research-article

Intra-Task Parallelism in Automotive Real-Time Systems

Authors:

Remko van Wagensveld,

Tobias Wägemann,

Niklas Hehenkamp,

Ramin Tavakoli Kolagari,

Ulrich Margull,

Ralph MaderAuthors Info & Claims

PMAM'18: Proceedings of the 9th International Workshop on Programming Models and Applications for Multicores and Manycores

Pages 61 - 70

https://doi.org/10.1145/3178442.3178449

Published: 24 February 2018 Publication History

Abstract

Many recent Engine Management Systems (EMSs) have multicore processors. This results in new challenges for the developers of those systems, as most of them are not familiar with multicore programming. Additionally, many of the EMSs have real-time requirements, which need to be met.

This paper introduces embedded parallel design patterns (ePDPs), which help developers solving common problems encountered when trying to parallelize legacy code for EMSs or embedded devices. We present a novel ePDP called Supercore Pattern. It helps to reduce the overhead introduced from forking or joining control graphs. To show the effectiveness of this pattern we simulated and executed it on a real-world EMS and show that the pattern is able to reduce the response time of tasks with real-time requirements. This paper also presents concrete extensions to AUTOSAR, and EAST-ADL, to enable the modelling of the supercore pattern in automotive modelling standards.

References

[1]

Hasan Alkhatib, Paolo Faraboschi, Eitan Frachtenberg, Hironori Kasahara, Danny Lange, Phil Laplante, Arif Merchant, Dejan Milojicic, Karsten Schwan, David Forsyth, and others. 2014. IEEE CS. IEEE Computer 2014 (Feb. 2014).

[2]

EAST-ADL Association. 2013. EAST-ADL Domain Model Specification. (2013). Version V2.1.12. http://east-adl.info/Specification/V2.1.12/EAST-ADL-Specification_V2.1.12.pdf.

[3]

AUTOSAR. 2016. Classic Platform Release Overview 4.3.0. Technical Report.

[4]

Barr Group. 2017. Embedded Systems Safety & Security Survey. (2017).

[5]

Hans Blom, Henrik Lönn, Frank Hagl, Yiannis Papadopoulos, Mark-Oliver Reiser, Carl-Johan Sjostedt, De-Jiu Chen, and Ramin Tavakoli Kolagari. 2013. White Paper Version 2.1.12: EAST-ADL - An Architecture Description Language for Automotive Software-Intensive Systems. (2013).

[6]

Frank Buschmann, Regine Meunier, Hans Rohnert, Peter Sommerlad, and Michael Stal. 1996. Pattern-Oriented Software Architecture Volume 1: A System of Patterns (volume 1 edition ed.). Wiley, Chichester; New York.

Digital Library

[7]

Krzysztof Czarnecki and Chang Hwan Peter Kim. 2005. Cardinality-Based Feature Modeling and Constraints: A Progress Report. In International Workshop on Software Factories. 16--20.

[8]

Claas Diederichs, Ulrich Margull, Frank Slomka, and Gerhard Wirrer. 2008. An Application-Based EDF Scheduler for OSEK/VDX. 1045--1050.

Digital Library

[9]

Dror G. Feitelson and Larry Rudolph. 1992. Gang Scheduling Performance Benefits for Fine-Grain Synchronization. J. Parallel and Distrib. Comput. 16 (1992), 306--318.

[10]

Helmut Fennel, Stefan Bunzel, Harald Heinecke, Jürgen Bielefeld, Simon Fürst, Klaus-Peter Schnelle, Walter Grote, Nico Maldener, Thomas Weber, Florian Wohlgemuth, and others. 2006. Achievements and Exploitation of the AUTOSAR Development Partnership. Convergence 2006 (2006), 10.

[11]

Ian Foster. 1995. Designing and Building Parallel Programs. Vol. 78. Addison Wesley Publishing Company Boston.

Digital Library

[12]

Simon Fürst, Jürgen Mössinger, Stefan Bunzel, Thomas Weber, Frank Kirschke-Biller, Peter Heitkämper, Gerulf Kinkelin, Kenji Nishikawa, and Klaus Lange. 2009. AUTOSAR--A Worldwide Standard Is on the Road. In 14th International VDI Congress Electronic Systems for Vehicles, Baden-Baden, Vol. 62.

[13]

Erich Gamma, Richard Helm, Ralph Johnson, and John Vlissides. 1995. Design Patterns: Elements of Reusable Object-Oriented Software. Addison-Wesley Longman Publishing Co., Inc., Boston, MA, USA.

Digital Library

[14]

Mike Gerdes, Ralf Jahr, and Theo Ungerer. 2013. parMERASA Pattern Catalogue: Timing Predictable Parallel Design Patterns. Technical Report. Informatik.

[15]

Christoph Hartmann, Ralph Mader, Lothar Michel, Christos Ebert, and Ulrich Margull. 2017. Massive Parallelization of Real-World Automotive Real-Time Software by GPGPU. In ARCS 2017; 30th International Conference on Architecture of Computing Systems. 1--8.

[16]

Niklas Hehenkamp, Remko van Wagensveld, Dominik Schoenwetter, Christian Facchi, Ulrich Margull, Dietmar Fey, and Ralph Mader. 2016. How to Speed up Embedded Multi-Core Systems Using Locality Conscious Array Distribution for Loop Parallelization. In ARCS 2016; 29th International Conference on Architecture of Computing Systems. 1--5.

[17]

Harald Heinecke, Klaus-Peter Schnelle, Helmut Fennel, Jürgen Bortolazzi, Lennart Lundh, Jean Leflour, Jean-Luc Maté, Kenji Nishikawa, and Thomas Scharnhorst. 2004. Automotive Open System Architecture-an Industry-Wide Initiative to Manage the Complexity of Emerging Automotive e/e-Architectures. Convergence (2004), 325--332.

[18]

Ralf Jahr, Mike Gerdes, and Theo Ungerer. 2013. On Efficient and Effective Model-Based Parallelization of Hard Real-Time Applications. In MBEES. 50--59.

[19]

Shinpei Kato and Yutaka Ishikawa. 2009. Gang EDF Scheduling of Parallel Task Systems. IEEE, 459--468.

Digital Library

[20]

Kurt Keutzer and Tim Mattson. 2009. Our Pattern Language (OPL): A Design Pattern Language for Engineering (Parallel) Software. In ParaPLoP Workshop on Parallel Programming Patterns, Vol. 14.

[21]

Berna L. Massingill, Timothy G. Mattson, and Beverly A. Sanders. 1999. Patterns for Parallel Application Programs. Proc. of the 6th Pattern Lang. of Prog.(PLoP'99) (1999).

[22]

Timothy G. Mattson, Beverly A. Sanders, and Berna Massingill. 2005. Patterns for Parallel Programming. Addison-Wesley, Boston.

Digital Library

[23]

Matthias Mucha, Jürgen Mottok, and Michael Deubzer. 2015. Probabilistic Worst Case Response Time Estimation for Multi-Core Real-Time Systems. In 2015 4th Mediterranean Conference on Embedded Computing (MECO). 31--36.

[24]

OSEK group. 2005. OSEK/VDX Operating System Specification 2.2.3. (Feb. 2005).

[25]

Our Pattern Language. 2017. Fork-Join. (2017). https://patterns.eecs.berkeley.edu/?page_id=252.

[26]

Marco Paolieri, Jörg Mische, Stefan Metzlaff, Mike Gerdes, Eduardo Quiñones, Sascha Uhrig, Theo Ungerer, and Francisco J. Cazorla. 2013. A Hard Real-Time Capable Multi-Core SMT Processor. ACM Trans. Embed. Comput. Syst. 12, 3 (April 2013), 79:1--79:26.

Digital Library

[27]

Timing-Architects Embedded Systems GmbH. 2017. TA Academic & Research License Program. http://www.timing-architects.com. (March 2017).

[28]

Remko van Wagensveld and Ulrich Margull. 2017. Experiences with HPX on Embedded Real-Time Systems. In 2017 International Conference on Applied Electronics (AE). 1--6.

Cited By

Mzid RSelvi SAbid M(2024)Research Landscape of Patterns in Software Engineering: Taxonomy, State-of-the-Art, and Future DirectionsSN Computer Science10.1007/s42979-024-02767-85:4Online publication date: 8-Apr-2024
https://doi.org/10.1007/s42979-024-02767-8
Han ZQu GLiu BZhang F(2019)Task Decomposition and Parallelization Planning for Automotive Power-Train Applications2019 IEEE Intl Conf on Parallel & Distributed Processing with Applications, Big Data & Cloud Computing, Sustainable Computing & Communications, Social Computing & Networking (ISPA/BDCloud/SocialCom/SustainCom)10.1109/ISPA-BDCloud-SustainCom-SocialCom48970.2019.00064(398-404)Online publication date: Dec-2019
https://doi.org/10.1109/ISPA-BDCloud-SustainCom-SocialCom48970.2019.00064

Index Terms

Intra-Task Parallelism in Automotive Real-Time Systems
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Embedded systems
      1. Embedded software
  2. Real-time systems
    1. Real-time system specification
2. Software and its engineering
  1. Software notations and tools
    1. System description languages
      1. System modeling languages

Recommendations

THE RTSC: MIGRATING EVENT-TRIGGERED SYSTEMS TO TIME-TRIGGERED SYSTEMS

In this paper, we present a prototype of the Real-Time Systems Compiler (RTSC). The RTSC is a compiler-based tool that enables the migration from event-triggered to time-triggered real-time systems. This is achieved by replacing the real-time systems ...
Schedulability Performance Improvement via Task Split in Real-Time Systems
Abstract
In this paper, we focus on splitting a task into multiple sub-tasks to improve schedulability performance for a set of tasks subject to timing constraints. Targeting FPS (Fixed Priority Scheduling) as a scheduling algorithm and RTA (...
A Distributed Real-Time Operating System with Location-Transparent System Calls for Task Management and Inter-task Synchronization
TRUSTCOM '11: Proceedings of the 2011IEEE 10th International Conference on Trust, Security and Privacy in Computing and Communications

The paper presents a distributed real-time operating system (DRTOS) for hard real-time embedded systems such as automotive control systems. A real-time control application program is usually designed as a set of tasks that cooperate with each other ...

Comments

Please enable JavaScript to view thecomments powered by Disqus.

Information & Contributors

Information

Published In

cover image ACM Conferences

PMAM'18: Proceedings of the 9th International Workshop on Programming Models and Applications for Multicores and Manycores

February 2018

89 pages

ISBN:9781450356459

DOI:10.1145/3178442

Editors:
Quan Chen
Shanghai Jiao Tong University, China
,
Zhiyi Huang
University of Otago, New Zealand
,
Pavan Balaji
Argonne National Laboratory, USA

Copyright © 2018 ACM.

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]

Sponsors

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 24 February 2018

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article
Research
Refereed limited

Conference

PPoPP '18

Sponsor:

PPoPP '18: 23nd ACM SIGPLAN Symposium on Principles and Practice of Parallel Programming

February 24 - 28, 2018

Vienna, Austria

Acceptance Rates

PMAM'18 Paper Acceptance Rate 9 of 17 submissions, 53%;

Overall Acceptance Rate 53 of 97 submissions, 55%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

2
Total Citations
View Citations
180
Total Downloads

Downloads (Last 12 months)10
Downloads (Last 6 weeks)3

Reflects downloads up to 22 Nov 2024

Other Metrics

View Author Metrics

Citations

Cited By

Mzid RSelvi SAbid M(2024)Research Landscape of Patterns in Software Engineering: Taxonomy, State-of-the-Art, and Future DirectionsSN Computer Science10.1007/s42979-024-02767-85:4Online publication date: 8-Apr-2024
https://doi.org/10.1007/s42979-024-02767-8
Han ZQu GLiu BZhang F(2019)Task Decomposition and Parallelization Planning for Automotive Power-Train Applications2019 IEEE Intl Conf on Parallel & Distributed Processing with Applications, Big Data & Cloud Computing, Sustainable Computing & Communications, Social Computing & Networking (ISPA/BDCloud/SocialCom/SustainCom)10.1109/ISPA-BDCloud-SustainCom-SocialCom48970.2019.00064(398-404)Online publication date: Dec-2019
https://doi.org/10.1109/ISPA-BDCloud-SustainCom-SocialCom48970.2019.00064

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Media

Figures

Other

Tables

View Table of Contents