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

Authors Mitra Nasri, Geoffrey Nelissen, Björn B. Brandenburg

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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

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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.

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

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).

Supplementary Materials

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