Implementing AUTOSAR Scheduling and Resource Management on ...
Recommend Documents
Jan 23, 2004 - 4 Grid Scheduling Systems for multi-component applications. 7. 4.1 The AppLes ... In [19] a taxonomy to survey existing Grid resource management im- .... intermediary steps, like staging of files, advance reservation, etc. ..... Moreov
context of Nimrod/G system, scheduling based on the deadline and cost for parametric computing over the grid is discussed. We also highlight the future work on ...
Kingston, Rhode Island 02881, USA. {bryank,dipippo,wolfe,murphym,zhang}@cs.uri.edu. David T. Fleeman, David W. Juedes, Chang Liu, and Lonnie R. Welch.
cool-down period, and Pout be the average power at the end of the transmit. We want Ps = Pout = Pmax. We can express Pinin terms of Ps as. Pin = Pseâtci/Ï ,.
cost of the grid users via linear programming approach. It is found that the ... In economic strategy, cost is ... strategies which deals with the price of resources when it needs to ..... Lecture Notes Computational Science, 4487: 246-253,. 2007.
legacy cluster monitoring and management approaches inappropriate, and poses new challenges in ... Grid Resource Management) in cooperation with BT.
Integration of middleware scheduling and resource management services enables open distributed real-time embedded (DRE) applications to meet end-to-end ...
allocation of resources in Grid computing environments. The scheduling ..... Technical Report CSSE-2002/109, Monash University,. Melbourne, Australia, 2002.
International Journal of Automotive Technology, Vol. 17, No. 4, pp. ... enabling technologies. ...... program (2006ETR11P091C) under the Ministry of Knowledge.
OSAR Way Magneti Marelli migrates ECU software to the ... Engine control soft ....
3: Subset of the overall model shown in an individual composition diagram.
Oct 27, 2004 - Keywords: project management; disruption management; scheduling; integer .... 0 and nЧ 1 are dummy activities indicating the start.
Modified from: S. Kehav, “An Engineering Approach to Computer Networking,.
Addison-Wesley Professional Computing Series, 1997. 8. Ease of
implementation.
the execution of jobs among computers (Section 2.1 on page 8). A taxonomy of ..... The length of the waiting queue of the hosts, e.g. a host is loaded if there are.
by running software systems (such as Globus or Legion) along with Grid resource Trading ... The service providers (GSPs) and consumers (GRBs) interact in a ..... and resource that might be able to solve the task is called potential contractor.
are process support systems, which provide middleware functionality to ...... API-based This is used to communicate with systems, such as CORBA, SAP, ...... b) Each host must be running a copy of the Program Execution Client ..... Adaptive load shari
Agreements in the domain of Scheduling and Resource Management. An introduction is given .... can be to open a trouble ticket or automatically communicate with the management system to .... that provides the best offer. WS-Agreement ...
Aug 30, 2007 - domain of Scheduling and Resource Management. ..... phase, a host manager monitors and controls the resource usage to ensure that agreements are met. ... with WS-Agreement and the resource services can submit buy.
For medical imaging applications, a timely execution of tasks is essen- tial. Hence ... binding of sub-algorithms to computing/accelerator resources is static and ...
load information, it has to manage and start waiting jobs, and so forth [30, p.236]. ...... STUV. WXY` abcd egf¢hp irqtsv uxwÐyÐÐÐÐÐÐ. ÐÐÐжÐ. Ð tСжТ. УжФжХ.
legacy cluster monitoring and management approaches inappropriate, and poses ..... monitor which offers a more granular monitoring of CPU utilisation and ...
C Springer Science + Business Media, LLC 2006. Abstract In ... present an integrated QoS optimization and dwell scheduling scheme for a radar tracking .... a small temporal distance will require higher resource utilization. ..... This is the probabil
geographically distributed organizations, administrative domains, and policies. ..... too relaxed) and brokers can take risk and negotiate for cheaper prices as ...
C Springer Science + Business Media, LLC 2006. Abstract In ... present an integrated QoS optimization and dwell scheduling scheme for a radar tracking.
focused on to improve the performance of the grid system. There were some .... Thus the cost of Grid user must be determined based on the tasks the resource is ... based on which the uniform and scalable and allocating computational.
Implementing AUTOSAR Scheduling and Resource Management on ...
Chair of Systems and Networking. University of Augsburg. 12th International Workshop on. Software and Compilers for Embedded Systems. April 23-24, 2009.
Chair of Systems and Networking
University of Augsburg
Implementing AUTOSAR Scheduling and Resource Management on an Embedded SMT Processor Florian Kluge, Chenglong Yu, J¨ org Mische, Sascha Uhrig, Theo Ungerer Chair of Systems and Networking University of Augsburg
12th International Workshop on Software and Compilers for Embedded Systems April 23-24, 2009 Acropolis, Nice, France
AUTOSAR on SMT
Kluge et al.
1 / 28
University of Augsburg
Chair of Systems and Networking
Outline
1
Motivation
2
Problems
3
Solution
4
Conclusion
AUTOSAR on SMT
Kluge et al.
2 / 28
University of Augsburg
Chair of Systems and Networking
Outline
1
Motivation
2
Problems
3
Solution
4
Conclusion
AUTOSAR on SMT
Kluge et al.
3 / 28
University of Augsburg
Chair of Systems and Networking
Motivation (I)
Automotive Software Standards • AUTOSAR: AUTOmotive Open System ARchitecture • Provides common platform for automotive applications • Increases interoperability and interchangeability
AUTOSAR on SMT
Kluge et al.
4 / 28
University of Augsburg
Chair of Systems and Networking
Motivation (I)
Automotive Software Standards • AUTOSAR: AUTOmotive Open System ARchitecture • Provides common platform for automotive applications • Increases interoperability and interchangeability
AUTOSAR Scheduling • Basic and Extended tasks • Task states: suspended, ready, running, waiting (only extended tasks) • Priority based scheduling: highest priority task is executed • Designed for singlethreaded processors
AUTOSAR on SMT
Kluge et al.
6 / 28
University of Augsburg
Chair of Systems and Networking
AUTOSAR Resource Management • Mutual exclusion on resource access • Prevent priority inversion and deadlocks • Resource access never results in waiting state
→ Priority Ceiling Protocol (PCP)
AUTOSAR on SMT
Kluge et al.
7 / 28
University of Augsburg
Chair of Systems and Networking
SMT Processor
• Simultaneous MultiThreading • issue instructions of different threads in one cycle • Use latencies of one thread to execute
another • Prioritised slots • Real parallelism
AUTOSAR on SMT
Kluge et al.
8 / 28
University of Augsburg
Chair of Systems and Networking
Challenges
Goal: Earlier execution of low-priority tasks Challenges • Preserve WCET analysability • Preserve externally observable behaviour of highest-priority task • Lower-priority tasks can be interrupted by higher-priority tasks! • As few changes as possible to standard definition
AUTOSAR on SMT
Kluge et al.
9 / 28
University of Augsburg
Chair of Systems and Networking
Outline
1
Motivation
2
Problems
3
Solution
4
Conclusion
AUTOSAR on SMT
Kluge et al.
10 / 28
University of Augsburg
Chair of Systems and Networking
Forward Implementation
• SMT processor with n thread slots • Issue n highest priority tasks → Keep execution order • Map AUTOSAR task priorities to thread
priorities
AUTOSAR on SMT
Kluge et al.
11 / 28
University of Augsburg
Chair of Systems and Networking
Resource Management and Parallel Execution
• PCP relies on singlethreaded program execution • No prevention from priority inversion and deadlocks in multithreaded
program execution
AUTOSAR on SMT
Kluge et al.
12 / 28
University of Augsburg
Chair of Systems and Networking
Related Work: Resource Management
Resource Management for Multiprocessor Systems • Multiprocessor Priority Ceiling Protocol • Multiprocessor Stack Resource Policy • LP-Time Inheritance and Returning
AUTOSAR on SMT
Kluge et al.
13 / 28
University of Augsburg
Chair of Systems and Networking
Related Work: Resource Management
Resource Management for Multiprocessor Systems • Multiprocessor Priority Ceiling Protocol • Multiprocessor Stack Resource Policy • LP-Time Inheritance and Returning
No transfer of processing time possible on SMT No nested resource accesses possible
AUTOSAR on SMT
Kluge et al.
13 / 28
University of Augsburg
Chair of Systems and Networking
Data Synchronisation Scheduler • Shared data structures (FIFO queues) • NO lock variables available! • Further synchronisation necessary
AUTOSAR on SMT
Kluge et al.
14 / 28
University of Augsburg
Chair of Systems and Networking
Data Synchronisation Scheduler • Shared data structures (FIFO queues) • NO lock variables available! • Further synchronisation necessary
Related Work • Lamport (Bakery Algorithm), Peterson’s Algorithm: • Spinning or sleeping/suspending
Spinning wastes processing time Suspending can violate task state model
AUTOSAR on SMT
Kluge et al.
14 / 28
University of Augsburg
Chair of Systems and Networking
Data Synchronisation Scheduler • Shared data structures (FIFO queues) • NO lock variables available! • Further synchronisation necessary
Related Work • Lamport (Bakery Algorithm), Peterson’s Algorithm: • Spinning or sleeping/suspending
Spinning wastes processing time Suspending can violate task state model • Lock-free algorithms • Special instructions necessary • Compare&Swap or Load Link/Store Conditional
AUTOSAR on SMT
Kluge et al.
14 / 28
University of Augsburg
Chair of Systems and Networking
Outline
1
Motivation
2
Problems
3
Solution
4
Conclusion
AUTOSAR on SMT
Kluge et al.
15 / 28
University of Augsburg
Chair of Systems and Networking
Task Filtering • Execute only tasks that do not use the same resources • Deferred tasks are buffered in task filter • Internal task state resource ready • Task has highest priority of all tasks accessing the same resources
AUTOSAR on SMT
Kluge et al.
16 / 28
Chair of Systems and Networking
University of Augsburg
Task Filtering: Example
R1 R2 R3 R4 R5 R6 R7 R8 SC
AUTOSAR on SMT
T1 X
T2
T3
T4
T5
X
T6
T7
T8
X X
X
X
X X X
X X X
o
o
o
X o
o
o
Kluge et al.
17 / 28
University of Augsburg
Chair of Systems and Networking
Discussion • Tasks T1 , T2 , T3 • Priorities P1 > P2 > P3 • 2 thread slots • T1 , T3 running • T1 and T2 have resource conflict
AUTOSAR on SMT
Kluge et al.
18 / 28
University of Augsburg
Chair of Systems and Networking
Discussion (I) • No resource conflict between T2 and T3
AUTOSAR on SMT
Kluge et al.
19 / 28
University of Augsburg
Chair of Systems and Networking
Discussion (II) • Resource conflict between T2 and T3 on R • T3 non-preemptable
AUTOSAR on SMT
Kluge et al.
20 / 28
University of Augsburg
Chair of Systems and Networking
Discussion (III) • Resource conflict between T2 and T3 on R • T3 preemptable • T3 not holding R or other with CP > P2
AUTOSAR on SMT
Kluge et al.
21 / 28
University of Augsburg
Chair of Systems and Networking
Discussion (IV) • Resource conflict between T2 and T3 on R • T3 preemptable • T3 holding R
AUTOSAR on SMT
Kluge et al.
22 / 28
University of Augsburg
Chair of Systems and Networking
Consequences
• Start of high priority tasks may be delayed, but time-predictable • Once running, behaviour is same as in single-threaded processor for
highest priority task • Lower prioritiy tasks: may start earlier, but with lower performance • Time for scheduling increases about 100 cycles - total time about
1.600 cycles (on prototype) • Hardware requirement: slot-to-slot interrupt
AUTOSAR on SMT
Kluge et al.
23 / 28
University of Augsburg
Chair of Systems and Networking
Synchronisation of Scheduler Data
• Scheduler’s FIFO-Queues accessed from every slot • Must ensure consistency • Use lock-free linked lists • HW Requirement: Compare&Swap or Load Link/Store
Conditional instructions • Work in progress
AUTOSAR on SMT
Kluge et al.
24 / 28
University of Augsburg
Chair of Systems and Networking
Outline
1
Motivation
2
Problems
3
Solution
4
Conclusion
AUTOSAR on SMT
Kluge et al.
25 / 28
University of Augsburg
Chair of Systems and Networking
Summary & Conclusion Extensions to AUTOSAR • Task Filtering method prevents resource conflicts • New state resource-ready introduced • Necessary hardware extensions • CAS • Slot-to-slot interrupts
⇒ Timing behaviour of highest-priority task is preserved
AUTOSAR on SMT
Kluge et al.
26 / 28
University of Augsburg
Chair of Systems and Networking
Summary & Conclusion Extensions to AUTOSAR • Task Filtering method prevents resource conflicts • New state resource-ready introduced • Necessary hardware extensions • CAS • Slot-to-slot interrupts
⇒ Timing behaviour of highest-priority task is preserved Conclusions • Current AUTOSAR not ready for multiprocessing • More changes on specification necessary • This work is just one step on the road... AUTOSAR on SMT
Kluge et al.
26 / 28
University of Augsburg
Chair of Systems and Networking
Future Work
• Lock-free Algorithms • Implementation and evaluation • Benchmarking • Current benchmarks just look at performance • Design benchmark to test resource accesses • Integration with Multi-Core Research • MERASA project (Multi-Core Execution of Hard Real-Time Applications Supporting Analysability)
