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RT-CASEs: Container-Based Virtualization for Temporally Separated Mixed-Criticality Task Sets

Authors: Marcello Cinque, Raffaele Della Corte, Antonio Eliso, and Antonio Pecchia

Published in: LIPIcs, Volume 133, 31st Euromicro Conference on Real-Time Systems (ECRTS 2019)


Abstract
This paper presents the notion of real-time containers, or rt-cases, conceived as the convergence of container-based virtualization technologies, such as Docker, and hard real-time operating systems. The idea is to allow critical containers, characterized by stringent timeliness and reliability requirements, to cohabit with traditional non real-time containers on the same hardware. The approach allows to keep the advantages of real-time virtualization, largely adopted in the industry, while reducing its inherent scalability limitation when to be applied to large-scale mixed-criticality systems or severely constrained hardware environments. The paper provides a reference architecture scheme for implementing the real-time container concept on top of a Linux kernel patched with a hard real-time co-kernel, and it discusses a possible solution, based on execution time monitoring, to achieve temporal separation of fixed-priority hard real-time periodic tasks running within containers with different criticality levels. The solution has been implemented using Docker over a Linux kernel patched with RTAI. Experimental results on real machinery show how the implemented solution is able to achieve temporal separation on a variety of random task sets, despite the presence of faulty tasks within a container that systematically exceed their worst case execution time.

Cite as

Marcello Cinque, Raffaele Della Corte, Antonio Eliso, and Antonio Pecchia. RT-CASEs: Container-Based Virtualization for Temporally Separated Mixed-Criticality Task Sets. In 31st Euromicro Conference on Real-Time Systems (ECRTS 2019). Leibniz International Proceedings in Informatics (LIPIcs), Volume 133, pp. 5:1-5:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)


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@InProceedings{cinque_et_al:LIPIcs.ECRTS.2019.5,
  author =	{Cinque, Marcello and Della Corte, Raffaele and Eliso, Antonio and Pecchia, Antonio},
  title =	{{RT-CASEs: Container-Based Virtualization for Temporally Separated Mixed-Criticality Task Sets}},
  booktitle =	{31st Euromicro Conference on Real-Time Systems (ECRTS 2019)},
  pages =	{5:1--5:22},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-110-8},
  ISSN =	{1868-8969},
  year =	{2019},
  volume =	{133},
  editor =	{Quinton, Sophie},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops-dev.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2019.5},
  URN =		{urn:nbn:de:0030-drops-107426},
  doi =		{10.4230/LIPIcs.ECRTS.2019.5},
  annote =	{Keywords: Containers, mixed-criticality, temporal separation, monitoring}
}
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