Abstract
Enormous efforts have been spent in the derivation of sufficient schedulability tests for popular global schedulers such as global fixed-priority (G-FP) and global earliest-deadline first (G-EDF). Among all the proposals, response-time analysis techniques are established as the most popular ones and have been widely adopted by several authors in subsequent researches. Such tests are based on interference bounds that have been derived by exploiting the work-conserving property of such schedulers, and are typically expressed with a 1 / m multiplier in the interference equation (with m being the number of available processors). This paper shows that the popular response-time analysis for G-EDF is ineffective with respect to partitioned EDF (P-EDF) scheduling. That is, it is proven that every task set that is deemed schedulable by such an analysis is also schedulable under P-EDF by adopting a trivial partitioning algorithm. Furthermore, an analogous result is proven for global first-in first-out (G-FIFO) scheduling when analyzed with a 1 / m-based interference bound. Finally, experimental results are presented to compare sufficient tests for G-EDF and G-FIFO with the corresponding partitioned schemes under a vast collection of partitioning heuristics. The results show that the considered tests for global scheduling are always outperformed by those for partitioned scheduling exhibiting a significant performance gap.
Similar content being viewed by others
Notes
An interfering job is called the carry-in job if it is released before the start of the problem window under analysis and it still has unfinished execution when entering the window. A task may generate larger interference if it brings carry-in.
References
Altmeyer S, Sundharam SM, Navet N (2016) The case for FIFO real-time scheduling. In: Technical report, University of Luxembourg, http://hdl.handle.net/10993/24935
Baker TP (2003) Multiprocessor EDF and deadline monotonic schedulability analysis. In: Proceedings of the 24th IEEE real-time systems symposium (RTSS), Cancun, pp 120–129
Baker TP, Cirinei M (2007) Brute-force determination of multiprocessor schedulability for sets of sporadic hard-deadline tasks. In: Principles of distributed systems, 11th international conference, OPODIS, Guadeloupe, French West Indies, pp 62–75
Baruah S, Bini E (2008) Partitioned scheduling of sporadic task systems: an ILP-based approach. In: Proceedings of the 2008 conference on design and architectures for signal and image processing
Baruah SK (2007) Techniques for multiprocessor global schedulability analysis. In: Proceedings of the 28th IEEE real-time systems symposium (RTSS), Tucson, pp 119–128
Baruah SK, Fisher N (2006) The partitioned multiprocessor scheduling of deadline-constrained sporadic task systems. IEEE Trans Comput 55(7):918–923
Baruah SK, Rosier LE, Howell RR (1990) Algorithms and complexity concerning the preemptive scheduling of periodic, real-time tasks on one processor. Real-Time Syst 2(4):301–324
Bastoni A, Brandenburg BB, Anderson JH (2010) An empirical comparison of global, partitioned, and clustered multiprocessor EDF schedulers. In: 31st IEEE real-time systems symposium (RTSS)
Bertogna M, Baruah S (2011) Tests for global EDF schedulability analysis. J Syst Archit 57(5):487–497 Special Issue on Multiprocessor Real-time Scheduling
Bertogna M, Cirinei M (2007) Response-time analysis for globally scheduled symmetric multiprocessor platforms. In: Proceedings of the 28th IEEE real-time systems symposium (RTSS), Tucson, pp 149–160
Bertogna M, Cirinei M, Lipari G (2005) Improved schedulability analysis of EDF on multiprocessor platforms. In: Proceedings of the 17th euromicro conference on real-time systems (ECRTS), Palma de Mallorca, pp 209–218
Biondi A, Balsini A, Pagani M, Rossi E, Marinoni M, Buttazzo GC (2016) A framework for supporting real-time applications on dynamic reconfigurable FPGAs. In: Proceedings of the 37th IEEE real-time systems symposium, (RTSS), Porto, pp 1–12
Biondi A, Sun Y (2018) On the ineffectiveness of 1/m-based interference bounds in the analysis of global EDF and FIFO scheduling: complete data set of experimental results. http://retis.sssup.it/~a.biondi/1mexps/
Bonifaci V, Marchetti-Spaccamela A (2012) Feasibility analysis of sporadic real-time multiprocessor task systems. Algorithmica 63(4):763–780
Brandenburg BB (2011) Scheduling and locking in multiprocessor real-time operating systems. PhD thesis, The University of North Carolina at Chapel Hill, http://www.cs.unc.edu/~bbb/diss/brandenburg-diss.pdf
Brandenburg BB, Gul M (2016) 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), Porto, pp 99–110
Burmyakov A, Bini E, Tovar E (2015) An exact schedulability test for global FP using state space pruning. In: Proceedings of the 23rd international conference on real time networks and systems (RTNS), Lille, pp 225–234
Casini D, Biondi A, Buttazzo GC (2017) Semi-partitioned scheduling of dynamic real-time workload: A practical approach based on analysis-driven load balancing. In: Proceedings of the 29th euromicro conference on real-time systems (ECRTS), Dubrovnik, pp 13–23
Cerqueira F, Stutz F, Brandenburg BB (2016) PROSA: a case for readable mechanized schedulability analysis. In: Proceedings of the 28th euromicro conference on real-time systems (ECRTS), Toulouse, pp 273–284
Chwa HS, Lee J, Phan K, Easwaran A, Shin I (2013) Global EDF schedulability analysis for synchronous parallel tasks on multicore platforms. In: Proceedings of the 25th euromicro conference on real-time systems (ECRTS), Paris
Cucu-Grosjean L, Goossens J (2011) Exact schedulability tests for real-time scheduling of periodic tasks on unrelated multiprocessor platforms. J Syst Archit 57(5):561–569
Davis RI, Burns A (2011) A survey of hard real-time scheduling for multiprocessor systems. ACM Comput Surv 43(4):35
Davis RI, Burns A (2011) Improved priority assignment for global fixed priority pre-emptive scheduling in multiprocessor real-time systems. Real-Time Syst 47(1):1–40
Davis RI, Burns A, Marinho J, Nelis V, Petters SM, Bertogna M (2015) Global and partitioned multiprocessor fixed priority scheduling with deferred preemption. ACM Trans Embed Comput Syst (TECS) 14(3):47
Emberson P, Stafford R, Davis RI (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), Brussels, pp 6–11
Fisher N, Baruah SK, Baker TP (2006) The partitioned scheduling of sporadic tasks according to static-priorities. In: Proceedings of the 18th euromicro conference on real-time systems (ECRTS), Dresden, pp 118–127
Geeraerts G, Goossens J, Lindström M (2013) Multiprocessor schedulability of arbitrary-deadline sporadic tasks: complexity and antichain algorithm. Real-Time Syst 49(2):171–218
Guan N, Gu Z, Deng Q, Gao S, Yu G (2007) Exact schedulability analysis for static-priority global multiprocessor scheduling using model-checking. Software Technologies for Embedded and Ubiquitous Systems, pp 263–272
Guan N, Stigge M, Yi W, Yu G (2009) New response time bounds for fixed priority multiprocessor scheduling. In: Proceedings of the 30th IEEE real-time systems symposium (RTSS), Washington, DC, pp 387–397
Guan N, Yi W (2014) General and efficient response time analysis for EDF scheduling. In: Design, automation and test in Europe conference (DATE), Dresden, pp 1–6
Gujarati A, Cerqueira F, Brandenburg BB (2013) Schedulability analysis of the linux push and pull scheduler with arbitrary processor affinities. In: Proceedings of the 25th euromicro conference on real-time systems (ECRTS), Paris, pp 69–79
Huang W-H, Chen J-J (2015) Response time bounds for sporadic arbitrary-deadline tasks under global fixed-priority scheduling on multiprocessors. In: Proceedings of the 23rd international conference on real time networks and systems (RTNS), Lille, pp 215–224
Lelli J, Faggioli D, Cucinotta T, Lipari G (2012) An experimental comparison of different real-time schedulers on multicore systems. J Syst Softw 85(10):2405–2416
Liu C, Anderson JH (2013) Suspension-aware analysis for hard real-time multiprocessor scheduling. In: Proceedings of the 25th euromicro conference on real-time systems (ECRTS), Paris, pp 271–281
Liu C, Layland J (1973) Scheduling algorithms for multiprogramming in a hard-real-time environment. J Assoc Comput Mach 20(1):46–61
López JM, Díaz JL, García DF (2004) Utilization bounds for edf scheduling on real-time multiprocessor systems. Real-Time Syst 28(1):39–68
López JM, García M, Díaz J.L, García D.F (2000) Worst-case utilization bound for EDF scheduling on real-time multiprocessor systems. In: Proceedings of the 12th euromicro conference on real-time systems (ECRTS), Stockholm, pp 25–33
Nemitz CE, Yang K, Yang M, Ekberg P, Anderson JH (2016) Multiprocessor real-time locking protocols for replicated resources. In: Proceedings of the 28th euromicro conference on real-time systems (ECRTS), Toulouse, pp 50–60
Pathan RM (2012) Schedulability analysis of mixed-criticality systems on multiprocessors. In: Proceedings of the 24th euromicro conference on real-time systems (ECRTS), Pisa, pp 309–320
Spuri M (1996) Analysis of deadline scheduled real-time systems. Research Report RR-2772, INRIA, Projet REFLECS
Sun Y (2015) Real-time schedulability analysis with formal techniques. PhD thesis, Scuola Superiore S. Anna, http://retis.sssup.it/?q=content/phd-theses
Sun Y, Di Natale M (2018) Assessing the pessimism of current multicore global fixed-priority schedulability analysis. In: Proceedings of the 33rd annual ACM symposium on applied computing (SAC), Pau
Sun Y, Lipari G (2015) Response time analysis with limited carry-in for global earliest deadline first scheduling. In: Proceedings of the 36th IEEE real-time systems symposium (RTSS), San Antonio, pp 130–140
Sun Y, Lipari G (2014) A weak simulation relation for real-time schedulability analysis of global fixed priority scheduling using linear hybrid automata. In: Proceedings of the 22nd international conference on real-time networks and systems (RTNS), Versaille, pp 35–44
Sun Y, Lipari G (2016) A pre-order relation for exact schedulability test of sporadic tasks on multiprocessor global fixed-priority scheduling. Real-Time Syst 52(3):323–355
Sun Y, Lipari G, Guan N, Yi W (2014) Improving the response time analysis of global fixed-priority multiprocessor scheduling. In: Proceedings of the 20th IEEE international conference on embedded and real-time computing systems and applications (RTCSA), Chongqing, pp 1–9
Yang M, Wieder A, Brandenburg BB (2015) Global real-time semaphore protocols: a survey, unified analysis, and comparison. In: Proceedings of the 36th IEEE real-time systems symposium (RTSS), San Antonio, pp 1–12
Zhu H, Goddard S, Dwyer MB (2011) Response time analysis of hierarchical scheduling: The synchronized deferrable servers approach. In: Proceedings of the 32nd IEEE real-time systems symposium (RTSS), Vienna, pp 239–248
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Biondi, A., Sun, Y. On the ineffectiveness of 1/m-based interference bounds in the analysis of global EDF and FIFO scheduling. Real-Time Syst 54, 515–536 (2018). https://doi.org/10.1007/s11241-018-9303-1
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11241-018-9303-1