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Supporting single and multi-core resource access protocols on object-oriented RTOSes

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Abstract

Real-time resource access protocols are fundamental to bound the maximum delay a task can suffer due to priority inversions. Several real-time protocols have been proposed, for both static and dynamic scheduling approaches in single and multi-core processors. One of the main factors for performance efficiency in such protocols is the way they are implement within a real-time operating system (RTOS). In this paper we present an object-oriented design of real-time access protocols considering single and multi-core systems and also suspension- and spin-based protocols (7 protocols in total). Our design aims at reducing the run-time overhead and increasing code re-usability. By implementing the proposed design in an RTOS and running the protocols in a modern multi-core processor, we provide an analysis regarding the memory footprint, run-time overhead, and the impact of the overhead into the schedulability analysis of synthetically generated task sets. Our results indicate that proper implementation provides low run-time overhead (up to 6.1 \(\upmu \hbox {s}\)) and impact on the schedulability of real-time tasks.

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Notes

  1. In this paper we use the terms core and processor interchangeably.

  2. The code is available online at https://github.com/santos-lucasm/epos-mcore-protocols.

  3. Run-time overhead is defined as the additional computing time carried out by the protocols and RTOS. Systems schedulability refers to the rate of schedulable tasks in the system according to a scheduling algorithm (or scheduler).

  4. All graphs are available at www.lisha.ufsc.br/Giovani.

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Authors and Affiliations

  1. Software/Hardware Integration Lab, Federal University of Santa Catarina, Florianópolis, Brazil

    Lucas Matheus dos Santos & Giovani Gracioli

  2. LAAS-CNRS, Université de Toulouse, INSA, Toulouse, France

    Tomasz Kloda

  3. Technical University of Munich, Munich, Germany

    Marco Caccamo

Authors
  1. Lucas Matheus dos Santos
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  2. Giovani Gracioli
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  3. Tomasz Kloda
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  4. Marco Caccamo
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Contributions

LMS did all the implementation of the proposed protocols and run-time experiments and also wrote some parts of the document. GG wrote some parts of the document, reviewed the and improved the design of the protocols and reviewed the document. TK did the schedulability experiments, wrote some parts of the document, and reviewed a couple of sections. MC reviewed the manuscript

Corresponding author

Correspondence to Giovani Gracioli.

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Giovani Gracioli was partially supported by Fundação de Desenvolvimento da Pesquisa - Fundep Rota 2030/Linha V 27192.02.01/2020.09-00. Marco Caccamo was supported by an Alexander von Humboldt Professorship endowed by the German Federal Ministry of Education and Research.

This paper was originally published in the 2020 X Brazilian Symposium on Computing Systems Engineering (SBESC) [1].

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dos Santos, L.M., Gracioli, G., Kloda, T. et al. Supporting single and multi-core resource access protocols on object-oriented RTOSes. Des Autom Embed Syst 27, 31–50 (2023). https://doi.org/10.1007/s10617-023-09268-6

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