skip to main content
research-article

Global and Partitioned Multiprocessor Fixed Priority Scheduling with Deferred Preemption

Published: 21 April 2015 Publication History

Abstract

This article introduces schedulability analysis for Global Fixed Priority Scheduling with Deferred Preemption (gFPDS) for homogeneous multiprocessor systems. gFPDS is a superset of Global Fixed Priority Preemptive Scheduling (gFPPS) and Global Fixed Priority Nonpreemptive Scheduling (gFPNS). We show how schedulability can be improved using gFPDS via appropriate choice of priority assignment and final nonpreemptive region lengths, and provide algorithms that optimize schedulability in this way. Via an experimental evaluation we compare the performance of multiprocessor scheduling using global approaches: gFPDS, gFPPS, and gFPNS, and also partitioned approaches employing FPDS, FPPS, and FPNS on each processor.

Supplementary Material

a47-davis-apndx.pdf (davis.zip)
Supplemental movie, appendix, image and software files for, A reward-and-punishment-based approach for concept detection using adaptive ontology rules

References

[1]
S. Altmeyer, R. I. Davis, and C. Maiza. 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’11). 261--271.
[2]
S. Altmeyer, R. I. Davis, and C. Maiza. 2012. Improved cache related pre-emption delay aware response time analysis for fixed priority pre-emptive systems. Real-Time Syst. 48, 5 (2012), 499--526.
[3]
N. C. Audsley. 1991. Optimal Priority Assignment and Feasibility of Static Priority Tasks with Arbitrary Start Times. Technical Report YCS 164, University of York, UK.
[4]
N. C. Audsley. 2001. On priority assignment in fixed priority scheduling. Inf. Process. Lett. 79, 1 (2001), 39--44.
[5]
T. P. Baker. 2003. Multiprocessor EDF and deadline monotonic schedulability analysis. In Proceedings of the 24th IEEE Real-Time Systems Symposium (RTSS’03). 120--129.
[6]
S. K. Baruah and A. Burns. 2006. Sustainable scheduling analysis. In Proceedings of the 27th IEEE International Real-Time Systems Symposium (RTSS’06). 159--168.
[7]
S. K. Baruah. 2005. The limited-preemption uniprocessor scheduling of sporadic task systems. In Proceedings of the 17th Euromicro Conference on Real-Time Systems (ECRTS’05). 137--144.
[8]
S. K. Baruah. 2007. Techniques for multiprocessor global schedulability analysis. In Proceedings of the 28th IEEE International Real-Time Systems Symposium (RTSS’07). 119--128.
[9]
S. K. Baruah and N. Fisher. 2008. Global fixed-priority scheduling of arbitrary-deadline sporadic task systems. In Proceedings of the 9th International Conference on Distributed Computing and Networking. 215--226.
[10]
Bastoni, B. Brandenburg, and J. Anderson. 2010. Cache-related preemption and migration delays: Empirical approximation and impact on schedulability. In Proceedings of the 6th International Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT’10). 33--44.
[11]
M. Bertogna, M. Cirinei, and G. Lipari. 2005. New schedulability tests for real-time task sets scheduled by deadline monotonic on multiprocessors. In Proceedings of the 9th International Conference on Principles of Distributed Systems. 306--321.
[12]
M. Bertogna and M. Cirinei. 2007. Response time analysis for global scheduled symmetric multiprocessor platforms. In Proceedings of the 28th IEEE International Real-Time Systems Symposium (RTSS’07). 149--158.
[13]
M. Bertogna, M. Cirinei, and G. Lipari. 2009. Schedulability analysis of global scheduling algorithms on multiprocessor platforms. IEEE Trans. Parallel Distrib. Syst. 20, 4 (2009), 553--566.
[14]
M. Bertogna, G. Buttazzo, M. Marinoni, G. Yao, F. Esposito, and M. Caccamo. 2010. Preemption points placement for sporadic task sets. In Proceedings of the 22nd Euromicro Conference on Real-Time Systems (ECRTS’10). 251--260.
[15]
M. Bertogna, O. Xhani, M. Marinoni, F. Esposito, and G. Buttazzo. 2011a. Optimal selection of preemption points to minimize preemption overhead. In Proceedings of the 23rd Euromicro Conference on Real-Time Systems (ECRTS’11). 217--227.
[16]
M. Bertogna, G. Buttazzo, and G. Yao. 2011b. Improving feasibility of fixed priority tasks using non-preemptive regions. In Proceedings of the IEEE 32nd Real-Time Systems Symposium (RTSS), 251--260.
[17]
A. Block, H. Leontyev, B. Brandenburg, and J. H. Anderson. 2007. A flexible real-time locking protocol for multiprocessors. In Proceedings of 13th IEEE Conference on Real-Time Computing Systems and Applications (RTCSA’07). 47--56.
[18]
M. Blum, R. W. Floyd, V. Pratt, R. L. Rivest, and R. E. Tarjan. 1973. Time bounds for selection. J. Comput. Syst. Sci. 7, 4 (1973), 448--461.
[19]
B. B. Brandenburg and J. Anderson. 2014. A Clarification of Link-Based Global Scheduling. Technical Report MPI-SWS-2014-007. Max Plank Institute for Software Systems. Available from http://www.mpi-sws.org/cont/tr/2014-007.pdf.
[20]
B. B. Brandenburg. 2011. Scheduling and Locking in Multiprocessor Real-Time Operating Systems. PhD thesis. The University of North Carolina at Chapel Hill.
[21]
R. Bril, J. Lukkien, and W. Verhaegh. 2009. Worst-case response time analysis of real-time tasks under fixed-priority scheduling with deferred preemption. Real-Time Syst. 42, 1--3 (2009), 63--119.
[22]
A. Burns. 1994. Preemptive Priority Based Scheduling: An Appropriate Engineering Approach. S. Son (Ed.), Advances in Real-Time Systems. Prentice-Hall, Upper Saddle River, NJ, 225--248.
[23]
A. Burns and S. K. Baruah. 2008. Sustainability in real-time scheduling. J. Comput. Sci. Eng. 2, 1 (2008), 74--97.
[24]
G. C. Buttazzo, M. Bertogna, and G. Yao. 2013. Limited preemptive scheduling for real-time systems: A survey. IEEE Trans. Ind. Inf. 9, 1 (2013), 3--15.
[25]
R. I. Davis and A. Burns. 2009. Priority assignment for global fixed priority pre-emptive scheduling in multiprocessor real-time systems. In Proceedings of the 30th IEEE Real-Time Systems Symposium (RTSS’09). 398--409.
[26]
R. I. Davis, T. Rothvoß, S. K. Baruah, and A. Burns. 2009. Exact quantification of the sub-optimality of uniprocessor fixed priority pre-emptive scheduling. Real-Time Syst. 43, 3 (2009), 211--258.
[27]
R. I. Davis and A. Burns. 2011a. Improved priority assignment for global fixed priority pre-emptive scheduling in multiprocessor real-time systems. Real-Time Syst. 47, 1 (2011), 1--40.
[28]
R. I. Davis and A. Burns. 2011b. FPZL schedulability analysis. In Proceedings of the 17th IEEE Real-Time Applications and Embedded Technology Symposium (RTAS’11). 245--256.
[29]
R. I. Davis and S. Kato. 2012. FPSL, FPCL and FPZL schedulability analysis. Real-Time Syst. 48, 12 (2012), 750--788.
[30]
R. I. Davis and A. Burns. 2011c. A survey of hard real-time scheduling for multiprocessor systems. ACM Comput. Surv. 43, 4, Article 35 (2011), 44 pages.
[31]
R. I. Davis and M. Bertogna. 2012. Optimal fixed priority scheduling with deferred pre-emption. In Proceedings of the 33rd IEEE Real-Time Systems Symposium (RTSS’12). 39--50.
[32]
R. I. Davis, A. Burns, R. J. Bril, and J. J. Lukkien. 2007. Controller area network (CAN) schedulability analysis: Refuted, revisited and revised. Real-Time Syst. 35, 3 (2007), 239--272.
[33]
R. I. Davis, A. Burns, J. Marinho, V. Nelis, S. M. Petters, and M. Bertogna. 2013. Global fixed priority scheduling with deferred pre-emption. In Proceedings of the 19th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA’13). 1--11.
[34]
P. Emberson, R. Stafford, and R. I. Davis. 2010. Techniques for the synthesis of multiprocessor tasksets. In Proceedings of the 1st International Workshop on Analysis Tools and Methodologies for Embedded and Real-Time Systems (WATERS’10). 6--11.
[35]
N. Fisher and S. K. Baruah. 2006. Global static-priority scheduling of sporadic task systems on multiprocessor platforms. In Procedings of the IASTED International Conference on Parallel and Distributed Computing and Systems.
[36]
N. Fisher, S. K. Baruah, and T. P. Baker. 2006. The partitioned scheduling of sporadic tasks according to static priorities. In Proceedings of the 18th EuroMicro Conference on Real-Time Systems (ECRTS’06). 118--127.
[37]
M. Garey and D. Johnson. 1979. Computers and Intractability: A Guide to the Theory of NP-Completeness. W. H. Freeman and Company, New York.
[38]
N. Guan, W. Yi, Q. Deng, Z. Gu, and G. Yu. 2011. Schedulability analysis for non-preemptive fixed-priority multiprocessor scheduling. J. Syst. Archit. 57, 5 (2011), 536--546.
[39]
N. Guan, M. Stigge, W. Yi, and G. Yu. 2009. New response time bounds for fixed priority multiprocessor scheduling. In Proceedings of the 30th IEEE Real-Time Systems Symposium (RTSS’09). 388--397.
[40]
B. Kalyanasundaram and K. Pruhs. 1995. Speed is as powerful as clairvoyance. In Proceedings of the 36th Symposium on Foundations of Computer Science. 214--221.
[41]
W. Lunniss, S. Altmeyer, and R. I. Davis. 2014. A comparison between fixed priority and EDF scheduling accounting for cache related pre-emption delays. Leibniz Trans. Embedded Syst. 1, 1 (2014).
[42]
J. Marinho, V. Nelis, S. M. Petters, M. Bertogna, and R. I. Davis. 2013. Limited pre-emptive global fixed task priority. In Proceedings of the IEEE 34th Real-Time Systems Symposium (RTSS’13). 182--191.
[43]
J. Marinho, V. Nélis, S. M. Petters, and I. Puaut. 2012. Preemption delay analysis for floating non-preemptive region scheduling. In Proceedings of DATE. 497--502.
[44]
D. I. Oh and T. P. Baker. 1998. Utilization bounds for N-processor rate monotone scheduling with stable processor assignment. Real-Time Syst. 15, 2 (1998), 183--193.
[45]
G. Yao, G. Buttazzo, and M. Bertogna. 2009. Bounding the maximum length of non-preemptive regions under fixed priority scheduling. In Proceedings of the 15th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA’06). 351--360.

Cited By

View all

Index Terms

  1. Global and Partitioned Multiprocessor Fixed Priority Scheduling with Deferred Preemption

      Recommendations

      Comments

      Information & Contributors

      Information

      Published In

      cover image ACM Transactions on Embedded Computing Systems
      ACM Transactions on Embedded Computing Systems  Volume 14, Issue 3
      Special Issue on Embedded Platforms for Crypto and Regular Papers
      May 2015
      515 pages
      ISSN:1539-9087
      EISSN:1558-3465
      DOI:10.1145/2764962
      Issue’s Table of Contents
      Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

      Publisher

      Association for Computing Machinery

      New York, NY, United States

      Journal Family

      Publication History

      Published: 21 April 2015
      Accepted: 01 January 2015
      Revised: 01 November 2014
      Received: 01 September 2013
      Published in TECS Volume 14, Issue 3

      Permissions

      Request permissions for this article.

      Check for updates

      Author Tags

      1. Deferred preemption
      2. fixed priority
      3. global scheduling
      4. limited preemption
      5. multicore
      6. multiprocessor
      7. partitioned scheduling
      8. real-time

      Qualifiers

      • Research-article
      • Research
      • Refereed

      Funding Sources

      • Portuguese National Funds through FCT (Portuguese Foundation for Science and Technology
      • UK EPSRC Tempo project (EP/G055548/1)
      • UK EPSRC MCC project (EP/K011626/1)
      • ERDF (European Regional Development Fund) through COMPETE (Operational Programme "Thematic Factors of Competitiveness"), within the RePoMuC project (FCOMP-01-0124-FEDER-015050)

      Contributors

      Other Metrics

      Bibliometrics & Citations

      Bibliometrics

      Article Metrics

      • Downloads (Last 12 months)13
      • Downloads (Last 6 weeks)1
      Reflects downloads up to 04 Feb 2025

      Other Metrics

      Citations

      Cited By

      View all

      View Options

      Login options

      Full Access

      View options

      PDF

      View or Download as a PDF file.

      PDF

      eReader

      View online with eReader.

      eReader

      Figures

      Tables

      Media

      Share

      Share

      Share this Publication link

      Share on social media