Skip to main content
Log in

Online and offline scheduling with cache-related preemption delays

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

Abstract

In this paper, we consider the problem of scheduling hard real-time tasks subjected to preemption delays on a uniprocessor system. While most of the existing work focus on either reducing these additional delays or improving the system predictability by bounding them, we focus in this work on the problem of taking scheduling decisions while considering preemption delays. We first study the behavior of existing online scheduling policies such as rm and edf when accounting for preemption delays. Then we prove that there exists no optimal online algorithm for the problem of scheduling sporadic tasks with preemption delays. Eventually, we propose an optimal offline solution to the problem of scheduling tasks subjected to preemption delays using mathematical programming.

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

Access this article

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

Instant access to the full article PDF.

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
Fig. 17
Fig. 18
Fig. 19
Fig. 20
Fig. 21
Fig. 22
Fig. 23
Fig. 24

Similar content being viewed by others

Notes

  1. http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.subset.primecell.system/index.html.

  2. http://www.mrtc.mdh.se/projects/wcet/benchmarks.html.

  3. https://www.irit.fr/recherches/ARCHI/MARCH/rubrique.php3?id_rubrique=97.

References

  • Altmeyer S, Davis R, Maiza C (2011) Pre-emption cost aware response time analysis for fixed priority pre-emptive systems. Tech. Rep. YCS-2010-464, Department of Computer Science, University of York, York

  • Altmeyer S, Davis R, Maiza C (2012) Improved cache related pre-emption delay aware response time analysis for fixed priority pre-emptive systems. Real-Time Syst 48(5):499–526

    Article  MATH  Google Scholar 

  • Altmeyer S, Douma R, Lunniss W, Davis R (2014) OUTSTANDING PAPER: evaluation of cache partitioning for hard real-time systems. In: Proceedings of the 2014 26th Euromicro conference on real-time systems (ECRTS), pp 15–26

  • Baruah S, Burns A (2006) Sustainable scheduling analysis. In: Proceedings of the 2006 27th IEEE international real-time systems symposium (RTSS), pp 159–168

  • Bastoni A, Brandenburg B, Anderson J (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 2010), pp 33–44

  • Bate IJ (1998) Scheduling and timing analysis for safety critical real-time systems. PhD thesis, Department of Computer Science, University of York, York

  • Bertogna M, Xhani O, Marinoni M, Esposito F, Buttazzo G (2011) Optimal selection of preemption points to minimize preemption overhead. In: Proceedings of the 2011 23rd Euromicro conference on real-time systems (ECRTS), pp 217–227

  • Bini E, Buttazzo G (2005) Measuring the performance of schedulability tests. Real-Time Syst 30(1–2):129–154

    Article  MATH  Google Scholar 

  • Brandenburg BB (2011) Scheduling and locking in multiprocessor real-time operating systems. PhD thesis, Department of Computer Science, University of North Carolina, Chapel Hill

  • Bril R, Altmeyer S, Van Heuvel M, Davis R, Behnam M (2014) Integrating cache-related pre-emption delays into analysis of fixed priority scheduling with pre-emption thresholds. In: Proceedings of the 2014 IEEE real-time systems symposium (RTSS), pp 161–172

  • Burns A (1995) Advances in real-time systems. In: Preemptive Priority-based Scheduling: An Appropriate Engineering Approach. Prentice-Hall, Inc., Upper Saddle River, pp 225–248

  • Burns A, Baruah S (2008) Sustainability in real-time scheduling. J Comput Sci Eng 2(1):74–97

    Article  Google Scholar 

  • Busquets-Mataix J, Serrano J, Ors R, Gil P, Wellings A (1996a) Adding instruction cache effect to schedulability analysis of preemptive real-time systems. In: Proceedings of the 1996 IEEE real-time technology and applications symposium (RTAS), pp 204–212

  • Busquets-Mataix J, Serrano-Martin J, Ors-Carot R, Gil P, Wellings A (1996b) Adding instruction cache effect to an exact schedulability analysis of preemptive real-time systems. In: Proceedings of the 1996 eighth Euromicro workshop on real-time systems, pp 271–276

  • Buttazzo G (2005) Rate monotonic vs. EDF: judgment day. Real-Time Syst 29(1):5–26

    Article  MATH  Google Scholar 

  • Buttazzo G (2011) Hard real-time computing systems: predictable scheduling algorithms and applications, real-time system series, vol 24, 3rd edn. Springer, New York

  • Calandrino J, Anderson J (2008) Cache-aware real-time scheduling on multicore platforms: heuristics and a case study. In: Proceedings of the 2008 Euromicro conference on real-time systems (ECRTS), pp 299–308

  • Cavicchio J, Tessler C, Fisher N (2015) Minimizing cache overhead via loaded cache blocks and preemption placement. In: Proceedings of the 2015 27th Euromicro conference on real-time systems (ECRTS), pp 163–173

  • Ding H, Liang Y, Mitra T (2014) WCET-centric dynamic instruction cache locking. In: Proceedings of the conference on design, automation & test in Europe, European design and automation association, Leuven, DATE ’14, pp 27:1–27:6

  • Ferdinand C, Wilhelm R (1999) Efficient and precise cache behavior prediction for real-time systems. Real-Time Syst 17(2–3):131–181

    Article  Google Scholar 

  • Fisher N, Goossens J, Baruah S (2010) Optimal online multiprocessor scheduling of sporadic real-time tasks is impossible. Real-Time Syst 45(1–2):26–71

    Article  MATH  Google Scholar 

  • Keskin U, Bril R, Lukkien J (2010) Exact response-time analysis for fixed-priority preemption-threshold scheduling. In: Proceedings of the 2010 IEEE conference on emerging technologies and factory automation (ETFA), pp 1–4

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

    Article  MathSciNet  Google Scholar 

  • Lee J, Shin K (2014) Preempt a job or not in EDF scheduling of uniprocessor systems. IEEE Trans Comput 63(5):1197–1206

    Article  MathSciNet  MATH  Google Scholar 

  • Levinthal D (2009) Performance analysis guide for Intel®Core™i7 Processor and Intel®Xeon™5500 processors. Tech. rep., Intel. https://software.intel.com

  • Liu C, Layland J (1973) Scheduling algorithms for multiprogramming in a hard-real-time environment. JACM 20(1):46–61. doi:10.1145/321738.321743

    Article  MathSciNet  MATH  Google Scholar 

  • Lunniss W, Altmeyer S, Davis R (2012) Optimising task layout to increase schedulability via reduced cache related pre-emption delays. In: Proceedings of the 20th international conference on real-time and network systems, ACM, New York, RTNS ’12, pp 161–170

  • Lunniss W, Altmeyer S, Maiza C, Davis R (2013) Integrating cache related pre-emption delay analysis into EDF scheduling. In: Proceedings of the 2013 IEEE 19th real-time and embedded technology and applications symposium (RTAS), pp 75–84

  • Lunniss W, Altmeyer S, Davis R (2014) A comparison between fixed priority and EDF scheduling accounting for cache related pre-emption delays. Leibniz Trans Embed Syst 1(1):01–1

    Google Scholar 

  • Mok A (1983) Fundamental design problems of distributed systems for the hard-real-time environment. PhD thesis, Massachusetts Institute of Technology, Massachusetts

  • Pellizzoni R, Caccamo M (2007) Toward the predictable integration of real-time COTS based systems. In: 28th IEEE international real-time systems symposium, 2007. RTSS 2007, pp 73–82

  • Peng B, Fisher N, Bertogna M (2014) Explicit preemption placement for real-time conditional code. In: Proceedings of the 2014 26th Euromicro conference on real-time systems (ECRTS), pp 177–188

  • Phavorin G, Richard P, Goossens J, Chapeaux T, Maiza C (2015a) Scheduling with preemption delays: anomalies and issues. In: Proceedings of the 23rd international conference on real time and networks systems, ACM, New York, RTNS ’15, pp 109–118

  • Phavorin G, Richard P, Maiza C (2015b) Complexity of scheduling real-time tasks subjected to cache-related preemption delays. In: Proceedings of the 2015 IEEE 20th conference on emerging technologies factory automation (ETFA), pp 1–8

  • Phavorin G, Richard P, Maiza C (2015c) Complexity of scheduling real-time tasks subjected to cache-related preemption delays. Research Report no. 2, LIAS, Université de Poitiers, Poitiers. http://www.lias-lab.fr/publications/18099/rapport_recherche.pdf

  • Reineke J, Altmeyer S, Grund D, Hahn S, Maiza C (2014) Selfish-LRU: preemption-aware caching for predictability and performance. In: Proceedings of the 2014 IEEE 20th real-time and embedded technology and applications symposium (RTAS), pp 135–144

  • Tomiyama H, Dutt N (2000) Program path analysis to bound cache-related preemption delay in preemptive real-time systems. In: Proceedings of the eighth international workshop on hardware/software codesign, ACM, New York, CODES ’00, pp 67–71

  • Vera X, Lisper B, Xue J (2003) Data caches in multitasking hard real-time systems. In: Proceedings of the 2003 24th IEEE real-time systems symposium (RTSS), pp 154–165

  • Wang C, Gu Z, Zeng H (2015) Integration of cache partitioning and preemption threshold scheduling to improve schedulability of hard real-time systems. In: Proceedings of the 2015 27th Euromicro conference on real-time systems (ECRTS), pp 69–79

  • Whitham J, Audsley N (2012) Explicit reservation of local memory in a predictable, preemptive multitasking real-time system. In: Proceedings of the 2012 IEEE 18th real-time and embedded technology and applications symposium (RTAS), pp 3–12. doi:10.1109/RTAS.2012.19

  • Xu J, Parnas D (1993) On satisfying timing constraints in hard-real-time systems. IEEE Trans Softw Eng 19(1):70–84

    Article  Google Scholar 

  • Yao G, Buttazzo G, Bertogna M (2011) Feasibility analysis under fixed priority scheduling with limited preemptions. Real-Time Syst 47(3):198–223

    Article  MATH  Google Scholar 

  • Yomsi P, Sorel Y (2007) Extending rate monotonic analysis with exact cost of preemptions for hard real-time systems. In: Proceedings of the 2007 19th Euromicro conference on real-time systems (ECRTS), pp 280–290

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Guillaume Phavorin.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Phavorin, G., Richard, P., Goossens, J. et al. Online and offline scheduling with cache-related preemption delays. Real-Time Syst 54, 662–699 (2018). https://doi.org/10.1007/s11241-017-9275-6

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11241-017-9275-6

Keywords

Navigation