Embedded Systems Design: Andling Hybrid Task Sets

Embedded Systems Design
Program: MS (Electrical Engineering)

Semester: Spring 2019
Lecture 05
Instructor: Dr. Khurram Bhatti
Assistant Professor
khurram.bhatti@itu.edu.pk
Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore www.itu.edu.pk
Real-time Embedded Systems
Handling Hybrid Task Sets

Fixed Priority Servers
2 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore
1
§  Fixed Priority Servers
§  Task Systems
§  Homogeneous Task Systems: Where all computational
activities are of the same type (Periodic for instance)
§  Hybrid Task Systems: Where the computational activities are of

different type
§  In a Hybrid Task System, Real-time control applications may

have different types of tasks (Periodic, Aperiodic, Sporadic)
and they may also differ for their criticality.

§  Hybrid Task Systems
§  Periodic Tasks:
§  Homogeneous or Identical sets of jobs that recur at strict periodic
interval
§  Aperiodic Tasks:
§  Tasks do not have a period parameter. No prior knowledge of
their arrival to the system designer.
§  Sporadic Tasks:
§  Tasks are not released at strict periodic intervals of time. The
parameter Period indicates the minimum inter-arrival time
between two successive jobs
2
§  Periodic Tasks:
§  Periodic tasks are time-driven and execute critical control activities
with hard timing constraints
§  Aperiodic Tasks:
§  Aperiodic tasks are usually event-driven and may have hard, soft,
or non-real-time requirements depending on the specific
application.

§  Objective:
§  To simultaneously handle Periodic as well as Aperiodic
tasks at runtime, which may have different levels of
criticality
§  To guarantee the schedulability of all critical tasks in worst-

case conditions and provide good average response times
for soft and non-real-time activities, along with hard and
real-time activities (tasks)
§  Fixed Priority Servers do this!
3
§  Schedulability of Hybrid Systems
§  Off-line guarantee of event-driven aperiodic tasks with
critical timing constraints can be done only by assuming a
maximum arrival rate for each critical event
§  Problem: Aperiodic tasks have no periodicity!
§  Online guarantee of event-driven Aperiodic tasks can be

provided for each instance (job) individually through an
acceptance test!

§  Background Schedulability
§  Simplest method to handle a set of soft Aperiodic activities
in the presence of periodic tasks
§  Run Aperiodic tasks when there is no periodic task ready
§  For high periodic loads, the response time of Aperiodic

requests can be too long.
§  Background scheduling can be adopted only when the

Aperiodic activities do not have stringent timing constraints
and the periodic load is not high.
4
§  Background Schedulability –Example
§  Two periodic tasks to be scheduled under RM such that
U=0.73 (which is less than U(2) < 0.83)
§  Two Aperiodic tasks to be scheduled in the background

§  Tasks are taken from the Aperiodic queue only when the
periodic queue is empty.
§  Activation of a new periodic instance causes any Aperiodic
tasks to be immediately preempted.
§  The two queuing strategies are independent and can be
realized by different algorithms
5

§  Servers
§  Used in hybrid task systems to improve average response time
of Aperiodic tasks
§  A server is a periodic task whose purpose is to service
Aperiodic requests as soon as possible
§  A server runs as a periodic task along with other periodic tasks
in the system
§  Server possesses the same parameters as other periodic
tasks. Such as: a period and a WCET (C)
§  WCET for servers is called the capacity or budget of server
6
§  Servers
§  The server is scheduled with the same algorithm used for
scheduling other periodic tasks
§  Once active, it serves the Aperiodic requests within the limit of

its budget
§  The ordering of Aperiodic requests does not depend on the

scheduling algorithm used for periodic tasks

§  Servers
§  Polling Servers (PS)
§  Deferrable Servers (DS)
§  Priority Exchange (PE) Algorithm
7
§  Polling Servers (PS)
§  Polling Server is an algorithm in which, server task appears at
regular intervals to serve the pending Aperiodic jobs (if any)
§  Once active, PS serves the pending Aperiodic task ONLY

within the limit of its capacity (C)
§  If no Aperiodic requests are pending, PS suspends itself until

the beginning of its next period, and its budget is discharged
and given to periodic tasks

§  Polling Servers (PS) –Example (RM schedule)
§  Polling Server has been allocated a budget/capacity of 2 time
units (WCET) after every 5 time units (periodicity)
§  Once PS capacity is finished, Aperiodic request must wait until
the beginning of the next period, when the server capacity is
replenished at its full value.
To Do:
•  Run T1 & T2 with RM
8
§  Polling Servers (PS) –Example (RM schedule)

§  Polling Servers (PS) –Example
§  At time t = 0, the processor is assigned to task T1, which is the highest-priority task according to
RM.
§  At time t = 1, T1 completes its execution and the processor is assigned to PS.
§  However, since no aperiodic requests are pending, the server suspends itself and its capacity is
used by periodic tasks.
§  As a consequence, the Aperiodic request arriving at time t = 2 cannot receive immediate service
but must wait until the beginning of the second server period (t = 5).
§  At t=5, the capacity is replenished at its full value (C = 2) and used to serve the Aperiodic task
until completion. Note that, since the capacity has been totally consumed, no other Aperiodic
requests can be served in this period; thus, the server becomes idle.
§  Second Aperiodic request receives the same treatment.
§  Since the second request only uses half of the server capacity, the remaining half is discarded
because no other Aperiodic tasks are pending.
§  At time t = 16, the third Aperiodic request is preempted by task T1, and the server capacity is
preserved.
9
§  Polling Servers (PS) –Example-2 (RM schedule)
3
1 6
8
4 10
2 1 3
1 5 11

§  Polling Servers (PS) –Example-3 (RM schedule)
2
2 7
8
3 9
Aperiodic Jobs
1 2 3
1 6 11
10
§  Polling Servers (PS) –Schedulability analysis
§  Schedulability test for Periodic Tasks is the same as under RM
§  Polling server creates interference with periodic tasks at

periodic intervals
§  In the best case, such an interference is zero as there are no

Aperiodic tasks present to consume the budget of Polling
Server
§  In the worst case, such an interference is the same as the one

introduced by an equivalent periodic task having a period equal
to TS and a computation time equal to Cs.

§  Polling Servers (PS) –Schedulability analysis
§  Schedulability Analysis is based on the worst-case!
§  Independent of the number of Aperiodic tasks handled by the

PS, a maximum time equal to Cs is dedicated to Aperiodic
requests at each server period.
§  As a consequence, the processor utilization factor of the PS is

Us = Cs/Ts, and hence the Schedulability of a periodic set with n
tasks and utilization Up can be guaranteed if
11
§  Polling Servers (PS) –Guarantees for Aperiodic jobs
§  In order to possibly perform an online guarantee of Aperiodic
tasks, RESPONSE TIME Analysis of Aperiodic jobs can be
used!
§  For single Aperiodic task with (ra, Ca, Da)
§  Since, in the worst case, the job can wait for at most one
period before receiving service, if Ca ≤ Cs , the request is
completed within two server periods.
2Ts ≤ Da

§  Polling Servers (PS) –Guarantees for Aperiodic jobs
§  For single Aperiodic task with (ra, Ca, Da)
§  For arbitrary computation times fo Aperiodic jobs, the Aperiodic

request is certainly completed in ⌈ Ca /Cs ⌉server periods.
§  Hence, it is guaranteed if
12
§  Polling Server (PS) Limitations
§  PS is generally low or intermediate priority task
§  Causes larger response time for Aperiodic Tasks (they need

to wait longer)
§  PS loses its capacity if no Aperiodic job is waiting for them
§  Therefore, Aperiodic job must be already present in the

Aperiodic Task Queue.

§  The Deferrable Server (DS) algorithm is a service technique
introduced (in 1995) to improve the average response time of
Aperiodic requests with respect to PS
§  As the PS, the DS algorithm creates a periodic task for

servicing Aperiodic requests
§  Usually DS task have a high priority
§  Unlike polling, DS preserves its capacity if no requests are

pending upon the invocation of the server.
13
§  In DS, the capacity or Budget is maintained until the end of the
period
§  Aperiodic requests can be serviced at the same server s

priority at anytime, as long as the capacity has not been
exhausted.
§  At the beginning of any server period, the capacity is

replenished at its full value.

§  Deferrable Servers (DS) –Example-1 (RM Schedule)
14
§  Deferrable Servers (DS) –Example-1
§  At time t = 1, when T1 is completed, no Aperiodic requests are pending. Hence, the processor
is assigned to task T2.
§  However, the DS capacity is not used for periodic tasks, but it is preserved for future Aperiodic
arrivals.
§  Thus, when the first Aperiodic request arrives at time t = 2, it receives immediate service.
§  Since the capacity of the server is exhausted at time t = 4, no other requests can be serviced
before the next period.
§  At time t = 5, Cs is replenished at its full value and preserved until the next arrival.
§  The second request arrives at time t = 8, but it is not served immediately because T1 is active
and has a higher priority.

§  Deferrable Servers (DS) –Exercise (RM schedule)
3
1 5
8
4 12
1 2 3
1 7 10
15
§  Deferrable Servers (DS) –Exercise (RM schedule)
2
2 5
8
3 10
3 3 1
2 7 11

§  DS provides much better Aperiodic responsiveness than
polling server since it preserves the capacity until it is needed.
§  Shorter response times can be achieved by creating a

Deferrable Server having the highest priority among the
periodic tasks.
16

Embedded Systems Design: Andling Hybrid Task Sets

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Embedded Systems Design

Program: MS (Electrical Engineering)

Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore www.itu.edu.pk

Real-time Embedded Systems

Handling Hybrid Task Sets

2 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

§ Hybrid Task Systems: Where the computational activities are of

§ In a Hybrid Task System, Real-time control applications may

3 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

Real-time Embedded Systems

5 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

Real-time Embedded Systems

§ To guarantee the schedulability of all critical tasks in worst-

§ Fixed Priority Servers do this!

6 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

§ Problem: Aperiodic tasks have no periodicity!

§ Online guarantee of event-driven Aperiodic tasks can be

7 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

Real-time Embedded Systems

§ Run Aperiodic tasks when there is no periodic task ready

§ For high periodic loads, the response time of Aperiodic

§ Background scheduling can be adopted only when the

8 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

§ Two Aperiodic tasks to be scheduled in the background

9 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

Real-time Embedded Systems

10 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

11 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

Real-time Embedded Systems

§ Once active, it serves the Aperiodic requests within the limit of

§ The ordering of Aperiodic requests does not depend on the

13 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

Real-time Embedded Systems

14 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

§ Once active, PS serves the pending Aperiodic task ONLY

§ If no Aperiodic requests are pending, PS suspends itself until

Real-time Embedded Systems

16 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

17 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

Real-time Embedded Systems

19 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

Real-time Embedded Systems

20 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

§ Polling server creates interference with periodic tasks at

§ In the best case, such an interference is zero as there are no

§ In the worst case, such an interference is the same as the one

Real-time Embedded Systems

§ Independent of the number of Aperiodic tasks handled by the

§ As a consequence, the processor utilization factor of the PS is

22 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

§ For single Aperiodic task with (ra, Ca, Da)

Real-time Embedded Systems

§ For arbitrary computation times fo Aperiodic jobs, the Aperiodic

24 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

§ Causes larger response time for Aperiodic Tasks (they need

§ PS loses its capacity if no Aperiodic job is waiting for them

§ Therefore, Aperiodic job must be already present in the

25 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

Real-time Embedded Systems

§ As the PS, the DS algorithm creates a periodic task for

§ Usually DS task have a high priority

§ Unlike polling, DS preserves its capacity if no requests are

26 Dr. M. Khurram Bhatti Embedded Systems, Spring’19, ITU, Lahore

§  Hybrid Task Systems: Where the computational activities are of

§  In a Hybrid Task System, Real-time control applications may

§  To guarantee the schedulability of all critical tasks in worst-

§  Fixed Priority Servers do this!

§  Problem: Aperiodic tasks have no periodicity!

§  Online guarantee of event-driven Aperiodic tasks can be

§  Run Aperiodic tasks when there is no periodic task ready

§  For high periodic loads, the response time of Aperiodic

§  Background scheduling can be adopted only when the

§  Two Aperiodic tasks to be scheduled in the background

§  Once active, it serves the Aperiodic requests within the limit of

§  The ordering of Aperiodic requests does not depend on the

§  Once active, PS serves the pending Aperiodic task ONLY

§  If no Aperiodic requests are pending, PS suspends itself until

§  Polling server creates interference with periodic tasks at

§  In the best case, such an interference is zero as there are no

§  In the worst case, such an interference is the same as the one

§  Independent of the number of Aperiodic tasks handled by the

§  As a consequence, the processor utilization factor of the PS is

§  For single Aperiodic task with (ra, Ca, Da)

§  For arbitrary computation times fo Aperiodic jobs, the Aperiodic

§  Causes larger response time for Aperiodic Tasks (they need

§  PS loses its capacity if no Aperiodic job is waiting for them

§  Therefore, Aperiodic job must be already present in the

§  As the PS, the DS algorithm creates a periodic task for

§  Usually DS task have a high priority

§  Unlike polling, DS preserves its capacity if no requests are

§  Aperiodic requests can be serviced at the same server s

§  At the beginning of any server period, the capacity is

§  Shorter response times can be achieved by creating a