemption revisited

Fixed-priority scheduling with deferred preemption (FPDS) has been proposed in the literature as a viable alternative to fixed-priority preemptive scheduling (FPPS), that both reduces the cost of arbitrary preemptions and removes the need for non-trivial resource access protocols. This paper shows that existing worst-case response time analysis of hard real-time tasks under FPDS, arbitrary phasing and relative deadlines at most equal to periods is both pessimistic and optimistic. This paper provides a revised analysis, resolving the problems with the existing approaches. The analysis assumes a continuous scheduling model. It is shown that the critical instant, longest busy period, and worst-case response time for a task are suprema rather than maxima for all tasks, except for the lowest priority task. Moreover, it is shown that the analysis is not uniform for all tasks, i.e. the analysis for the lowest priority task differs from the analysis of the other tasks, because only the lowest priority task cannot be blocked. To build on earlier work, the worst-case response time analysis for FPDS is expressed in terms of known worst-case analysis results for FPPS. The paper includes pessimistic variants of the analysis, which are uniform for all tasks

Worst-Case Response Time Analysis of Real-Time Tasks under Fixed-Priority Scheduling with Deferred Preemption Revisited

Fixed-priority scheduling with deferred preemption (FPDS) has been proposed in the literature as a viable alternative to fixed-priority preemptive scheduling (FPPS), that both reduces the cost of arbitrary preemptions and removes the need for non-trivial resource access protocols. This paper shows that existing worst-case response time analysis of hard real-time tasks under FPDS, arbitrary phasing and relative deadlines at most equal to periods is both pessimistic and optimistic. This paper provides a revised analysis, resolving the problems with the existing approaches. The analysis assumes a continuous scheduling model. It is shown that the critical instant, longest busy period, and worst-case response time for a task are suprema rather than maxima for all tasks, except for the lowest priority task. Moreover, it is shown that the analysis is not uniform for all tasks, i.e. the analysis for the lowest priority task differs from the analysis of the other tasks, because only the lowest priority task cannot be blocked. To build on earlier work, the worst-case response time analysis for FPDS is expressed in terms of known worst-case analysis results for FPPS. The paper includes pessimistic variants of the analysis, which are uniform for all tasks

Limited Preemptive Scheduling for Real-Time Systems: a Survey

The question whether preemptive algorithms are better than nonpreemptive ones for scheduling a set of real-time tasks has been debated for a long time in the research community. In fact, especially under fixed priority systems, each approach has advantages and disadvantages, and no one dominates the other when both predictability and efficiency have to be taken into account in the system design. Recently, limited preemption models have been proposed as a viable alternative between the two extreme cases of fully preemptive and nonpreemptive scheduling. This paper presents a survey of the existing approaches for reducing preemptions and compares them under different metrics, providing both qualitative and quantitative performance evaluations

Restart-Based Fault-Tolerance: System Design and Schedulability Analysis

Embedded systems in safety-critical environments are continuously required to deliver more performance and functionality, while expected to provide verified safety guarantees. Nonetheless, platform-wide software verification (required for safety) is often expensive. Therefore, design methods that enable utilization of components such as real-time operating systems (RTOS), without requiring their correctness to guarantee safety, is necessary. In this paper, we propose a design approach to deploy safe-by-design embedded systems. To attain this goal, we rely on a small core of verified software to handle faults in applications and RTOS and recover from them while ensuring that timing constraints of safety-critical tasks are always satisfied. Faults are detected by monitoring the application timing and fault-recovery is achieved via full platform restart and software reload, enabled by the short restart time of embedded systems. Schedulability analysis is used to ensure that the timing constraints of critical plant control tasks are always satisfied in spite of faults and consequent restarts. We derive schedulability results for four restart-tolerant task models. We use a simulator to evaluate and compare the performance of the considered scheduling models

Extending RTA/Linux with fixed-priority scheduling with deferred preemption

Fixed-Priority Scheduling with Deferred Preemption (FPDS) is a middle ground between Fixed-Priority Pre-emptive Scheduling and Fixed-Priority Non-preemptive Scheduling, and offers advantages with respect to context switch overhead and resource access control. In this paper we present our work on extending the real-time operating system RTAI/Linux with support for FPDS. We give an overview of possible alternatives, describe our design choices and implementation, and verify through a series of measurements that indicate that a FPDS implementation in a real-world RTOS is feasible with minimal overhead