Skip to main content

Multiprocessor Real-Time Locking Protocols

  • Reference work entry
  • First Online:
Handbook of Real-Time Computing

Abstract

We systematically survey the literature on analytically sound multiprocessor real-time locking protocols from 1988 until the end of 2017, covering the following topics:

  • Progress mechanisms that prevent the lock-holder preemption problem

  • Spin-lock protocols

  • Binary semaphore protocols

  • Independence-preserving (or fully preemptive) locking protocols

  • Reader-writer synchronization

  • k-exclusion synchronization

  • Support for nested critical sections

A special focus is placed on the suspension-oblivious and suspension-aware analysis approaches for semaphore protocols, their respective notions of priority inversion, optimality criteria, and lower bounds on maximum priority inversion blocking, as well as matching asymptotically optimal locking protocols.

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

Access this chapter

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 999.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 849.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  • S. Afshar, Lock-based resource sharing for real-time multi-processors. Ph.D thesis, Mälardalen University (2017)

    Google Scholar 

  • S. Afshar, F. Nemati, T. Nolte, Resource sharing under multiprocessor semi-partitioned scheduling, in Proceedings of the 18th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA) (IEEE, 2012), pp. 290–299

    Google Scholar 

  • S. Afshar, M. Behnam, T. Nolte, Integrating independently developed real-time applications on a shared multi-core architecture. ACM SIGBED Rev 10(3), 49–56 (2013)

    Article  Google Scholar 

  • S. Afshar, M. Behnam, R.J Bril, T. Nolte, Flexible spin-lock model for resource sharing in multiprocessor real-time systems, in Proceedings of the 9th IEEE International Symposium on Industrial Embedded Systems (SIES). (IEEE, 2014), pp. 41–51

    Google Scholar 

  • S. Afshar, N. Khalilzad, F. Nemati, T. Nolte, Resource sharing among prioritized real-time applications on multiprocessors. ACM SIGBED Rev 12(1), 46–55 (2015)

    Article  Google Scholar 

  • S. Afshar, N. Khalilzad, M. Behnam, R.J. Bril, T. Nolte, Intra-component resource sharing on a virtual multiprocessor platform. ACM SIGBED Rev 13(3), 31–32 (2016a)

    Article  Google Scholar 

  • S. Afshar, M.P.W. Verwielen, P. Gai, M. Behnam, R.J. Bril, An implementation of the flexible spin-lock model in ERIKA enterprise on a multi-core platform, in Proceedings of the 12th Annual Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT), 2016b, pp. 55–60

    Google Scholar 

  • S. Afshar, M. Behnam, R.J. Bril, T. Nolte, An optimal spin-lock priority assignment algorithm for real-time multi-core systems, in Proceedings of the 23rd IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA) (IEEE, 2017), pp. 1–11

    Google Scholar 

  • Z. Al-bayati, Y. Sun, H. Zeng, M. Di Natale, Q. Zhu, B. Meyer, Task placement and selection of data consistency mechanisms for real-time multicore applications, in Proceedings of the 21st IEEE Real-Time Embedded Technology and Applications Symposium (RTAS) (IEEE, 2015), pp. 172–181

    Google Scholar 

  • M. Alfranseder, Efficient and Robust Dynamic Scheduling and Synchronization in Practical Embedded Real-time Multiprocessor Systems. Ph.D thesis, Technische Universität Clausthal, 2016

    Google Scholar 

  • M. Alfranseder, M. Deubzer, B. Justus, J. Mottok, C. Siemers, An efficient spin-lock based multi-core resource sharing protocol, in Proceedings of the 33rd IEEE International Performance Computing and Communications Conference (IEEE, 2014), pp. 1–7

    Google Scholar 

  • H Almatary, N.C. Audsley, A. Burns, Reducing the implementation overheads of IPCP and DFP, in Proceedings of the 36th IEEE Real-Time Systems Symposium (RTSS), 2015, pp. 295–304

    Google Scholar 

  • J. Anderson, R. Jain, K. Jeffay, Efficient object sharing in quantum-based real-time systems, in Proceedings of the 19th IEEE Real-Time Systems Symposium (RTSS), 1998, pp. 346–355

    Google Scholar 

  • J.H. Anderson, Y.-J. Kim, T. Herman, Shared-memory mutual exclusion: major research trends since 1986. Distrib. Comput. 16(2), 75–110 (2003)

    Article  MATH  Google Scholar 

  • J.H. Anderson, V. Bud, U.M.C. Devi, An EDF-based scheduling algorithm for multiprocessor soft real-time systems, in Proceedings of the 17th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2005), pp. 199–208

    Google Scholar 

  • B. Andersson, G. Raravi, Real-time scheduling with resource sharing on heterogeneous multiprocessors. Real Time Syst. 50(2), 270–314 (2014)

    Article  MATH  Google Scholar 

  • S.K. Baruah, N.K. Cohen, C.G. Plaxton, D.A. Varvel, Proportionate progress: A notion of fairness in resource allocation. Algorithmica 15(6), 600–625 (1996)

    Article  MathSciNet  MATH  Google Scholar 

  • A. Bastoni, B.B. Brandenburg, J.H Anderson, Is semi-partitioned scheduling practical? in Proceedings of the 23rd Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2011), pp. 125–135

    Google Scholar 

  • M. Behnam, F. Nemati, T. Nolte, H. Grahn, Towards an efficient approach for resource sharing in real-time multiprocessor systems, in Proceedings of the 6th IEEE International Symposium on Industrial Embedded Systems (SIES) (IEEE, 2011), pp. 99–102

    Google Scholar 

  • M. Bertogna, M. Cirinei, G. Lipari, Improved schedulability analysis of edf on multiprocessor platforms, in Proceedings of the 17th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2005), pp. 209–218

    Google Scholar 

  • V. Bhatt, P. Jayanti, Specification and constant RMR algorithm for phase-fair reader-writer lock, in Proceedings of the 12th International Conference on Distributed Computing and Networking (ICDCN) (Springer, 2011), pp. 119–130

    Google Scholar 

  • A. Biondi, B. Brandenburg, Lightweight real-time synchronization under P-EDF on symmetric and asymmetric multiprocessors, in Proceedings of the 28th Euromicro Conference on Real-Time Systems (ECRTS), 2016, pp. 39–49

    Google Scholar 

  • A. Biondi, G.C. Buttazzo, M. Bertogna, Supporting component-based development in partitioned multiprocessor real-time systems, in Proceedings of the 27th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2015), pp. 269–280

    Google Scholar 

  • A. Biondi, B. Brandenburg, A. Wieder, A blocking bound for nested FIFO spin locks, in Proceedings of the 37th IEEE Real-Time Systems Symposium (RTSS), 2016, pp. 291–302

    Google Scholar 

  • A. Block, H. Leontyev, B. Brandenburg, J. Anderson, A flexible real-time locking protocol for multiprocessors, in Proceedings of the 13th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA), 2007, pp. 47–57

    Google Scholar 

  • L. Bonato, E. Mezzetti, T. Vardanega, Supporting global resource sharing in RUN-scheduled multiprocessor systems, in Proceedings of the 22nd International Conference on Real-Time Networks and Systems (ACM, 2014), pp. 109–118

    Google Scholar 

  • B. Brandenburg, Scheduling and Locking in Multiprocessor Real-Time Operating Systems. Ph.D thesis, UNC Chapel Hill, 2011

    Google Scholar 

  • B. Brandenburg, Virtually exclusive resources. Technical Report MPI-SWS-2012–005, MPI-SWS, 2012

    Google Scholar 

  • B. Brandenburg, A fully preemptive multiprocessor semaphore protocol for latency-sensitive realtime applications, in Proceedings of the 25th Euromicro Conference on Real-Time Systems (ECRTS), 2013a, pp. 292–302

    Google Scholar 

  • B. Brandenburg, Improved analysis and evaluation of real-time semaphore protocols for P-FP scheduling, in Proceedings of the 19th IEEE Real-Time Embedded Technology and Applications Symposium (RTAS), 2013b, pp. 141–152

    Google Scholar 

  • B. Brandenburg, A synchronous IPC protocol for predictable access to shared resources in mixed-criticality systems, in Proceedings of the 35th IEEE Real-Time Systems Symposium (RTSS), 2014a, pp. 196–206

    Google Scholar 

  • B. Brandenburg, Blocking optimality in distributed real-time locking protocols. Leibniz Transactions on Embedded Systems 1(2), 1–22 (2014b)

    Google Scholar 

  • B. Brandenburg, The FMLP+: an asymptotically optimal real-time locking protocol for suspension aware analysis, in Proceedings of the 26th Euromicro Conference on Real-Time Systems (ECRTS), 2014c, pp. 61–71

    Google Scholar 

  • B. Brandenburg, J. Anderson, A comparison of the M-PCP, D-PCP, and FMLP on LITMUSRT, 2008a, pp. 105–124

    Google Scholar 

  • B. Brandenburg, J. Anderson, An implementation of the PCP, SRP, D-PCP, M-PCP, and FMLP real-time synchronization protocols in LITMUSRT, in Proceedings of the 14th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA), 2008b, pp. 185–194

    Google Scholar 

  • B. Brandenburg, J. Anderson, Reader-writer synchronization for shared-memory multiprocessor real-time systems, in Proceedings of the 21st Euromicro Conference on Real-Time Systems (ECRTS), 2009, pp. 184–193

    Google Scholar 

  • B. Brandenburg, J. Anderson, Optimality results for multiprocessor real-time locking, in Proceedings of the 31st IEEE Real-Time Systems Symposium (RTSS), 2010a, pp. 49–60

    Google Scholar 

  • B. Brandenburg, J. Anderson, Spin-based reader-writer synchronization for multiprocessor real-time systems. Real-Time Syst. 46(1), 25–87 (2010b)

    Article  MATH  Google Scholar 

  • B. Brandenburg, J. Anderson, Real-time resource-sharing under clustered scheduling: mutex, reader-writer, and k-exclusion locks, in Proceedings of the 11th International Conference on Embedded Software (EMSOFT), 2011, pp. 69–78

    Google Scholar 

  • B. Brandenburg, J. Anderson, The OMLP family of optimal multiprocessor real-time locking protocols. Des. Autom. Embed. Syst. 17(2), 277–342 (2013)

    Article  Google Scholar 

  • B.B. Brandenburg, J.H. Anderson, A clarification of link-based global scheduling. Technical Report MPI-SWS-2014–007, Max Planck Institute for Software Systems, 2014

    Google Scholar 

  • B.B. Brandenburg, A. Bastoni, The case for migratory priority inheritance in Linux: bounded priority inversions on multiprocessors, in Proceedings of the 14th Real-Time Linux Workshop (RTLWS). Citeseer, 2012

    Google Scholar 

  • B.B. Brandenburg, M. Gül, Global scheduling not required: simple, near-optimal multiprocessor real-time scheduling with semi-partitioned reservations, in Proceedings of the 37th IEEE Real-Time Systems Symposium (RTSS) (IEEE, 2016), pp. 99–110

    Google Scholar 

  • B. Brandenburg, J. Calandrino, A. Block, H. Leontyev, J. Anderson. Synchronization on real-time multiprocessors: to block or not to block, to suspend or spin? in Proceedings of the 14th IEEE Real-Time Embedded Technology and Applications Symposium (RTAS), 2008, pp. 342–353

    Google Scholar 

  • J.E. Burns, Mutual exclusion with linear waiting using binary shared variables. ACM SIGACT News 10(2), 42–47 (1978)

    Article  MATH  Google Scholar 

  • A. Burns, The ravenscar profile. ACM SIGAda Ada Lett. 19(4), 49–52 (1999)

    Article  Google Scholar 

  • A. Burns, R. Davis, Mixed criticality systems – a review. Technical Report 10th edition, Department of Computer Science, University of York, Jan 2018

    Google Scholar 

  • A. Burns, A.J. Wellings, Locking policies for multiprocessor Ada. ACM SIGAda Ada Lett. 33(2), 59–65 (2013a)

    Article  Google Scholar 

  • A. Burns, A.J. Wellings, A schedulability compatible multiprocessor resource sharing protocol – MrsP, in Proceedings of the 25th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2013b), pp. 282–291

    Google Scholar 

  • A. Carminati, R.S. de Oliveira, On variations of the suspension-based multiprocessor priority ceiling synchronization protocol, in Proceedings of the 17th IEEE Conference on Emerging Technologies and Factory Automation (ETFA) (IEEE, 2012), pp. 1–4

    Google Scholar 

  • A. Carminati, R.S. De Oliveira, L.F. Friedrich, Exploring the design space of multiprocessor synchronization protocols for real-time systems. J. Syst. Architect. 60(3), 258–270 (2014)

    Article  Google Scholar 

  • S. Catellani, L. Bonato, S. Huber, E. Mezzetti, Challenges in the implementation of MrsP, in Proceedings of the 20th International Conference on Reliable Software Technologies (ADA Europe) (Springer, 2015), pp. 179–195

    Google Scholar 

  • F. Cerqueira, M. Vanga, B.B. Brandenburg, Scaling global scheduling with message passing, in Proceedings of the 20th IEEE Real-Time Embedded Technology and Applications Symposium (RTAS) (IEEE, 2014), pp. 263–274

    Google Scholar 

  • Y. Chang, R. Davis, A. Wellings, Reducing queue lock pessimism in multiprocessor schedulability analysis, in Proceedings of the 18th International Conference on Real-Time Networks and Systems (RTNS), 2010, pp. 99–108

    Google Scholar 

  • J.-J. Chen, B. Brandenburg, A note on the period enforcer algorithm for self-suspending tasks. Leibniz Trans. Embed. Syst. (LITES) 4(1), 01:1–01:22 (2017)

    Google Scholar 

  • C-M. Chen, S.K. Tripathi, Multiprocessor priority ceiling based protocols. Technical Report CS-TR-3252, Department of Computer Science, University of Maryland, 1994

    Google Scholar 

  • C-M. Chen, S.K. Tripathi, A. Blackmore, A resource synchronization protocol for multiprocessor real-time systems, in Proceedings of the 23rd International Conference on Parallel Processing (IEEE, 1994), pp. 159–162

    Google Scholar 

  • Y-S. Chen, Li-P. Chang, T-W. Kuo, Multiprocessor frequency locking for real-time task synchronization, in Proceedings of the 23rd Annual ACM Symposium on Applied Computing (ACM, 2008), pp. 289–293

    Google Scholar 

  • J.-J. Chen, G. Nelissen, W-H. Huang, M. Yang, B. Brandenburg, K. Bletsas, C. Liu, P. Richard, F. Ridouard, N. Audsley, R. Rajkumar, D. de Niz, G. von der Brüggen, Many suspensions, many problems: a review of self-suspending tasks in real-time systems. Technical Report 854, Department of Computer Science, TU Dortmund, 2017

    Google Scholar 

  • P.-J. Courtois, F. Heymans, D.L. Parnas, Concurrent control with “readers” and “writers”. Commun. ACM 14(10), 667–668 (1971)

    Article  Google Scholar 

  • T.S Craig, Queuing spin lock algorithms to support timing predictability, in Proceedings of the 14th IEEE Real-Time Systems Symposium (RTSS) (IEEE, 1993), pp. 148–157

    Google Scholar 

  • U.M.C. Devi, H. Leontyev, J.H. Anderson, Efficient synchronization under global EDF scheduling on multiprocessors, in Proceedings of the 18th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2006), pp. 75–84

    Google Scholar 

  • D. Dice, T. Harris, Lock holder preemption avoidance via transactional lock elision, in Proceedings of the 11th ACM SIGPLAN Workshop on Transactional Computing (TRANSACT), 2016

    Google Scholar 

  • A. Easwaran and B. Andersson. Resource sharing in global fixed-priority preemptive multiprocessor scheduling, in Proceedings of the 30th IEEE Real-Time Systems Symposium (RTSS), 2009, pp. 377–386

    Google Scholar 

  • G.A. Elliott, Real-time scheduling for GPUs with applications in advanced automotive systems. Ph.D thesis, The University of North Carolina at Chapel Hill, 2015

    Google Scholar 

  • G.A. Elliott, J.H. Anderson, An optimal k-exclusion real-time locking protocol motivated by multi-GPU systems, in Proceedings of the 19th International Conference on Real-Time Networks and Systems (RTNS), 2011, pp. 15–24

    Google Scholar 

  • G.A. Elliott, J.H. Anderson, Globally scheduled real-time multiprocessor systems with GPUs. Real-Time Syst. 48(1), 34–74 (2012a)

    Article  MATH  Google Scholar 

  • G.A. Elliott, J.H. Anderson, Robust real-time multiprocessor interrupt handling motivated by GPUs, in Proceedings of the 24th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2012b), pp. 267–276

    Google Scholar 

  • G.A. Elliott, J.H. Anderson, An optimal k-exclusion real-time locking protocol motivated by multi-GPU systems. Real Time Syst. 49(2), 140–170 (2013)

    Article  MATH  Google Scholar 

  • D. Faggioli, G. Lipari, T. Cucinotta, The multiprocessor bandwidth inheritance protocol, in Proceedings of the 22nd Euromicro Conference on Real-Time Systems (ECRTS), 2010, pp. 90–99

    Google Scholar 

  • D. Faggioli, G. Lipari, T. Cucinotta, Analysis and implementation of the multiprocessor bandwidth inheritance protocol. Real Time Syst. 48(6), 789–825 (2012)

    Article  MATH  Google Scholar 

  • L-F. Fan, T-H. Tsai, Y-S. Chen, and S-S. Shyu, Energy-aware real-time task synchronization in multi-core embedded systems, in Proceedings of the 28th Annual ACM Symposium on Applied Computing (ACM, 2013), pp. 1493–1498

    Google Scholar 

  • F. Fauberteau, S. Midonnet, Robust partitioned scheduling for static-priority real-time multiprocessor systems with shared resources, in Proceedings of the 18th International Conference on Real-Time Networks and Systems (RTNS), 2010, pp. 217–225

    Google Scholar 

  • F. Fauberteau, S. Midonnet, Robust partitioning for real-time multiprocessor systems with shared resources, in Proceedings of the 26th Annual ACM Symposium on Applied Computing (ACM, 2011), pp. 71–76

    Google Scholar 

  • S. Gadia, C. Artho, G. Bloom, Verifying nested lock priority inheritance in RTEMS with Java Pathfinder, in Proceedings of the 18th International Conference on Formal Engineering Methods (ICFEM) (Springer, 2016), pp. 417–432

    Google Scholar 

  • P. Gai, G. Lipari, M. Di Natale, Minimizing memory utilization of real-time task sets in single and multi-processor systems-on-a-chip, in Proceedings of the 22nd IEEE Real-Time Systems Symposium (RTSS) (IEEE, 2001), pp. 73–83

    Google Scholar 

  • P. Gai, M. di Natale, G. Lipari, A. Ferrari, C. Gabellini, P. Marceca, A comparison of MPCP and MSRP when sharing resources in the Janus multiple processor on a chip platform, in Proceedings of the 9th IEEE Real-Time Embedded Technology and Applications Symposium (RTAS), 2003, pp. 189–198

    Google Scholar 

  • J. Garrido, J. Zamorano, A. Alonso, A Juan, Evaluating MSRP and MrsP with the multiprocessor Ravenscar profile, in Proceedings of the 22nd International Conference on Reliable Software Technologies (ADA Europe) (Springer, 2017a), pp. 3–17

    Google Scholar 

  • J. Garrido, S. Zhao, A. Burns, A. Wellings, Supporting nested resources in MrsP, in Proceedings of the 22nd International Conference on Reliable Software Technologies (ADA Europe) (Springer, 2017b), pp. 73–86

    Google Scholar 

  • M. Gerdes, Timing Analysable Synchronisation Techniques for Parallel Programs on Embedded Multi-Cores. Ph.D thesis, University of Augsburg, 2013

    Google Scholar 

  • G. Han, J. Lu, B. Li, J. Wang, G. Wu, W Dou, A new communication mechanism for multi-core systems in industrial design, in Proceedings of the 3rd International Conference on System Science, Engineering Design and Manufacturing Informatization (ICSEM), vol. 2 (IEEE, 2012a), pp. 1–4

    Google Scholar 

  • J.-J. Han, X. Wu, D. Zhu, H. Jin, L.T. Yang, J.-L. Gaudiot, Synchronization-aware energy management for VFI-based multicore real-time systems. IEEE Trans. Comput. 61(12), 1682–1696 (2012b)

    Article  MathSciNet  MATH  Google Scholar 

  • G. Han, H. Zeng, M. Di Natale, L. Xue, W. Dou, Experimental evaluation and selection of data consistency mechanisms for hard real-time applications on multicore platforms. IEEE Trans. Ind. Inf. 10(2), 903–918 (2014a)

    Article  Google Scholar 

  • J.-J. Han, D. Zhu, X. Wu, L.T. Yang, H. Jin, Multiprocessor real-time systems with shared resources: Utilization bound and mapping. IEEE Trans. Parallel Distrib. Syst. 25(11), 2981–2991 (2014b)

    Article  Google Scholar 

  • J. Han, X. Tao, D. Zhu, L. Yang, Resource sharing in multicore mixed-criticality systems: Utilization bound and blocking overhead. IEEE Transactions on Parallel and Distributed Systems (2017)

    Google Scholar 

  • M. Hohmuth, H. Härtig, Pragmatic nonblocking synchronization for real-time systems, in Proceedings of the 2001 USENIX Annual Technical Conference, 2001, pp. 217–230

    Google Scholar 

  • M. Hohmuth, M. Peter, Helping in a multiprocessor environment, in Proceedings of the 2nd Workshop on Common Microkernel System Platforms, 2001

    Google Scholar 

  • M.J. Holenderski, Multi-resource management in embedded real-time systems. Ph.D thesis, Eindhoven University of Technology, 2012

    Google Scholar 

  • M. Holenderski, R.J. Bril, J.J. Lukkien, Parallel-task scheduling on multiple resources, in Proceedings of the 24th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2012), pp. 233–244

    Google Scholar 

  • P.L. Holman, On the implementation of pfair-scheduled multiprocessor systems. Ph.D thesis, University of North Carolina at Chapel Hill, 2004

    Google Scholar 

  • P. Holman, J.H. Anderson, Locking in pfair-scheduled multiprocessor systems, in Proceedings of the 23rd IEEE Real-Time Systems Symposium (RTSS) (IEEE, 2002a), pp. 149–158

    Google Scholar 

  • P. Holman, J.H. Anderson, Object sharing in pfair-scheduled multiprocessor systems, in Proceedings of the 14th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2002b), pp. 111–120

    Google Scholar 

  • P. Holman, J.H. Anderson, Locking under Pfair scheduling. ACM Trans. Comput. Syst. 24(2), 140–174 (2006)

    Article  Google Scholar 

  • R. Hoottger, B. Igel, O. Spinczyk, On reducing busy waiting in AUTOSAR via task-release-delta-based runnable reordering, in Proceedings of the 2017 Conference on Design, Automation and Test in Europe (DATE) (IEEE, 2017), pp. 1510–1515

    Google Scholar 

  • P-C. Hsiu, D-N. Lee, T-W. Kuo, Task synchronization and allocation for many-core real-time systems, in Proceedings of the 11th International Conference on Embedded Software (EMSOFT) (ACM, 2011), pp. 79–88

    Google Scholar 

  • C-C Huang, P. Jayanti, Priority mutual exclusion: specification and algorithm, in Proceedings of the 30th International Symposium on Distributed Computing (DISC) (Springer, 2016), pp. 385–398

    Google Scholar 

  • W-H. Huang, M. Yang, J-J. Chen, Resource-oriented partitioned scheduling in multiprocessor systems: how to partition and how to share? in Proceedings of the 37th IEEE Real-Time Systems Symposium (RTSS) (IEEE, 2016), pp. 111–122

    Google Scholar 

  • K. Ishibashi, M. Yoo, T. Yokoyama, A real-time operating system with can-based inter-node shared resource management and distributed shared memory, in Proceedings of IEEE Trustcom/BigDataSE/ICESS 2017 (IEEE, 2017), pp. 798–805

    Google Scholar 

  • C.E. Jarrett, B.C. Ward, J.H. Anderson, A contention-sensitive fine-grained locking protocol for multiprocessor real-time systems, in Proceedings of the 23rd International Conference on Real-Time Networks and Systems (RTNS) (ACM, 2015), pp. 3–12

    Google Scholar 

  • T. Johnson, K. Harathi, A prioritized multiprocessor spin lock. IEEE Trans. Parallel Distrib. Syst. 8(9), 926–933 (1997)

    Article  Google Scholar 

  • H. Kim, S. Wang, R. Rajkumar, vMPCP: a synchronization framework for multi-core virtual machines, in Proceedings of the 35th IEEE Real-Time Systems Symposium (RTSS) (IEEE, 2014), pp. 86–95

    Google Scholar 

  • L.I. Kontothanassis, R.W. Wisniewski, M.L. Scott, Scheduler-conscious synchronization. ACM Trans. Comput. Syst. 15(1), 3–40 (1997)

    Article  Google Scholar 

  • K. Lakshmanan, D. Niz, R. Rajkumar, Coordinated task scheduling, allocation and synchronization on multiprocessors, in Proceedings of the 30th IEEE Real-Time Systems Symposium (RTSS), 2009, pp. 469–478

    Google Scholar 

  • G. Lamastra, G. Lipari, L. Abeni, A bandwidth inheritance algorithm for real-time task synchronization in open systems, in Proceedings of the 22nd IEEE Real-Time Systems Symposium (RTSS) (IEEE, 2001), pp. 151–160

    Google Scholar 

  • L. Lamport, A new solution of dijkstra’s concurrent programming problem. Commun. ACM 17(8), 453–455 (1974)

    Article  MathSciNet  MATH  Google Scholar 

  • B.W. Lampson, D.D. Redell, Experience with processes and monitors in mesa. Commun. ACM 23(2), 105–117 (1980)

    Article  Google Scholar 

  • D.W. Leinbaugh, Guaranteed response times in a hard-real-time environment. IEEE Trans. Softw. Eng. 1, 85–91 (1980)

    Article  Google Scholar 

  • S. Lin, A Flexible Multiprocessor Resource Sharing Framework for Ada. Ph.D thesis, University of York, 2013

    Google Scholar 

  • S. Lin, A.J. Wellings, A. Burns, Ada 2012: resource sharing and multiprocessors. ACM SIGAda Ada Letters 33(1), 32–44 (2013a)

    Article  Google Scholar 

  • S. Lin, A. Wellings, A. Burns, Supporting lock-based multiprocessor resource sharing protocols in real-time programming languages. Concurrency Comput. Pract. Exp. 25(16), 2227–2251 (2013b)

    Article  Google Scholar 

  • J.W.S. Liu, Real-Time Systems (Prentice Hall, Upper Saddle River, 2000)

    Google Scholar 

  • C. Liu, J.H. Anderson, Suspension-aware analysis for hard real-time multiprocessor scheduling, in Proceedings of the 25th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2013), pp. 271–281

    Google Scholar 

  • J.M. López, J.L. Díaz, D.F. García, Utilization bounds for EDF scheduling on real-time multiprocessor systems. Real Time Syst. 28(1), 39–68 (2004)

    Article  MATH  Google Scholar 

  • V.B. Lortz, K.G. Shin, Semaphore queue priority assignment for real-time multiprocessor synchronization. IEEE Trans. Softw. Eng. 21(10), 834–844 (1995)

    Article  Google Scholar 

  • J-P. Lozi, F. David, G. Thomas, J.L. Lawall, G. Muller, et al, Remote core locking: migrating critical-section execution to improve the performance of multithreaded applications, in Proceedings of the 2012 USENIX Annual Technical Conference, 2012, pp. 65–76

    Google Scholar 

  • E.P. Markatos, Multiprocessor synchronization primitives with priorities. IFAC Proceedings Volumes24(2), 1–6 (1991)

    Article  Google Scholar 

  • E.P. Markatos, T.J Leblanc, Multiprocessor synchronization primitives with priorities, in Proceedings of the 8th Workshop on Real-Time Operating Systems and Software, 1991, pp. 148–157

    Google Scholar 

  • J.M. Mellor-Crummey, M.L. Scott, Algorithms for scalable synchronization on shared-memory multiprocessors. ACM Trans. Comput. Syst. 9(1), 21–65 (1991a)

    Article  Google Scholar 

  • J.M. Mellor-Crummey, M.L. Scott, Scalable reader-writer synchronization for shared-memory multiprocessors, in ACM SIGPLAN Notices, vol. 26 (ACM, 1991b), pp. 106–113

    Google Scholar 

  • R. Müller, D. Danner, W.S. Preikschat, D. Lohmann, MULTI SLOTH: an efficient multi-core RTOS using hardware-based scheduling, in Proceedings of the 26th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2014), pp. 189–198

    Google Scholar 

  • G. Naeser, Priority inversion in multi processor systems due to protected actions. ACM SIGAda Ada Lett. 25(1), 43–47 (2005)

    Article  Google Scholar 

  • M. Negrean, R. Ernst, Response-time analysis for non-preemptive scheduling in multi-core systems with shared resources, in Proceedings of the 7th IEEE International Symposium on Industrial Embedded Systems (SIES) (IEEE, 2012), pp. 191–200

    Google Scholar 

  • M. Negrean, S. Schliecker, R. Ernst, Response-time analysis of arbitrarily activated tasks in multiprocessor systems with shared resources, in Proceedings of the 2009 Conference on Design, Automation and Test in Europe (DATE) (European Design and Automation Association, 2009), pp. 524–529

    Google Scholar 

  • F. Nemati, Resource Sharing in Real-Time Systems on Multiprocessors. Ph.D thesis, Mälardalen University, 2012

    Google Scholar 

  • F. Nemati, T. Nolte, Resource hold times under multiprocessor static-priority global scheduling, in Proceedings of the 17th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA), vol 1 (IEEE, 2011), pp. 197–206

    Google Scholar 

  • F. Nemati, T. Nolte, Resource sharing among real-time components under multiprocessor clustered scheduling. Real Time Syst. 49(5), 580–613 (2013)

    Article  MATH  Google Scholar 

  • F. Nemati, M. Behnam, T. Nolte, Multiprocessor synchronization and hierarchical scheduling, in Proceedings of the 38th International Conference on Parallel Processing Workshops (IEEE, 2009a), pp. 58–64

    Google Scholar 

  • F. Nemati, M. Behnam, T. Nolte, R.J. Bril, Investigation of implementing a synchronization protocol under multiprocessors hierarchical scheduling, in Proceedings of the 14th IEEE Conference on Emerging Technologies and Factory Automation (ETFA) (IEEE, 2009b), pp. 1–4

    Google Scholar 

  • F. Nemati, T. Nolte, M. Behnam, Partitioning real-time systems on multiprocessors with shared resources, in Proceedings of the 14th International Conference on Principles of Distributed Systems (OPODIS), 2010, pp. 253–269

    Google Scholar 

  • F. Nemati, M. Behnam, T. Nolte, Sharing resources among independently-developed systems on multi-cores. ACM SIGBED Rev. 8(1), 46–53 (2011a)

    Article  Google Scholar 

  • F. Nemati, M. Behnam, T. Nolte, Independently-developed real-time systems on multi-cores with shared resources, in Proceedings of the 23rd Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2011b), pp. 251–261

    Google Scholar 

  • C.E. Nemitz, K. Yang, M. Yang, P. Ekberg, J.H. Anderson, Multiprocessor real-time locking protocols for replicated resources, in Proceedings of the 28th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2016), pp. 50–60

    Google Scholar 

  • C.E. Nemitz, T. Amert, J.H. Anderson, Real-time multiprocessor locks with nesting: optimizing the common case, in Proceedings of the 25th International Conference on Real-Time Networks and Systems (RTNS), 2017

    Google Scholar 

  • P. Patel, I. Boaek, H. Kim, R. Rajkumar, Analytical enhancements and practical insights for MPCP with self-suspensions, in Proceedings of the 24th IEEE Real-Time Embedded Technology and Applications Symposium (RTAS), 2018, pp. 177–189

    Google Scholar 

  • R. Rajkumar, Real-time synchronization protocols for shared memory multiprocessors, in Proceedings of the 10th International Conference on Distributed Computing Systems (ICDCS) (IEEE, 1990), pp. 116–123

    Google Scholar 

  • R. Rajkumar, Synchronization in Real-Time Systems – A Priority Inheritance Approach (Kluwer Academic Publishers, Boston, 1991a)

    Book  MATH  Google Scholar 

  • R. Rajkumar, Dealing with suspending periodic tasks. Technical report, IBM Thomas J. Watson Research Center, 1991b

    Google Scholar 

  • R. Rajkumar, L. Sha, J.P. Lehoczky, Real-time synchronization protocols for multiprocessors, in Proceedings of the 9th IEEE Real-Time Systems Symposium (RTSS) (IEEE, 1988), pp. 259–269

    Google Scholar 

  • G. Raravi, Real-time scheduling on heterogeneous multiprocessors. Ph.D thesis, Universidade do Porto (Portugal), 2013

    Google Scholar 

  • G. Raravi, B. Andersson, K. Bletsas, Provably good scheduling of sporadic tasks with resource sharing on a two-type heterogeneous multiprocessor platform, in Proceedings of the 15th International Conference on Principles of Distributed Systems (OPODIS) (Springer, 2011), pp. 528–543

    Google Scholar 

  • G. Raravi, V. Nélis, B. Andersson, Real-time scheduling with resource sharing on uniform multiprocessors, in Proceedings of the 20th International Conference on Real-Time Networks and Systems (RTNS) (ACM, 2012), pp. 121–130

    Google Scholar 

  • J. Ras, A.M.K. Cheng, Real-time synchronization on distributed architecture with ada-2005. ACM SIGAda Ada Lett. 28(3), 75–84 (2008)

    Article  Google Scholar 

  • M. Raynal, Algorithms for Mutual Exclusion (The MIT Press, Cambridge, 1986)

    MATH  Google Scholar 

  • P. Regnier, G. Lima, E. Massa, G. Levin, S. Brandt, RUN: optimal multiprocessor real-time scheduling via reduction to uniprocessor, in Proceedings of the 32nd IEEE Real-Time Systems Symposium (RTSS) (IEEE, 2011), pp. 104–115

    Google Scholar 

  • I. Rhee, G.R. Martin, A scalable real-time synchronization protocol for distributed systems, in Proceedings of the 16th IEEE Real-Time Systems Symposium (RTSS) (IEEE, 1995), pp. 18–27

    Google Scholar 

  • E.S. Roberts, A. Evans, C.R. Morgan, E.M. Clarke, Task management in ada – a critical evaluation for real-time multiprocessors. Softw. Pract. Exp. 11(10), 1019–1051 (1981)

    Article  MATH  Google Scholar 

  • O.H. Roux, P. Martineau, Deadlock prevention in a distributed real-time system. IFAC Proc. Vol. 28(22), 123–128 (1995)

    Article  Google Scholar 

  • S. Schliecker, M. Negrean, R. Ernst, Response time analysis on multicore ecus with shared resources. IEEE Trans. Ind. Inf. 5(4), 402–413 (2009)

    Article  Google Scholar 

  • K. Schwan, H. Zhou, Multiprocessor real-time threads. ACM SIGOPS Oper. Syst. Rev. 26(1), 54–65 (1992)

    Article  Google Scholar 

  • L. Sha, R. Rajkumar, J.P. Lehoczky, Priority inheritance protocols: An approach to real-time synchronization. IEEE Trans. Comput. 39(9), 1175–1185 (1990)

    Article  MathSciNet  MATH  Google Scholar 

  • M. Shekhar, H. Ramaprasad, F. Mueller, Semi-partitioned scheduling for resource sharing hard-real-time tasks. Technical report, North Carolina State University. Department of Computer Science, 2014

    Google Scholar 

  • R. Spliet, M. Vanga, B. Brandenburg, S. Dziadek, Fast on average, predictable in the worst case: Exploring real-time futexes in LITMUSrt, in Proceedings of the 35th IEEE Real-Time Systems Symposium (RTSS), 2014, pp. 96–105

    Google Scholar 

  • A. Srinivasan, J.H. Anderson, Optimal rate-based scheduling on multiprocessors. J. Comput. Syst. Sci. 72(6), 1094–1117 (2006)

    Article  MathSciNet  MATH  Google Scholar 

  • U. Steinberg, A. Böttcher, B. Kauer, Timeslice donation in component-based systems, in Proceedings of the 6th Annual Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT), 2010, pp. 16–23

    Google Scholar 

  • T.B. Strøm, M. Schoeberl, Multiprocessor priority ceiling emulation for safety-critical java, in Proceedings of the 13th International Workshop on Java Technologies for Real-Time and Embedded Systems (JTRES). ACM, 2015

    Google Scholar 

  • T.B. Strøm, W. Puffitsch, M. Schoeberl, Hardware locks for a real-time java chip multiprocessor. Concurrency Comput. Pract. Exp. 29(6), e3950 (2017)

    Article  Google Scholar 

  • J. Sun, R. Bettati, J.W-S. Liu, An end-to-end approach to schedule tasks with shared resources in multiprocessor systems, in Proceedings of the 11th Workshop on Real-Time Operating Systems and Software (IEEE, 1994), pp. 18–22

    Google Scholar 

  • H. Takada, Studies on Scalable Real-Time Kernels for Function-Distributed Multiprocessors. Ph.D thesis, University of Tokyo, 1996

    Google Scholar 

  • H. Takada, K. Sakamura, Predictable spin lock algorithms with preemption, in Proceedings of the 11th Workshop on Real-Time Operating Systems and Software (IEEE, 1994), pp. 2–6

    Google Scholar 

  • H. Takada, K. Sakamura, Real-time scalability of nested spin locks, in Proceedings of the 2nd International Workshop on Real-Time Computing Systems and Applications (RTCSA) (IEEE, 1995), pp. 160–167

    Google Scholar 

  • H. Takada, K. Sakamura, Inter-and intra-processor synchronizations in multiprocessor real-time kernel, in Proceedings of the 4th International Workshop on Parallel and Distributed Real-Time Systems (IEEE, 1996), pp. 69–74

    Google Scholar 

  • H. Takada, K. Sakamura, A novel approach to multiprogrammed multiprocessor synchronization for real-time kernels, in Proceedings of the 18th IEEE Real-Time Systems Symposium (RTSS) (IEEE, 1997), pp. 134–143

    Google Scholar 

  • P. Theodore, Baker. Stack-based scheduling of realtime processes. Real Time Syst. 3(1), 67–99 (1991)

    Article  Google Scholar 

  • T-S. Tia, J.W-S. Liu, Task and resource assignment in distributed real-time systems, in Proceedings of the 2nd Workshop on Parallel and Distributed Real-Time Systems (WPDRTS) (IEEE, 1994), pp. 43–51

    Google Scholar 

  • T.-H. Tsai, L.-F. Fan, Y.-S. Chen, T.-S. Yao, Triple speed: Energy-aware realtime task synchronization in homogeneous multi-core systems. IEEE Trans. Comput. 65(4), 1297–1309 (2016)

    Article  MathSciNet  MATH  Google Scholar 

  • M. Völp, B. Engel, C-J. Hamann, H. Härtig, On confidentiality preserving real-time locking protocols, in Proceedings of the 19th IEEE Real-Time Embedded Technology and Applications Symposium (RTAS) (IEEE, 2013), pp. 153–162

    Google Scholar 

  • G. von der Brüggen, J-J. Chen, W.-H. Huang, M. Yang, Release enforcement in resource-oriented partitioned scheduling for multiprocessor systems, in Proceedings of the 25th International Conference on Real-Time Networks and Systems (RTNS), 2017, pp. 287–296. https://doi.org/10.1145/3139258.3139287

  • C-D. Wang, H. Takada, K. Sakamura, Priority inheritance spin locks for multiprocessor real-time systems, in Proceedings of the 2nd International Symposium on Parallel Architectures, Algorithms, and Networks, 1996, pp. 70–76

    Google Scholar 

  • B.C. Ward, J.H. Anderson, Supporting nested locking in multiprocessor real-time systems, in Proceedings of the 24th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2012), pp. 223–232

    Google Scholar 

  • B.C. Ward, J.H. Anderson, Fine-grained multiprocessor real-time locking with improved blocking, in Proceedings of the 21st International Conference on Real-Time Networks and Systems (RTNS) (ACM, 2013), pp. 67–76

    Google Scholar 

  • B.C. Ward, J.H. Anderson, Multi-resource real-time reader/writer locks for multiprocessors, in Proceedings of the 28th IEEE International Parallel and Distributed Processing Symposium (IPDPS)) (IEEE, 2014), pp. 177–186

    Google Scholar 

  • B.C. Ward, G.A. Elliott, J.H. Anderson, Replica-request priority donation: a realtime progress mechanism for global locking protocols, in Proceedings of the 18th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA) (IEEE, 2012), pp. 280–289

    Google Scholar 

  • B.C. Ward, J.L. Herman, C.J. Kenna, J.H. Anderson, Making shared caches more predictable on multicore platforms, in Proceedings of the 25th Euromicro Conference on Real-Time Systems (ECRTS) (IEEE, 2013), pp. 157–167

    Google Scholar 

  • A.J. Wellings, S. Lin, A. Burns, Resource sharing in RTSJ and SCJ systems, in Proceedings of the 9th International Workshop on Java Technologies for Real-Time and Embedded Systems (JTRES) (ACM, 2011), pp. 11–19

    Google Scholar 

  • A. Wieder, Blocking Analysis of Spin Locks under Partitioned Fixed-Priority Scheduling. Ph.D thesis, Saarland University, Saarbrücken, 2018

    Google Scholar 

  • A. Wieder, B. Brandenburg, Efficient partitioning of sporadic real-time tasks with shared resources and spin locks, in Proceedings of the 8th IEEE International Symposium on Industrial Embedded Systems (SIES), 2013a, pp. 49–58,

    Google Scholar 

  • A. Wieder, B. Brandenburg, On spin locks in AUTOSAR: blocking analysis of FIFO, unordered, and priority-ordered spin locks, in Proceedings of the 34th IEEE Real-Time Systems Symposium (RTSS), 2013b, pp. 45–56

    Google Scholar 

  • A. Wieder, B. Brandenburg, On the complexity of worst-case blocking analysis of nested critical sections, in Proceedings of the 35th IEEE Real-Time Systems Symposium (RTSS), 2014, pp. 106–117

    Google Scholar 

  • J. Wu, A survey of energy-efficient task synchronization for real-time embedded systems, in Proceedings of the 23rd IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA) (IEEE, 2017), pp. 1–6

    Google Scholar 

  • J. Xu, Multiprocessor scheduling of processes with release times, deadlines, precedence, and exclusion relations. IEEE Trans. Softw. Eng. 19(2), 139–154 (1993)

    Article  Google Scholar 

  • M. Yang, H. Lei, Y. Liao, F. Rabee, PK-OMLP: an OMLP based k-exclusion real-time locking protocol for multi-GPU sharing under partitioned scheduling, in Proceedings of the 11th IEEE International Conference on Dependable, Autonomic and Secure Computing (DASC) (IEEE, 2013), pp. 207–214

    Google Scholar 

  • M. Yang, A. Wieder, and B. Brandenburg, Global real-time semaphore protocols: a survey, unified analysis, and comparison, in Proceedings of the 36th IEEE Real-Time Systems Symposium (RTSS), 2015, pp. 1–12

    Google Scholar 

  • M.-L. Yang, H. Lei, Y. Liao, Z.-W. Chen, Partitioned k-exclusion real-time locking protocol motivated by multicore multi-GPU systems. J. Electron. Sci. Technol. 14(3), 193–198 (2016)

    Google Scholar 

  • M. Yang, J.-J. Chen, W.-H. Huang, A misconception in blocking time analyses under multiprocessor synchronization protocols. Real Time Syst. 53(2), 187–195 (2017)

    Article  MATH  Google Scholar 

  • C. Zhang, D. Cordes, Simulation of resource synchronization in a dynamic real-time distributed computing environment. Concurrency Comput. Pract. Exp. 16(14), 1433–1451 (2004)

    Article  Google Scholar 

  • C. Zhang, D. Cordes, Resource access control for dynamic priority distributed real-time systems. Real Time Syst. 34(2), 101–127 (2006)

    Article  MATH  Google Scholar 

  • S. Zhao, J. Garrido, A. Burns, A. Wellings, New schedulability analysis for MrsP, in Proceedings of the 23rd IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA) (IEEE, 2017), pp. 1–10

    Google Scholar 

  • H. Zhou, Task scheduling and synchronization for multiprocessor real-time systems. Ph.D thesis, Georgia Institute of Technology, 1992

    Google Scholar 

  • A. Züpke, Deterministic fast user space synchronization, in Proceedings of the 9th Annual Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT), 2013

    Google Scholar 

  • A. Züpke, M. Bommert, R. Kaiser, Fast user space priority switching, in Proceedings of the 10th Annual Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT), 2014

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Björn B. Brandenburg .

Editor information

Editors and Affiliations

Section Editor information

Rights and permissions

Reprints and permissions

Copyright information

© 2022 Springer Nature Singapore Pte Ltd

About this entry

Check for updates. Verify currency and authenticity via CrossMark

Cite this entry

Brandenburg, B.B. (2022). Multiprocessor Real-Time Locking Protocols. In: Tian, YC., Levy, D.C. (eds) Handbook of Real-Time Computing. Springer, Singapore. https://doi.org/10.1007/978-981-287-251-7_10

Download citation

Publish with us

Policies and ethics