Document Open Access Logo

Response-Time Analysis of Limited-Preemptive Parallel DAG Tasks Under Global Scheduling

Authors Mitra Nasri, Geoffrey Nelissen, Björn B. Brandenburg

PDF
Thumbnail PDF

File

LIPIcs.ECRTS.2019.21.pdf
  • Filesize: 1.62 MB
  • 23 pages

Document Identifiers

Author Details

Mitra Nasri
  • Delft University of Technology (TUDelft), Delft, The Netherlands
Geoffrey Nelissen
  • CISTER Research Centre, Polytechnic Institute of Porto (ISEP-IPP), Portugal
Björn B. Brandenburg
  • Max Planck Institute for Software Systems (MPI-SWS), Kaiserslautern, Germany

Funding

This work was partially supported by national funds through FCT/MCTES (Portuguese Foundation for Science and Technology), within the CISTER Research Unit (UID/CEC/04234); by the Operational Competitiveness Programme and Internationalization (COMPETE 2020) under the PT2020 Partnership Agreement, through the European Regional Development Fund (ERDF), and by national funds through the FCT, within project POCI-01-0145-FEDER-029119 (PReFECT); as well as by the European Union through the Clean Sky 2 Joint Undertaking, under H2020 (H2020-CS2-CFP08-2018-01) grant agreement number 832011 (THERMAC).

Cite As Get BibTex

Mitra Nasri, Geoffrey Nelissen, and Björn B. Brandenburg. Response-Time Analysis of Limited-Preemptive Parallel DAG Tasks Under Global Scheduling. In 31st Euromicro Conference on Real-Time Systems (ECRTS 2019). Leibniz International Proceedings in Informatics (LIPIcs), Volume 133, pp. 21:1-21:23, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019) https://doi.org/10.4230/LIPIcs.ECRTS.2019.21

Abstract

Most recurrent real-time applications can be modeled as a set of sequential code segments (or blocks) that must be (repeatedly) executed in a specific order. This paper provides a schedulability analysis for such systems modeled as a set of parallel DAG tasks executed under any limited-preemptive global job-level fixed priority scheduling policy. More precisely, we derive response-time bounds for a set of jobs subject to precedence constraints, release jitter, and execution-time uncertainty, which enables support for a wide variety of parallel, limited-preemptive execution models (e.g., periodic DAG tasks, transactional tasks, generalized multi-frame tasks, etc.). Our analysis explores the space of all possible schedules using a powerful new state abstraction and state-pruning technique. An empirical evaluation shows the analysis to identify between 10 to 90 percentage points more schedulable task sets than the state-of-the-art schedulability test for limited-preemptive sporadic DAG tasks. It scales to systems of up to 64 cores with 20 DAG tasks. Moreover, while our analysis is almost as accurate as the state-of-the-art exact schedulability test based on model checking (for sequential non-preemptive tasks), it is three orders of magnitude faster and hence capable of analyzing task sets with more than 60 tasks on 8 cores in a few seconds.

Subject Classification

ACM Subject Classification
  • Computer systems organization → Real-time systems
  • Software and its engineering → Real-time schedulability
Keywords
  • parallel DAG tasks
  • global multiprocessor scheduling
  • schedulability analysis
  • non-preemptive jobs
  • precedence constraints
  • worst-case response time
  • OpenMP

Metrics

  • Access Statistics
  • Total Accesses (updated on a weekly basis)
    0
    PDF Downloads
    0
    Metadata Views

Supplementary Materials

References

  1. Jakaria Abdullah, Morteza Mohaqeqi, Gaoyang Dai, and Wang Yi. Schedulability Analysis and Software Synthesis for Graph-Based Task Models with Resource Sharing. In IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS), pages 261-270, 2018. Google Scholar
  2. Ahmed Alhammad and Rodolfo Pellizzoni. Schedulability Analysis of Global Memory-predictable Scheduling. In ACM International Conference on Embedded Software, pages 20:1-20:10, 2014. Google Scholar
  3. Neil Audsley, Alan Burns, Mike Richardson, Ken Tindell, and Andy J. Wellings. Applying New scheduling Theory to Static Priority Preemptive Scheduling. Software Engineering Journal, 8(5):284-292, 1993. Google Scholar
  4. Theodore P. Baker and Michele Cirinei. Brute-Force Determination of Multiprocessor Schedulability for Sets of Sporadic Hard-Deadline Tasks. In International Conference on Principles of Distributed Systems (OPODIS), pages 62-75, 2007. Google Scholar
  5. Sanjoy Baruah. The Non-preemptive Scheduling of Periodic Tasks upon Multiprocessors. Real-Time Systems, 32(1):9-20, 2006. Google Scholar
  6. Sanjoy Baruah, Vincenzo Bonifaci, and Alberto Marchetti-Spaccamela. The Global EDF Scheduling of Systems of Conditional Sporadic DAG Tasks. In Euromicro Conference on Real-Time Systems (ECRTS), pages 222-231, 2015. Google Scholar
  7. Enrico Bini and Giorgio C. Buttazzo. Measuring the Performance of Schedulability Tests. Real-Time Systems, 30(1-2):129-154, 2005. Google Scholar
  8. Vincenzo Bonifaci and Alberto Marchetti-Spaccamela. Feasibility Analysis of Sporadic Real-time Multiprocessor Task Systems. In ESA, pages 230-241. Springer, 2010. Google Scholar
  9. Artem Burmyakov, Enrico Bini, and Eduardo Tovar. An Exact Schedulability Test for Global FP Using State Space Pruning. In International Conference on Real-Time Networks and Systems (RTNS), pages 225-234, 2015. Google Scholar
  10. Daniel Casini, Alessandro Biondi, Geoffrey Nelissen, and Giorgio C. Buttazzo. Partitioned Fixed-Priority Scheduling of Parallel Tasks Without Preemptions. In IEEE Real-Time Systems Symposium (RTSS), 2018. Google Scholar
  11. UmaMaheswari Devi and James H. Anderson. Tardiness bounds under global EDF scheduling on a multiprocessor. In IEEE International Real-Time Systems Symposium (RTSS), pages 12-341, 2005. Google Scholar
  12. Paul Emberson, Roger Stafford, and Robert I. Davis. Techniques For The Synthesis Of Multiprocessor Tasksets. In International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems (WATERS), pages 6-11, 2010. Google Scholar
  13. José Fonseca, Geoffrey Nelissen, and Vincent Nélis. Improved Response Time Analysis of Sporadic DAG Tasks for Global FP Scheduling. In Proceedings of the 25th international conference on real-time networks and systems, pages 28-37. ACM, 2017. Google Scholar
  14. José Fonseca, Geoffrey Nelissen, and Vincent Nélis. Schedulability Analysis of DAG Tasks With Arbitrary Deadlines Under Global Fixed-Priority Scheduling. Real-Time Systems, 55(2):387-432, April 2019. Google Scholar
  15. José Fonseca, Geoffrey Nelissen, Vincent Nelis, and Luís Miguel Pinho. Response Time Analysis of Sporadic DAG Tasks Under Partitioned Scheduling. In 11th IEEE Symposium on Industrial Embedded Systems (SIES). IEEE, 2016. Google Scholar
  16. José Carlos Fonseca, Vincent Nélis, Gurulingesh Raravi, and Luís Miguel Pinho. A multi-DAG Model for Real-time Parallel Applications with Conditional Execution. In Annual ACM Symposium on Applied Computing (SAC), pages 1925-1932, 2015. Google Scholar
  17. Joël Goossens, Emmanuel Grolleau, and Liliana Cucu-Grosjean. Periodicity of real-time schedules for dependent periodic tasks on identical multiprocessor platforms. Real-Time Syst., 52(6):808-832, 2016. Google Scholar
  18. Nan Guan, Zonghua Gu, Qingxu Deng, Shuaihong Gao, and Ge Yu. Exact Schedulability Analysis for Static-Priority Global Multiprocessor Scheduling Using Model-Checking. In Software Technologies for Embedded and Ubiquitous Systems (SEUS), pages 263-272, 2007. Google Scholar
  19. Nan Guan, Wang Yi, Qingxu Deng, Zonghua Gu, and Ge Yu. Schedulability analysis for non-preemptive fixed-priority multiprocessor scheduling. Journal of Systems Architecture, 57(5):536-546, 2011. Google Scholar
  20. Zhishan Guo, Ashikahmed Bhuiyan, Abusayeed Saifullah, Nan Guan, and Haoyi Xiong. Energy-Efficient Multi-Core Scheduling for Real-Time DAG Tasks. In Euromicro Conference on Real-Time Systems (ECRTS), pages 22:1-22:21, 2017. Google Scholar
  21. Simon Kramer, Dirk Ziegenbein, and Arne Hamann. Real world automotive benchmark for free. In International Workshop on Analysis Tools and Methodologies for Embedded Real-Time Systems (WATERS), 2015. Google Scholar
  22. Jinkyu Lee. Improved Schedulability Analysis Using Carry-In Limitation for Non-Preemptive Fixed-Priority Multiprocessor Scheduling. IEEE Transactions on Computers, 66(10):1816-1823, 2017. Google Scholar
  23. Jinkyu Lee and Kang G. Shin. Improvement of Real-Time Multi-CoreSchedulability with Forced Non-Preemption. IEEE Transactions on Parallel and Distributed Systems, 25(5):1233-1243, 2014. Google Scholar
  24. Robert Leibinger. Software Architectures for Advanced Driver Assistance Systems (ADAS), 2015. URL: https://people.mpi-sws.org/~bbb/events/ospert15/pdf/ospert15-talk-keynote.pdf.
  25. Cong Liu and James H Anderson. Supporting pipelines in soft real-time multiprocessor systems. In 21st Euromicro Conference on Real-Time Systems (ECRTS), pages 269-278. IEEE, 2009. Google Scholar
  26. Cong Liu and James H Anderson. Scheduling suspendable, pipelined tasks with non-preemptive sections in soft real-time multiprocessor systems. In 16th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS), pages 23-32. IEEE, 2010. Google Scholar
  27. Cong Liu and James H Anderson. Supporting soft real-time DAG-based systems on multiprocessors with no utilization loss. In 31st IEEE Real-Time Systems Symposium (RTSS), pages 3-13. IEEE, 2010. Google Scholar
  28. Cong Liu and James H Anderson. Supporting graph-based real-time applications in distributed systems. In 17th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA), volume 1, pages 143-152. IEEE, 2011. Google Scholar
  29. Cláudio Maia, Geoffrey Nelissen, Luis Nogueira, Luis Miguel Pinho, and Daniel Gracia Pérez. Schedulability analysis for global fixed-priority scheduling of the 3-phase task model. In IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA), pages 1-10, 2017. Google Scholar
  30. Alessandra Melani, Marko Bertogna, Vincenzo Bonifaci, Alberto Marchetti-Spaccamela, and Giorgio C. Buttazzo. Response-Time Analysis of Conditional DAG Tasks in Multiprocessor Systems. In Euromicro Conference on Real-Time Systems, (ECRTS), pages 211-221, 2015. Google Scholar
  31. Morteza Mohaqeqi, Jakaria Abdullah, Nan Guan, and Wang Yi. Schedulability Analysis of Synchronous Digraph Real-Time Tasks. In Euromicro Conference on Real-Time Systems (ECRTS), pages 176-186, 2016. Google Scholar
  32. Mitra Nasri and Björn B. Brandenburg. An Exact and Sustainable Analysis of Non-Preemptive Scheduling. In IEEE Real-Time Systems Symposium (RTSS), pages 1-12, 2017. Google Scholar
  33. Mitra Nasri, Geoffrey Nelissen, and Björn B. Brandenburg. A Response-Time Analysis for Non-Preemptive Job Sets under Global Scheduling. In Euromicro Conference on Real-Time Systems (ECRTS), pages 9:1-9:23, 2018. Google Scholar
  34. Rodolfo Pellizzoni, Emiliano Betti, Stanley Bak, Gang Yao, John Criswell, Marco Caccamo, and Russell Kegley. A Predictable Execution Model for COTS-Based Embedded Systems. In IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS), pages 269-279, 2011. Google Scholar
  35. Bo Peng, Nathan Fisher, and Marko Bertogna. Explicit Preemption Placement for Real-Time Conditional Code. In Euromicro Conference on Real-Time Systems (ECRTS), pages 177-188, 2014. Google Scholar
  36. Benjamin Rouxel and Isabelle Puaut. STR2RTS: Refactored streamit benchmarks into statically analysable parallel benchmarks for WCET estimation &real-time scheduling. In OASIcs-OpenAccess Series in Informatics, volume 57, pages 1:1-1:12, 2017. Google Scholar
  37. Abusayeed Saifullah, David Ferry, Jing Li, Kunal Agrawal, Chenyang Lu, and Christopher D. Gill. Parallel Real-Time Scheduling of DAGs. IEEE Transactions on Parallel and Distributed Systems, 25(12):3242-3252, 2014. Google Scholar
  38. Maria A. Serrano, Alessandra Melani, Marko Bertogna, and Eduardo Quiñones. Response-time analysis of DAG tasks under fixed priority scheduling with limited preemptions. In Europe Conference on Design, Automation & Test & Exhibition (DATE), pages 1066-1071, 2016. Google Scholar
  39. Maria A. Serrano, Alessandra Melani, Sebastian Kehr, Marko Bertogna, and Eduardo Quiñones. An Analysis of Lazy and Eager Limited Preemption Approaches under DAG-Based Global Fixed Priority Scheduling. In IEEE International Symposium on Real-Time Distributed Computing (ISORC), pages 193-202, 2017. Google Scholar
  40. Roger Stafford. Random vectors with fixed sum. Technical report, University of Oxford, 2006. URL: http://www.mathworks.com/matlabcentral/fileexchange/9700.
  41. Martin Stigge and Wang Yi. Combinatorial Abstraction Refinement for Feasibility Analysis of Static Priorities. Real-Time Systems, 51(6):639-674, 2015. Google Scholar
  42. Youcheng Sun and Marco Di Natale. Assessing the Pessimism of Current Multicore Global Fixed-Priority Schedulability Analysis. Research report, University of Oxford, 2017. URL: https://hal.archives-ouvertes.fr/hal-01468067.
  43. Youcheng Sun and Giuseppe Lipari. A pre-order relation for exact schedulability test of sporadic tasks on multiprocessor Global Fixed-Priority scheduling. Real-Time Systems Journal, 52(3):323-355, 2016. Google Scholar
  44. Alexander Wieder and Björn B. Brandenburg. On Spin Locks in AUTOSAR: Blocking Analysis of FIFO, Unordered, and Priority-Ordered Spin Locks. In IEEE Real-Time Systems Symposium (RTSS), pages 45-56, 2013. Google Scholar
  45. Jun Xiao, Sebastian Altmeyer, and Andy Pimentel. Schedulability Analysis of Non-preemptive Real-time Scheduling for Multicore Processors with Shared Caches. In IEEE Real-Time Systems Symposium (RTSS), pages 199-208, 2017. Google Scholar
  46. Beyazit Yalcinkaya, Mitra Nasri, and Björn B. Brandenburg. An Exact Schedulability Test for Non-Preemptive Self-Suspending Real-Time Tasks. In IEEE/ACM Design, Automation and Test in Europe (DATE), pages 1222-1227, 2019. Google Scholar
Questions / Remarks / Feedback
X

Feedback for Dagstuhl Publishing


Thanks for your feedback!

Feedback submitted

Could not send message

Please try again later or send an E-mail
© 2023-2024 Schloss Dagstuhl – LZI GmbH About DROPS Imprint Privacy Contact