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A Loadable Task Execution Recorder for Hierarchical Scheduling in Linux
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-6157-5199
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-6132-7945
Carnegie Mellon University, Department of Electrical and Computer Engineering, United States.
2011 (English)In: Proceedings - 17th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2011, 2011, 380-387 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a Hierarchical Scheduling Framework (HSF) recorder for Linux-based operating systems. The HSF-recorder is a loadable kernel module that is capable of recording tasks and servers without requiring any kernel modifications. Hence, it complies with the reliability and stability requirements in the area of embedded systems where proven versions of Linux are preferred. The recorder is built upon the loadable real-time scheduler framework RESCH (REal-time SCHed- uler). We evaluate our recorder by comparing the overhead of this solu- tion against two other recorders. Also, the tracing accuracy of the HSF- recorder is tested by running a media-processing task together with periodic real-time Linux tasks in combination with servers. We experiment with different task parameters and scheduling strategies and measure the performance of the media-processing task. The tests are recorded with the HSF-recorder, and the Ftrace recorder, in order to show the correctness of the experiments and the HSF-recorder itself.

Place, publisher, year, edition, pages
2011. 380-387 p.
National Category
Computer Systems
Identifiers
URN: urn:nbn:se:mdh:diva-13673DOI: 10.1109/RTCSA.2011.28Scopus ID: 2-s2.0-84855542255ISBN: 978-076954502-8 (print)OAI: oai:DiVA.org:mdh-13673DiVA: diva2:466217
Conference
17th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2011;Toyama;28 August 2011 through 31 August 2011
Available from: 2011-12-15 Created: 2011-12-15 Last updated: 2013-12-03Bibliographically approved
In thesis
1. On the Development of Hierarchical Real-Time Systems
Open this publication in new window or tab >>On the Development of Hierarchical Real-Time Systems
2012 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Hierarchical scheduling (also referred to as resource reservation) is a hot topic within the research of real-time systems. It has many advantages such that it can facilitate software integration, fault isolation, structured analysis, legacy system integration etc. The main idea is to partition resources into well defined slots and the resource itself may be the processor, memory etc. This technique is rarely used in real-time applications, however, it is well adopted in the avionics industry in order to isolate error propagation between system parts, and facilitate analysis of the system.Much of the research within resource reservation deals with theoretical schedulability analysis of partitioned systems, including shared resources (other than the processor). We will in this thesis address more practical issues related to resource reservation. We focus on implementation and prototyping aspects, as well as verification and instrumentation. One of our assumptions is that we deal only with fixed-priority preemptive scheduling (FPPS).The first part in this thesis deals with individual software systems that may have its own tasks as well as a scheduler and it is assumed to be part of another larger system, hence, we refer to this individual system as a subsystem. The subsystem is assumed to be integrated together with other subsystems, but at a early stage, we make it possible to simulate the subsystem running together with the rest of the subsystems. This "simulation`` does not require the actual resource reservation mechanism, the only requirement is an operating system with support for FPPS. This pre-study may be a natural step towards the "real`` integration, since each individual subsystem can be test executed within its assigned partition. All subsystems are assumed to run together using a resource reservation mechanism (during the actual integration). We have developed two prototypes of this mechanism. The first prototype is hand-crafted and it is equipped with a program tracer for partitoned based schedulers. This instrumentation is useful for debugging and visualization of program traces for this type of scheduling. The second prototype is developed using timed automata with tasks (task automata). This model-based scheduler is verified for correctness and it is possible to automatically generate source code for the scheduler. We have successfully synthesized this scheduler for the real-time operating system VxWorks. However, it can easily be executed on most other platforms. Both prototypes has pros and cons. The first version has good performance while the second can guarantee its correctness, hence, there is a trade-off between performance and correctness.

Place, publisher, year, edition, pages
Västerås: Mälardalen University, 2012. 154 p.
Series
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 155
National Category
Computer Science
Research subject
Computer Science
Identifiers
urn:nbn:se:mdh:diva-14633 (URN)987-91-7485-075-8 (ISBN)
Presentation
2012-06-12, Kappa, Högskoleplan 1, Västerås, 10:15 (English)
Opponent
Supervisors
Available from: 2012-05-21 Created: 2012-05-21 Last updated: 2013-12-03Bibliographically approved

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