Skip to main content
SpringerLink
Log in

Cache related pre-emption delays in hierarchical scheduling

  • Published:
Real-Time Systems Aims and scope Submit manuscript

Abstract

Hierarchical scheduling provides a means of composing multiple real-time applications onto a single processor such that the temporal requirements of each application are met. This has become a popular technique in industry as it allows applications from multiple vendors as well as legacy applications to co-exist in isolation on the same platform. However, performance enhancing features such as caches mean that one application can interfere with another by evicting blocks from cache that were in use by another application, violating the requirement of temporal isolation. In this paper, we present analysis that bounds the additional delay due to blocks being evicted from cache by other applications in a system using hierarchical scheduling when using either a local FP or EDF scheduler.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16

Similar content being viewed by others

Notes

  1. The concept of UCBs and ECBs cannot be applied to the FIFO or Pesudo-LRU replacement policies as shown by Burguiere et al. (2009).

  2. Although we used 12 cache sets in this example, we note that the result obtained is in fact independent of the total number of cache sets.

  3. Strictly, h(t) is the maximum time required for the server to provide the processing time demand.

  4. http://www.irit.fr/recherches/ARCHI/MARCH/rubrique.php3?id_rubrique=97.

  5. http://www.absint.com/ait/.

References

  • Altmeyer S, Maiza C, Reineke J (2010) Resilience analysis: tightening the CRPD bound for set-associative caches. In: LCTES. New York, USA, pp 153–162

  • Altmeyer S, Davis RI, Maiza C (2011) Cache related pre-emption delay aware response time analysis for fixed priority pre-emptive systems. In: Proceedings of the 32nd IEEE Real-Time Systems Symposium (RTSS). Vienna, Austria, pp 261–271

  • Altmeyer S, Davis RI, Maiza C (2012) Improved cache related pre-emption delay aware response time analysis for fixed priority pre-emptive systems. Real-Time Syst 48(5):499–512

    Article  MATH  Google Scholar 

  • ARINC (1991) ARINC 651: Design Guidance for Integrated Modular Avionics. Airlines Electronic Engineering Committee (AEEC)

  • ARINC (1996) ARINC 653: Avionics Application Software Standard Interface (Draft 15). Airlines Electronic Engineering Committee (AEEC)

  • Åsberg M, Behnam M, Nolte T (2013) An experimental evaluation of synchronization protocol mechanisms in the domain of hierarchical fixed-priority scheduling. In: Proceedings of the 21st International Conference on Real-Time and Network Systems (RTNS). Sophia Antipolis, France

  • Audsley NC, Burns A, Richardson M, Wellings AJ (1993) Applying new scheduling theory to static priority preemptive scheduling. Softw Eng J 8(5):284–292

    Article  Google Scholar 

  • Baruah SK, Mok AK, Rosier LE (1990a) Preemptive scheduling hard-real-time sporadic tasks on one processor. In: Proceedings of the 11th IEEE Real-Time Systems Symposium (RTSS). Lake Buena Vista, Florida, USA, pp 182–190

  • Baruah SK, Rosier LE, Howell RR (1990b) Algorithms and complexity concerning the preemptive scheduling of periodic real-time tasks on one processor. Real-Time Syst 2(4):301–324

    Article  Google Scholar 

  • Bastoni A, Brandenburg B, Anderson J (2010) Cache-related preemption and migration delays: empirical approximation and impact on schedulability. In: Proceedings of Operating Systems Platforms for Embedded Real-Time applications (OSPERT). Brussels, Belgium, pp 33–44

  • Behnam M, Shin I, Nolte T, Nolin M (2007) SIRAP: a synchronization protocol for hierarchical resource sharing real-time open systems. In: Proceedings of the 7th ACM & IEEE International Conference on Embedded Software (EMSOFT). pp 279–288

  • Bini E, Buttazzo G (2005) Measuring the performance of schedulability tests. Real-Time Syst 30(1):129–154

    Article  MATH  Google Scholar 

  • Burguière C, Reineke J, Altmeyer S (2009) Cache-related preemption delay computation for set-associative caches—pitfalls and solutions. In: Proceedings of the 9th International Workshop on Worst-Case Execution Time Analysis (WCET). Dublin, Ireland

  • Busquets-Mataix JV, Serrano JJ, Ors R, Gil P, Wellings A (1996) Adding instruction cache effect to schedulability analysis of preemptive real-time systems. In: Proceedings of the 2nd IEEE Real-Time Technology and Applications Symposium (RTAS). pp 204–212

  • Campoy AM, Sáez S, Perles A, Busquets JV (2004) Schedulability analysis in the EDF scheduler with cache memories. Lect Notes Comput Sci 2968:328–341

    Article  Google Scholar 

  • Davis RI, Zabos A, Burns A (2008) Efficient exact schedulability tests for fixed priority real-time systems. IEEE Trans Comput 57(9):1261–1276

    Article  MathSciNet  Google Scholar 

  • Davis RI, Burns A (2008) An investigation into server parameter selection for hierarchical fixed priority pre-emptive systems. In: Proceedings of the 16th International Conference on Real-Time and Network Systems (RTNS). Rennes, France, pp 19–28

  • Davis RI, Burns A (2005) Hierarchical fixed priority pre-emptive scheduling. In: Proceedings of the 26th IEEE Real-Time Systems Symposium (RTSS)

  • Davis RI, Burns A (2006) Resource sharing in hierarchical fixed priority pre-emptive systems. In: Proceedings of the 27th IEEE Real-Time Systems Symposium (RTSS). Rio de Janeiro, Brazil, pp 257–270

  • Deng Z, Liu JWS (1997) Scheduling real-time applications in open environment. In: Proceedings of the IEEE Real-Time Systems Symposium (RTSS). San Francisco, USA

  • Dertouzos ML (1974) Control robotics: the procedural control of physical processes. In: Proceedings of the International Federation for Information Processing (IFIP) Congress. pp 807–813

  • Feng X, Mok AK (2002) A model of hierarchical real-time virtual resources. In: Proceedings of the 23rd IEEE Real-Time Systems Symposium (RTSS). Austin, TX, USA, pp 26–35

  • Fisher N, Dewan F (2012) A bandwidth allocation scheme for compositional real-time systems with periodic resources. Real-Time Syst 48(3):223–263

    Article  MATH  Google Scholar 

  • George L, Rivierre N, Spuri M (1996) Preemptive and non-preemptive real-time uniprocessor scheduling. Technical Report, INRIA

  • Ju L, Chakraborty S, Roychoudhury A (2007) Accounting for cache-related preemption delay in dynamic priority schedulability analysis. In: Design, Automation and Test in Europe Conference and Exposition (DATE). Nice, France, pp 1623–1628

  • Kuo T-W, Li C-H (1998) A fixed priority driven open environment for real-time applications. In: Proceedings of the 19th IEEE Real-Time Systems Symposium (RTSS). Madrid, Spain

  • Lee C, Hahn J, Seo Y, Min S, Ha H, Hong S, Park C, Lee M, Kim C (1998) Analysis of cache-related preemption delay in fixed-priority preemptive scheduling. IEEE Trans Comput 47(6):700–713

    Article  MathSciNet  Google Scholar 

  • Leung JY-T, Merrill ML (1980) A note on preemptive scheduling of periodic, real-time tasks. Inf Process Lett 11(3):115–118

    Article  MathSciNet  MATH  Google Scholar 

  • Lipari G, Bini E (2005) A methodology for designing hierarchical scheduling systems. J Embed Comput 1(2):257–269

    Google Scholar 

  • Lipari G, Baruah SK (2000a) Efficient scheduling of real-time multi-task applications in dynamic systems. In: Proceddings of the 6th IEEE Real-Time Technology and Applications Symposium (RTAS). pp 166–175

  • Lipari G, Carpenter J, Baruah S (2000b) A framework for achieving inter-application isolation in multiprogrammed, hard real-time environments. In: Proceedings of the 21st IEEE Real-Time Systems Symposium (RTSS). Orlando, FL, USA, pp 217–226

  • Liu CL, Layland JW (1973) Scheduling algorithms for multiprogramming in a hard-real-time environment. J ACM 20(1):46–61

    Article  MathSciNet  MATH  Google Scholar 

  • Lunniss W, Altmeyer S, Davis RI (2012) Optimising task layout to increase schedulability via reduced cache related pre-emption delays. In: Proceedings of the International Conference on Real-Time Networks and Systems (RTNS). Pont à Mousson, France, pp 161–170

  • Lunniss W, Altmeyer S, Maiza C, Davis RI (2013) Intergrating cache related pre-emption delay analysis into edf scheduling. In: Proceedings 19th IEEE Converence on Real-Time and Embedded Technology and Applications (RTAS). Philadelphia, USA, pp 75–84

  • Lunniss W, Altmeyer S, Lipari G, Davis RI (2014a) Accounting for cache related pre-emption delays in hierarchical scheduling. In: Proceedings of the 22nd International Conference on Real-Time Networks and Systems (RTNS). Versailles, France, pp 183–192

  • Lunniss W, Altmeyer S, Davis RI (2014b) Accounting for cache related pre-emption delays in hierarchical scheduling with local EDF scheduler. In: Proceedings of the 8th Junior Researcher Workshop on Real-Time Computing (JRWRTC). Versailles, France

  • Richter K (2005) Compositional scheduling analysis using standard event models. PhD Dissertation, Technical University Carolo-Wilhelmina of Braunschweig

  • Ripoll I, Crespo A, Mok AK (1996) Improvement in feasibility testing for real-time tasks. Real-Time Syst 11(1):19–39

    Article  Google Scholar 

  • Saewong S, Rajkumar R, Lehoczky J, Klein M (2002) Analysis of hierarchical fixed priority scheduling. In: Proceedings of the 14th Euromicro Conference on Real-Time Systems (ECRTS). Vienna, Austria, pp 173–181

  • Shin I, Lee I (2003) Periodic resource model for compositional real-time guarantees. In: Proceedings of the 24th IEEE Real-Time Systems Symposium (RTSS). Cancun, Mexico, pp 2–13

  • Spuri M (1996) Analysis of deadline schedule real-time systems. Technical Report, INRIA

  • Staschulat J, Schliecker S, Ernst R (2005) Scheduling analysis of real-time systems with precise modeling of cache related preemption delay. In: Proceedings of the 17th Euromicro Conference on Real-Time Systems (ECRTS). Balearic Islands, Spain, pp 41–48

  • Tan Y, Mooney V (2007) Timing analysis for preemptive multitasking real-time systems with caches. ACM Trans Embed Comput Syst 6(1):7

    Article  Google Scholar 

  • Watkins CB, Walter R (2007) Transitioning from federated avionics architectures to integrated modular avionics. In: Proceedings of the 26th IEE/AIAA Digital Avionics Systems Conference (DASC)

  • Xu M, Phan LTX, Lee I, Sokolsky O, Xi S, Lu C, Gill C (2013) Cache-aware compositional analysis of real-time multicore virtualization platforms. In: Proceedings of the 34th IEEE Real-Time Systems Symposium (RTSS). Vancouver, Canada

  • Zhang F, Burns A (2009) Schedulability analysis for real-time systems with EDF scheduling. IEEE Trans Comput 58(9):1250–1258

    Article  MathSciNet  Google Scholar 

Download references

Acknowledgments

This work was partially funded by the UK EPSRC through the Engineering Doctorate Centre in Large-Scale Complex IT Systems (EP/F501374/1), the UK EPSRC funded MCC (EP/K011626/1), the European Community’s ARTEMIS Programme and UK Technology Strategy Board, under ARTEMIS grant agreement 295371-2 CRAFTERS, COST Action IC1202: Timing Analysis On Code-Level (TACLe) and the European Community’s Seventh Framework Programme FP7 under Grant Agreement no. 246556, “RBUCE-UP”. EPSRC Research Data Management: The benchmarks used were from external, publically available benchmark suites, no new primary data was created during this study.

Author information

Authors and Affiliations

  1. Department of Computer Science, University of York, York, UK

    Will Lunniss & Robert I. Davis

  2. LASSY Group, University of Luxembourg, Luxembourg, Luxembourg

    Sebastian Altmeyer

  3. CRIStAL, UMR 9189, Univ. Lille, 59650, Villeneuve d’Ascq, France

    Giuseppe Lipari

  4. IRCICA, USR 3380, 59650, Villeneuve d’Ascq, France

    Giuseppe Lipari

Authors
  1. Will Lunniss
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Sebastian Altmeyer
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Giuseppe Lipari
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Robert I. Davis
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Will Lunniss.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Lunniss, W., Altmeyer, S., Lipari, G. et al. Cache related pre-emption delays in hierarchical scheduling. Real-Time Syst 52, 201–238 (2016). https://doi.org/10.1007/s11241-015-9228-x

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11241-015-9228-x

Keywords

Search

Navigation