Abstract
In this paper we propose a general synchronization protocol for resource sharing among independently-developed real-time applications (components) on multi-core platforms. This protocol is a generalization of a previously proposed synchronization protocol (MSOS). In our proposed protocol, each component is statically allocated on a dedicated subset of processors (called cluster). A component has its own internal scheduler by which its tasks are scheduled. In this paper we focus on multiprocessor global fixed-priority preemptive scheduling algorithms to be used to schedule the tasks inside each component. Sharing the local resources is handled by the Priority Inheritance Protocol (PIP). For sharing the global resources (inter-component resource sharing) we have studied usage of FIFO and Round-Robin queues for access the resources across the components and usage of FIFO and prioritized queues inside the components. We have derived schedulability analysis for the different queue handling alternatives and compared their performance by using experimental evaluations. Finally, we have shown that the integration phase can be formulated in the form of a nonlinear integer programming problem where solution techniques in this domain can be used to minimize the total number of processors required to guarantee the schedulability of all components. As a proof of concept we have only provided the formulation for FIFO queues.
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Notes
For example in Fig. 1 task τ 1 is granted access to global resource R 2 at time instant 6 but it cannot use the resource since τ 3 and τ 4 are using their resources, however as there are two processors for the component, the delay that τ 1 incurs from them between time 6 and 7 equals to the time τ 3 and τ 4 execute in critical sections divided by 2.
Calculating the blocking terms in internal i (m k ) by putting D i instead of R i makes the analysis pessimistic; the blocking terms unnecessarily are calculated during the whole D i . As a result internal i (m k ) can be very large making the requirement extracted from τ i very restricted (Eq. (31)). Finding a more realistic \(\mathit{RT}_{i}^{(\max )}\) which can be much less than D i may improve the requirements significantly. This is an open problem to which a solution may tighten the analysis for extracting the requirements significantly.
Here by a large platform we mean that the platform, besides the number of components and processors, has higher constraints with regard to resource sharing, i.e., a platform whose components contain fewer tasks sharing resources and with fewer and shorter critical sections is considered as a small platform even if it has many components with many tasks.
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This work was partially supported by the Swedish Foundation for Strategic Research (SSF), the Swedish Research Council (VR), and Mälardalen Real-Time Research Centre (MRTC)/Mälardalen University.
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Nemati, F., Nolte, T. Resource sharing among real-time components under multiprocessor clustered scheduling. Real-Time Syst 49, 580–613 (2013). https://doi.org/10.1007/s11241-013-9180-6
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DOI: https://doi.org/10.1007/s11241-013-9180-6