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Implementation and evaluation of global and partitioned scheduling in a real-time OS

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Abstract

In this work, we provide an experimental comparison between Global-EDF and Partitioned-EDF, considering the run-time overhead of a real-time operating system (RTOS). Recent works have confirmed that OS implementation aspects, such as the choice of scheduling data structures and interrupt handling mechanisms, impact real-time schedulability as much as scheduling theoretic aspects. However, these studies used real-time patches applied into a general-purpose OS. By measuring the run-time overhead of an RTOS designed from scratch, we show how close the schedulability ratio of task sets is to the theoretical hard real-time schedulability tests. Moreover, we show how a well-designed object-oriented RTOS allows code reuse of scheduling components (e.g., thread, scheduling criteria, and schedulers) and easy real-time scheduling extensions. We compare our RTOS to a real-time patch for Linux in terms of the task set schedulability ratio of several generated task sets. In some cases, Global-EDF considering the overhead of the RTOS is superior to Partitioned-EDF considering the overhead of the patched Linux, which clearly shows how different OSs impact hard real-time schedulers.

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Notes

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

  2. A task that has a utilization higher than 0.5 is considered a heavy task.

  3. We consider the original parameters Δev (delay until an interrupt service routine starts execution) and Δcid (loss of cache affinity due to an interrupt service routine) as negligible.

  4. An EPOS periodic thread is conceptually implemented as a real-time periodic task.

  5. A trait class is a template class that associates information of a component at compile time.

  6. We used the open-source implementation of the eight G-EDF schedulability tests available at http://www.cs.unc.edu/~bbb/diss/. We changed the code to allow the tests to be executed in parallel in a cluster and extended it to support also P-EDF partitioning heuristics and EDF uniprocessor test. The new code is also available online at http://epos.lisha.ufsc.br.

  7. From now on, whenever we refer to worst-case is the observed worst-case from the experiments.

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Acknowledgements

We would like to thank the anonymous reviewers for their constructive comments and suggestions. This work was supported by the Coordination for Improvement of Higher Level Personnel (CAPES) and the Foreign Affairs and International Trade Canada/Affaires étrangères et Commerce international Canada (DFAIT) grants, projects RH-TVD 006/2008 and CAPES-DFAIT 004/11.

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  1. Federal University of Santa Catarina, Florianópolis, Brazil

    Giovani Gracioli & Antônio Augusto Fröhlich

  2. University of Waterloo, Waterloo, Canada

    Rodolfo Pellizzoni & Sebastian Fischmeister

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  1. Giovani Gracioli
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  2. Antônio Augusto Fröhlich
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Gracioli, G., Fröhlich, A.A., Pellizzoni, R. et al. Implementation and evaluation of global and partitioned scheduling in a real-time OS. Real-Time Syst 49, 669–714 (2013). https://doi.org/10.1007/s11241-013-9183-3

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