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Scheduling and Compiling Rate-Synchronous Programs with End-To-End Latency Constraints

Authors Timothy Bourke , Vincent Bregeon, Marc Pouzet

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Author Details

Timothy Bourke
  • Inria Paris, France
  • Ecole normale supérieure, PSL University, CNRS, Paris, France
Vincent Bregeon
  • Airbus Operations S.A.S., Toulouse, France
Marc Pouzet
  • Ecole normale supérieure, PSL University, CNRS, Paris, France
  • Inria Paris, France

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Timothy Bourke, Vincent Bregeon, and Marc Pouzet. Scheduling and Compiling Rate-Synchronous Programs with End-To-End Latency Constraints. In 35th Euromicro Conference on Real-Time Systems (ECRTS 2023). Leibniz International Proceedings in Informatics (LIPIcs), Volume 262, pp. 1:1-1:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023) https://doi.org/10.4230/LIPIcs.ECRTS.2023.1

Abstract

We present an extension of the synchronous-reactive model for specifying multi-rate systems. A set of periodically executed components and their communication dependencies are expressed in a Lustre-like programming language with features for load balancing, resource limiting, and specifying end-to-end latencies. The language abstracts from execution time and phase offsets. This permits simple clock typing rules and a stream-based semantics, but requires each component to execute within an overall base period. A program is compiled to a single periodic task in two stages. First, Integer Linear Programming is used to determine phase offsets using standard encodings for dependencies and load balancing, and a novel encoding for end-to-end latency. Second, a code generation scheme is adapted to produce step functions. As a result, components are synchronous relative to their respective rates, but not necessarily simultaneous relative to the base period. This approach has been implemented in a prototype compiler and validated on an industrial application.

Subject Classification

ACM Subject Classification
  • Computer systems organization → Real-time languages
  • Computer systems organization → Embedded software
Keywords
  • synchronous-reactive
  • integer linear programming
  • code generation

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