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Implementation and evaluation of global and partitioned scheduling in a real-time OS. (English) Zbl 1291.68082
Summary: We provide an experimental comparison between Global-EDF and Partitioned-EDF, considering the run-time overhead of a real-time operating system (RTOS). Recent works have confirmed that OS implementation aspects, such as the choice of scheduling data structures and interrupt handling mechanisms, impact real-time schedulability as much as scheduling theoretic aspects. However, these studies used real-time patches applied into a general-purpose OS. By measuring the run-time overhead of an RTOS designed from scratch, we show how close the schedulability ratio of task sets is to the theoretical hard real-time schedulability tests. Moreover, we show how a well-designed object-oriented RTOS allows code reuse of scheduling components (e.g., thread, scheduling criteria, and schedulers) and easy real-time scheduling extensions. We compare our RTOS to a real-time patch for Linux in terms of the task set schedulability ratio of several generated task sets. In some cases, Global-EDF considering the overhead of the RTOS is superior to Partitioned-EDF considering the overhead of the patched Linux, which clearly shows how different OSs impact hard real-time schedulers.
68M20 Performance evaluation, queueing, and scheduling in the context of computer systems
68N20 Theory of compilers and interpreters
Full Text: DOI
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