Document Open Access Logo

Unikernel-Based Real-Time Virtualization Under Deferrable Servers: Analysis and Realization

Authors Kuan-Hsun Chen , Mario Günzel , Boguslaw Jablkowski, Markus Buschhoff, Jian-Jia Chen

PDF

File

Thumbnail PDF
PDF
LIPIcs.ECRTS.2022.6.pdf
  • Filesize: 0.87 MB
  • 22 pages

Document Identifiers

Subject Classification

ACM Subject Classification
  • Computer systems organization → Embedded and cyber-physical systems
  • Software and its engineering → Real-time systems software
Keywords
  • Unikernel
  • Virtualization
  • Reservation Servers
  • Deferrable Servers
  • Cyber-Physical Systems
  • Real-Time Systems

Metrics

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

Abstract

For cyber-physical systems, real-time virtualization optimizes the hardware utilization by consolidating multiple systems into the same platform, while satisfying the timing constraints of their real-time tasks. This paper considers virtualization based on unikernels, i.e., single address space kernels usually constructed by using library operating systems. Each unikernel is a guest operating system in the virtualization and hosts a single real-time task. 
We consider deferrable servers in the virtualization platform to schedule the unikernel-based guest operating systems and analyze the worst-case response time of a sporadic real-time task under such a virtualization architecture. Throughout synthesized tasksets, we empirically show that our analysis outperforms the restated analysis derived from the state-of-the-art, which is based on Real-Time Calculus. Furthermore, we provide insights on implementation-specific issues and offer evidence that the proposed scheduling architecture can be effectively implemented on top of the Xen hypervisor while incurring acceptable overhead.

Cite As Get BibTex

Kuan-Hsun Chen, Mario Günzel, Boguslaw Jablkowski, Markus Buschhoff, and Jian-Jia Chen. Unikernel-Based Real-Time Virtualization Under Deferrable Servers: Analysis and Realization. In 34th Euromicro Conference on Real-Time Systems (ECRTS 2022). Leibniz International Proceedings in Informatics (LIPIcs), Volume 231, pp. 6:1-6:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2022) https://doi.org/10.4230/LIPIcs.ECRTS.2022.6

Author Details

Kuan-Hsun Chen
  • University of Twente, The Netherlands
Mario Günzel
  • TU Dortmund University, Germany
Boguslaw Jablkowski
  • EMVICORE GmbH, Dortmund, Germany
Markus Buschhoff
  • EMVICORE GmbH, Dortmund, Germany
Jian-Jia Chen
  • TU Dortmund University, Germany

Funding

This work has been supported by Deutsche Forschungsgemeinschaft (DFG), as part of Sus-Aware (Project No. 398602212). This result is part of a project (PropRT) that has received funding from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement No. 865170).

Supplementary Materials

References

  1. Benny Akesson, Mitra Nasri, Geoffrey Nelissen, Sebastian Altmeyer, and Robert I. Davis. An empirical survey-based study into industry practice in real-time systems. In 2020 IEEE Real-Time Systems Symposium (RTSS), pages 3-11, 2020. URL: https://doi.org/10.1109/RTSS49844.2020.00012.
  2. Paul Barham, Boris Dragovic, Keir Fraser, Steven Hand, Tim Harris, Alex Ho, Rolf Neugebauer, Ian Pratt, and Andrew Warfield. Xen and the art of virtualization. SIGOPS Oper. Syst. Rev., 37(5):164-177, October 2003. URL: https://doi.org/10.1145/1165389.945462.
  3. Sanjoy Baruah and Nathan Fisher. Component-based design in multiprocessor real-time systems. In 2009 International Conference on Embedded Software and Systems, pages 209-214, 2009. URL: https://doi.org/10.1109/ICESS.2009.71.
  4. Enrico Bini and Giorgio C. Buttazzo. Measuring the performance of schedulability tests. Real-Time Systems, 30(1-2):129-154, 2005. URL: https://doi.org/10.1007/s11241-005-0507-9.
  5. Jian-Jia Chen, Wen-Hung Huang, and Cong Liu. k2U: A general framework from k-point effective schedulability analysis to utilization-based tests. In Real-Time Systems Symposium (RTSS), pages 107-118, 2015. URL: https://doi.org/10.1109/RTSS.2015.18.
  6. Jian-Jia Chen, Geoffrey Nelissen, Wen-Hung Huang, Maolin Yang, Björn B. Brandenburg, Konstantinos Bletsas, Cong Liu, Pascal Richard, Frédéric Ridouard, Neil C. Audsley, Raj Rajkumar, Dionisio de Niz, and Georg von der Brüggen. Many suspensions, many problems: a review of self-suspending tasks in real-time systems. Real Time Syst., 55(1):144-207, 2019. URL: https://doi.org/10.1007/s11241-018-9316-9.
  7. Pieter J. L. Cuijpers and Reinder J. Bril. Towards budgeting in real-time calculus: Deferrable servers. In Proceedings of the 5th International Conference on Formal Modeling and Analysis of Timed Systems, FORMATS'07, pages 98-113, Berlin, Heidelberg, 2007. Springer-Verlag. Google Scholar
  8. Robert I. Davis and Alan Burns. Hierarchical fixed priority pre-emptive scheduling. In RTSS, pages 389-398, 2005. URL: https://doi.org/10.1109/RTSS.2005.25.
  9. Z. Deng and J.W.-S. Liu. Scheduling real-time applications in an open environment. In Proceedings Real-Time Systems Symposium (RTSS), pages 308-319, 1997. URL: https://doi.org/10.1109/REAL.1997.641292.
  10. Michael Drescher, Vincent Legout, Antonio Barbalace, and Binoy Ravindran. A flattened hierarchical scheduler for real-time virtualization. In Proceedings of the 13th International Conference on Embedded Software, EMSOFT '16, New York, NY, USA, 2016. Association for Computing Machinery. URL: https://doi.org/10.1145/2968478.2968501.
  11. Paul Emberson, Roger Stafford, and Robert I Davis. Techniques for the synthesis of multiprocessor tasksets. In WATERS, pages 6-11, 2010. Google Scholar
  12. D. R. Engler, M. F. Kaashoek, and J. O'Toole, Jr. Exokernel: An operating system architecture for application-level resource management. In Proceedings of the 15th ACM Symposium on Operating Systems Principles, pages 251-266, 1995. URL: https://doi.org/10.1145/224056.224076.
  13. Bryan Ford, Godmar Back, Greg Benson, Jay Lepreau, Albert Lin, and Olin Shivers. The flux oskit: A substrate for kernel and language research. In Proceedings of the Sixteenth ACM Symposium on Operating System Principles, pages 38-51, 1997. Google Scholar
  14. Marisol García-Valls, Tommaso Cucinotta, and Chenyang Lu. Challenges in real-time virtualization and predictable cloud computing. Journal of Systems Architecture, 60(9):726-740, 2014. URL: https://doi.org/10.1016/j.sysarc.2014.07.004.
  15. Boguslaw Jablkowski and Olaf Spinczyk. Cps-xen: A virtual execution environment for cyber-physical applications. In Luís Miguel Pinho, Wolfgang Karl, Albert Cohen, and Uwe Brinkschulte, editors, Architecture of Computing Systems - ARCS 2015 - 28th International Conference, Porto, Portugal, March 24-27, 2015, Proceedings, volume 9017 of Lecture Notes in Computer Science, pages 108-119. Springer, 2015. URL: https://doi.org/10.1007/978-3-319-16086-3_9.
  16. Adam Lackorzyński, Alexander Warg, Marcus Völp, and Hermann Härtig. Flattening hierarchical scheduling. In Proceedings of the Tenth ACM International Conference on Embedded Software, EMSOFT '12, pages 93-102, New York, NY, USA, 2012. Association for Computing Machinery. URL: https://doi.org/10.1145/2380356.2380376.
  17. Jaewoo Lee, Sisu Xi, Sanjian Chen, Linh T. X. Phan, Chris Gill, Insup Lee, Chenyang Lu, and Oleg Sokolsky. Realizing compositional scheduling through virtualization. In Proceedings of the 2012 IEEE 18th Real Time and Embedded Technology and Applications Symposium, RTAS '12, pages 13-22, USA, 2012. IEEE Computer Society. URL: https://doi.org/10.1109/RTAS.2012.20.
  18. Haoran Li, Meng Xu, Chong Li, Chenyang Lu, Christopher Gill, Linh Phan, Insup Lee, and Oleg Sokolsky. Multi-mode virtualization for soft real-time systems. In 2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS), pages 117-128, 2018. URL: https://doi.org/10.1109/RTAS.2018.00022.
  19. C. L. Liu and James W. Layland. Scheduling algorithms for multiprogramming in a hard-real-time environment. Journal of the ACM, 20(1):46-61, 1973. URL: https://doi.org/10.1145/321738.321743.
  20. Cong Liu and Jian-Jia Chen. Bursty-interference analysis techniques for analyzing complex real-time task models. In 2014 IEEE Real-Time Systems Symposium, pages 173-183, 2014. URL: https://doi.org/10.1109/RTSS.2014.10.
  21. Anil Madhavapeddy, Thomas Leonard, Magnus Skjegstad, Thomas Gazagnaire, David Sheets, Dave Scott, Richard Mortier, Amir Chaudhry, Balraj Singh, Jon Ludlam, Jon Crowcroft, and Ian Leslie. Jitsu: Just-in-time summoning of unikernels. In Proceedings of the 12th USENIX Conference on Networked Systems Design and Implementation, NSDI'15, pages 559-573, USA, 2015. USENIX Association. Google Scholar
  22. Anil Madhavapeddy, Richard Mortier, Charalampos Rotsos, David Scott, Balraj Singh, Thomas Gazagnaire, Steven Smith, Steven Hand, and Jon Crowcroft. Unikernels: Library operating systems for the cloud. SIGARCH Comput. Archit. News, 41(1):461-472, March 2013. URL: https://doi.org/10.1145/2490301.2451167.
  23. Filipe Manco, Costin Lupu, Florian Schmidt, Jose Mendes, Simon Kuenzer, Sumit Sati, Kenichi Yasukata, Costin Raiciu, and Felipe Huici. My vm is lighter (and safer) than your container. In Proceedings of the 26th Symposium on Operating Systems Principles, SOSP '17, pages 218-233, New York, NY, USA, 2017. Association for Computing Machinery. URL: https://doi.org/10.1145/3132747.3132763.
  24. Joao Martins, Mohamed Ahmed, Costin Raiciu, Vladimir Olteanu, Michio Honda, Roberto Bifulco, and Felipe Huici. ClickOS and the art of network function virtualization. In 11th USENIX Symposium on Networked Systems Design and Implementation, pages 459-473, 2014. Google Scholar
  25. Gabriele Paoloni. How to benchmark code execution times on intel® ia-32 and ia-64 instruction set architectures, 2010. Google Scholar
  26. Donald E. Porter, Silas Boyd-Wickizer, Jon Howell, Reuben Olinsky, and Galen C. Hunt. Rethinking the library OS from the top down. In Rajiv Gupta and Todd C. Mowry, editors, Proceedings of the 16th International Conference on Architectural Support for Programming Languages and Operating Systems, pages 291-304. ACM, 2011. URL: https://doi.org/10.1145/1950365.1950399.
  27. Vara Prasad, William Cohen, FC Eigler, Martin Hunt, Jim Keniston, and J Chen. Locating system problems using dynamic instrumentation. In 2005 Ottawa Linux Symposium, pages 49-64, 2005. Google Scholar
  28. Saowanee Saewong, Ragunathan Rajkumar, John P. Lehoczky, and Mark H. Klein. Analysis of hierarchical fixed-priority scheduling. In ECRTS, pages 173-181, 2002. URL: http://csdl.computer.org/comp/proceedings/ecrts/2002/1665/00/16650173abs.htm.
  29. Lui Sha, John P. Lehoczky, and Ragunathan Rajkumar. Solutions for some practical problems in prioritized preemptive scheduling. In IEEE Real-Time Systems Symposium (RTSS), pages 181-191, 1986. Google Scholar
  30. Insik Shin, Arvind Easwaran, and Insup Lee. Hierarchical scheduling framework for virtual clustering of multiprocessors. In 2008 Euromicro Conference on Real-Time Systems, pages 181-190, 2008. URL: https://doi.org/10.1109/ECRTS.2008.28.
  31. Insik Shin and Insup Lee. Compositional real-time scheduling framework. In 25th IEEE International Real-Time Systems Symposium, pages 57-67, 2004. URL: https://doi.org/10.1109/REAL.2004.15.
  32. Brinkley Sprunt, Lui Sha, and John P. Lehoczky. Aperiodic task scheduling for hard real-time systems. Real-Time Systems, 1(1):27-60, 1989. Google Scholar
  33. J.K. Strosnider, J.P. Lehoczky, and Lui Sha. The deferrable server algorithm for enhanced aperiodic responsiveness in hard real-time environments. IEEE Transactions on Computers, 44(1):73-91, 1995. URL: https://doi.org/10.1109/12.368008.
  34. Lothar Thiele, Samarjit Chakraborty, and Martin Naedele. Real-time calculus for scheduling hard real-time systems. In IEEE International Symposium on Circuits and Systems, Emerging Technologies for the 21st Century, pages 101-104, 2000. URL: https://doi.org/10.1109/ISCAS.2000.858698.
  35. Sisu Xi, Justin Wilson, Chenyang Lu, and Christopher Gill. Rt-xen: Towards real-time hypervisor scheduling in xen. In 2011 Proceedings of the Ninth ACM International Conference on Embedded Software (EMSOFT), pages 39-48, 2011. Google Scholar
  36. Sisu Xi, Meng Xu, Chenyang Lu, Linh T. X. Phan, Christopher Gill, Oleg Sokolsky, and Insup Lee. Real-time multi-core virtual machine scheduling in xen. In Proceedings of the 14th International Conference on Embedded Software, EMSOFT '14, New York, NY, USA, 2014. Association for Computing Machinery. URL: https://doi.org/10.1145/2656045.2656066.
  37. Ming Zhao and Jorge Cabrera. Rtvirt: Enabling time-sensitive computing on virtualized systems through cross-layer cpu scheduling. In Proceedings of the Thirteenth EuroSys Conference, EuroSys '18, New York, NY, USA, 2018. Association for Computing Machinery. URL: https://doi.org/10.1145/3190508.3190527.
Any Issues?
X

Feedback on the Current Page

CAPTCHA

Thanks for your feedback!

Feedback submitted to Dagstuhl Publishing

Could not send message

Please try again later or send an E-mail
© 2023-2025 Schloss Dagstuhl – LZI GmbH About DROPS Imprint Privacy Contact