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Isolation scheduling on multicores: model and scheduling approaches

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Abstract

Deploying real-time applications on multicores is challenging because tasks that are executed concurrently on different cores can interfere on shared resources, severely complicating worst-case timing analysis. To tackle this challenge, we propose a new scheduling model called isolation scheduling (IS): IS provides a framework to exploit multicores for real-time applications where tasks are grouped into classes. IS enforces mutually exclusive execution among different task classes, thus eliminating inter-class interference by construction. We assume that interference due to the statefulness of shared resources is either negligible or accounted for in the worst-case execution time of tasks. Mixed-criticality systems provide an example where IS is applicable. We propose and analyze two novel approaches for isolation scheduling: a global approach based on fluid scheduling and a partitioned approach based on hierarchical server scheduling, each with extensions to mixed-criticality applications. Through extensive simulations, we compare the two approaches in terms of schedulability and runtime overheads and quantify the schedulability loss due to the isolation constraint. Moreover, we conduct a comparative study among state-of-the-art approaches that comply with our IS model, showing that the new approaches can significantly outperform existing ones in terms of schedulability.

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Notes

  1. The tuple defines the period, relative deadline, and worst-case execution time of the task, see Sect. 3.1.

  2. Note that condition (43) is also necessary if tasks have implicit deadlines.

  3. Note that we use an adapted version of (5) where task utilizations are replaced by task densities. This adaptation is done to accommodate MC task sets with constrained deadlines.

  4. We consider WF-Max partitioning because, here, it provides the highest schedulability among the proposed heuristic approaches in Sect. 7.1.

  5. Notice e.g., the improvement in FTTS schedulability compared to the harmonic case.

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Authors and Affiliations

  1. Computer Engineering and Communication Networks Laboratory, ETH Zurich, 8092, Zurich, Switzerland

    Georgia Giannopoulou, Pengcheng Huang, Rehan Ahmed & Lothar Thiele

  2. Oracle Software (Schweiz), Täfernstrasse 4, 5405, Baden-Dättwil, Switzerland

    Davide B. Bartolini

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  1. Georgia Giannopoulou
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  2. Pengcheng Huang
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  3. Rehan Ahmed
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  4. Davide B. Bartolini
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  5. Lothar Thiele
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Correspondence to Georgia Giannopoulou.

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Giannopoulou, G., Huang, P., Ahmed, R. et al. Isolation scheduling on multicores: model and scheduling approaches. Real-Time Syst 53, 614–667 (2017). https://doi.org/10.1007/s11241-017-9277-4

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