An asynchronous nonblocking coordination and synchronization protocol for a parallel robotic control kernel
Pages 7 - 12
Abstract
Over the last 25 years, performance improvements by the steady increase of CPU clock frequencies were the driving factor for innovations in the domain of computationally intensive embedded applications. Now the free lunch is over [12] --- developers have to parallelize their systems in order to achieve further improvements by integration of multi-core platforms. In embedded systems, this is even more challenging than in the domain of desktop computers, as safety properties and hard real-time constraints impose a much stronger demand on determinism. In this experience report, we present a concrete coordination and synchronization problem for a double buffering procedure that arose on our ongoing attempts to parallelize a robotic control kernel. This double buffering procedure used by two tasks must assure a consistent data flow without data losses. Therefore, we approach a fast bounded wait-free solution, which does not suffer from priority inversion.
References
[1]
J. Chen; A. Burns. Asynchronous data sharing in multiprocessor real-time systems using process consensus. 10th Euromicro Workshop on Real-Time Systems, December 1997.
[2]
J. Chen; A. Burns. A fully asynchronous reader/writer mechanism for multiprocessors real-time systems. Technical report, YCS-288, Department of Computer Science, University of York, 1997.
[3]
C. Cascaval; C. Blundell; M. Michael; H. W. Cain; P. Wu; S. Chiras; S. Chatterjee. Software transactional memory: why is it only a research toy? ACM Queue, 6(5), September 2008.
[4]
M. P. Herlihy. Wait-free synchronization. ACM Transactions on Programming Languages and Systems, 11(1):124--149, January 1991.
[5]
K. H. (Kane) Kim. A non-blocking buffer mechanism for real-time event message communication. Real-Time Systems - The International Journal of Time-Critical Computing Systems, 32(3):197--211, March 2006.
[6]
R. Rajkumar; L. Sha; J. P. Lehoaky. Real-time synchronization protocols for multiprocessor. in Proc. of Real-Time Systems Symposium, pages 259--269, 1988.
[7]
M. M. Michael. ABA prevention using single-word instructions. Technical report, IBM Research Division, RC23089 (W0401-136), January 2004.
[8]
G. E. Moore. Cramming more components onto integrated circuits. Electronics Magazine, 38(8), April 1965.
[9]
J. Muir. Using the rdtsc instruction for performance monitoring. Technical report, Intel Corporation, 1997.
[10]
G. L. Peterson. Concurrent reading while writing. ACM Transactions on Programming Languages and Systems, 5(1):46--55, 1983.
[11]
H. Huang; P. Pillai; K. G. Shin. Improving wait-free algorithms for interprocess communication in embedded real-time systems. USENIX Annual Technical Conference, pages 303--316, 2002.
[12]
H. Sutter. The free lunch is over. Dr. Dobb's Journal, 30(3), March 2005.
[13]
H. Sundell; P. Tsigas. Space efficient wait-free buffer sharing in multiprocessor real-time systems based on timing information. in Proc. of RTCSA 2000 in Cheju Island (South Korea), December 2000.
[14]
V. Yodaiken. Against priority inheritance. Technical report, FSMLabs, July 2002.
[15]
P. Tsigas; Y. Zhang. A simple, fast and scalable non-blocking concurrent fifo queue for shared memory multiprocessor systems. in Proc. of the 13th ACM Symposium on Parallel Algorithms and Architectures, pages 134--143, 2001.
Recommendations
The Split-Phase Synchronisation Technique: Reducing the Pessimism in the WCET Analysis of Parallelised Hard Real-Time Programs
RTCSA '12: Proceedings of the 2012 IEEE International Conference on Embedded and Real-Time Computing Systems and ApplicationsIn this paper we present the split-phase synchronisation technique to reduce the pessimism in the WCET analysis of parallelised hard real-time (HRT) programs on embedded multi-core processors. We implemented the split-phase synchronisation technique in ...
Lock-based synchronization for GPU architectures
CF '16: Proceedings of the ACM International Conference on Computing FrontiersModern GPUs have shown promising results in accelerating compute-intensive and numerical workloads with limited data sharing. However, emerging GPU applications manifest ample amount of data sharing among concurrently executing threads. Often data ...
Portable inter-workgroup barrier synchronisation for GPUs
OOPSLA '16Despite the growing popularity of GPGPU programming, there is not yet a portable and formally-specified barrier that one can use to synchronise across workgroups. Moreover, the occupancy-bound execution model of GPUs breaks assumptions inherent in ...
Comments
Information & Contributors
Information
Published In
Copyright © 2009 ACM.
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]
Sponsors
Publisher
Association for Computing Machinery
New York, NY, United States
Publication History
Published: 31 March 2009
Check for updates
Qualifiers
- Research-article
Funding Sources
Conference
EuroSys '09
Sponsor:
Upcoming Conference
EuroSys '25
- Sponsor:
- sigops
Contributors
Other Metrics
Bibliometrics & Citations
Bibliometrics
Article Metrics
- 0Total Citations
- 105Total Downloads
- Downloads (Last 12 months)0
- Downloads (Last 6 weeks)0
Reflects downloads up to 16 Oct 2024
Other Metrics
Citations
View Options
Get Access
Login options
Check if you have access through your login credentials or your institution to get full access on this article.
Sign in