Handling on-line changes. Handling on-line changes. Handling overload conditions. Handling on-line changes
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1 ED41/DIT171 - Parallel and Disribued Real-Time ysems, Chalmers/GU, 011/01 Lecure #10 Updaed pril 15, 01 Handling on-line changes Handling on-line changes Targe environmen mode changes aic (periodic) asks τ τ1 μ 1 τ rchiecure τ τ τ 4 τ 4 Run-ime sysem μ μ Hardware plaform Operaor panel Operaor display periodic asks dynamic arrivals τtc T ransien fauls Origins of on-line changes: Changing ask characerisics: Tasks execue shorer han heir wors-case execuion ime. Tasks increase/decrease he values of heir saic parameers as a resul of, for example, mode changes. Dynamically arriving asks: periodic asks (wih characerisics known a priori) arrive New asks (wih characerisics no known a priori) ener he sysem a run-ime. Changing hardware configuraion: Transien/inermien/permanen hardware fauls Conrolled hardware re-configuraion (mode change) Handling on-line changes Consequences of on-line changes: Overload siuaions: Changes in workload/archiecure characerisics causes he accumulaed processing demands from all asks o exceed he capaciies of he available processors. Quesion: How do we rejec cerain asks in a way such ha he infliced damage is minimized? cheduling anomalies: Changes in workload/archiecure causes non-inuiive negaive effecs of sysem schedulabiliy. Quesion: How do we avoid cerain changes or use feasibiliy ess o guaranee ha anomalies do no occur? Handling overload condiions How do we handle a siuaion where he sysem becomes emporarily overloaded? Bes-effor schemes: No predicion for overload condiions. Guaranee schemes: Processor load is conrolled by coninuous accepance ess. Robus schemes: Differen policies for ask accepance and ask rejecion. Negoiaion schemes: Modifies workload characerisics wihin agreed-upon bounds. 1
2 ED41/DIT171 - Parallel and Disribued Real-Time ysems, Chalmers/GU, 011/01 Lecure #10 Updaed pril 15, 01 Handling overload condiions Bes-effor schemes: Includes hose algorihms wih no predicions for overload condiions. new ask is always acceped ino he so he sysem performance can only be conrolled hrough a proper prioriy assignmen. Handling overload condiions Guaranee schemes: Includes hose algorihms in which he load on he processor is conrolled by an accepance es execued a each ask arrival. If he ask se is found schedulable, he new ask is acceped; oherwise, i is rejeced. ask always acceped execuion ask guaranee rouine acceped execuion rejeced Bes-effor scheduling: {Locke, 1986} In case of overload, he asks wih he minimum value densiy are removed. Dynamic scheduling: {Ramamriham and ankovic, 1984} If a newly-arrived ask canno be guaraneed (EDF), i is eiher dropped or disribued scheduling is aemped. Handling overload condiions Robus schemes: Includes hose algorihms ha separae iming consrains and imporance by considering wo differen policies: one for ask accepance and one for ask rejecion. Handling overload condiions Negoiaion schemes: Includes hose algorihms ha aemp o modify iming consrains and/or imporance wihin cerain specified limis in an aemp o maximize sysem uiliy. ask planning scheduling policy execuion ask negoiaion service conrac execuion reclaiming policy rejec queue rejecion policy consrain configuraions RED (Robus Earlies Deadline): {Buazzo and ankovic, 199} Includes deadline olerance (for accepance) and imporance value (for rejecion) of each ask. Qo Negoiaion lgorihm: {bdelzaher, kins and hin, 1997} Primary and alernae Qualiy-of-ervice levels (consrain configuraions) given for each ask.
3 ED41/DIT171 - Parallel and Disribued Real-Time ysems, Chalmers/GU, 011/01 Lecure #10 Updaed pril 15, 01 Handling overload condiions Handling overload condiions Cumulaive value: The cumulaive value of a scheduling algorihm is a performance measure wih he following qualiy: n Γ = i = 1 ( ) v f Compeiive facor: scheduling algorihm has a compeiive facor ϕ if and only if i can guaranee a cumulaive value * Γ ϕ Γ * where Γ is he cumulaive value achieved by an opimal clairvoyan scheduler. i Limiaions of on-line schedulers: (Baruah e al., 199) In sysems where he loading facor is greaer han and asks values are proporional o heir compuaion imes, no on-line algorihm can guaranee a compeiive facor greaer han 0.5. Observaions: If he overload has an infinie duraion, no on-line algorihm can guaranee a compeiive facor greaer han zero. Even for inermien overloads, plain EDF has a zero compeiive facor. The Dover algorihm has opimal compeiive facor (Koren & hasha, 199) Having he bes compeiive facor among all on-line algorihms does no mean having he bes performance in any load condiion. Handling aperiodic asks Handling aperiodic asks Targe environmen aic (periodic) asks μ 1 rchiecure τ τ 4 Run-ime sysem μ μ Hardware plaform cenralized arrival Operaor panel Operaor display periodic ask τ disribued arrival periodic ask model: paial: The aperiodic ask arrival is handled cenralized; his is he case for muliprocessor servers wih a common run-ime sysem. The aperiodic ask arrival is handled disribued; his is he case for disribued sysems wih separae run-ime sysems. Temporal: The aperiodic ask is assumed o only arrive once; hus, i has no period. The acual arrival ime of an aperiodic ask is no known in advance (unless he sysem is clairvoyan). The acual parameers (e.g., WCET, relaive deadline) of an aperiodic ask may no be known in advance.
4 ED41/DIT171 - Parallel and Disribued Real-Time ysems, Chalmers/GU, 011/01 Lecure #10 Updaed pril 15, 01 Handling aperiodic asks Handling aperiodic asks pproaches for handling aperiodic asks: erver-based approach: Reserve capaciy o a "server ask" ha is dedicaed o handling aperiodic asks. ll aperiodic asks are acceped, bu can only be handled in a bes-effor fashion no guaranee on schedulabiliy erver-less approach: schedulabiliy es is made on-line for each arriving aperiodic ask guaraneed schedulabiliy for acceped ask. Rejeced aperiodic asks could eiher be dropped or forwarded o anoher processor (in case of muliprocessor sysems) Challenges in handling aperiodic asks: erver-based approach: How do we reserve enough capaciy o he server ask wihou compromising schedulabiliy of hard real-ime asks, while ye offering good service for fuure aperiodic ask arrivals? erver-less approach: How do we design a schedulabiliy es ha accouns for arrived aperiodic asks (remember: hey do no have periods)? To wha oher processor do we off-load a rejeced aperiodic ask (in case of muliprocessor sysems)? periodic servers Handling (sof) aperiodic asks on uniprocessors: : Handles aperiodic/sporadic asks in a sysem where periodic asks are scheduled based on a saic-prioriy scheme (RM). Dynamic-prioriy servers: Handles aperiodic/sporadic asks in a sysem where periodic asks are scheduled based on a dynamic-prioriy scheme (EDF). lo-shifing server: Handles aperiodic/sporadic asks in a sysem where periodic asks are scheduled based on a ime-driven scheme. Background scheduling: chedule aperiodic aciviies in he background; ha is, when here are no periodic ask insances o execue. dvanage: Very simple implemenaion Disadvanage: Response ime can be oo long Primary goal: o minimize he response imes of aperiodic asks in order o increase he likelihood of meeing heir deadlines. 4
5 ED41/DIT171 - Parallel and Disribued Real-Time ysems, Chalmers/GU, 011/01 Lecure #10 Updaed pril 15, 01 Background scheduling: aperiodic requess R1 = 7 R = 6 { { } } / 6 4 / = C 1 =,T 1 = 6 = C = 4,T = 10 U = Polling erver (P): (Lehoczky, ha & rosnider, 1987) ervice aperiodic asks using a dedicaed ask wih a period Ts and a capaciy Cs. If no aperiodic asks need service in he beginning of P:s period, P suspends iself unil beginning of nex period. Unused server capaciy is used by periodic asks. dvanage: Much beer average response ime Disadvanage: If no aperiodic reques occurs a beginning of server period, he enire server capaciy for ha period is los. Polling erver: aperiodic even R1 = 5 R = R = 6 R4 = { } τ = {,5} { } U 0.98 = 1,4 =, Deferrable erver (D): (Lehoczky, ha & rosnider, 1987) ervice aperiodic asks using a dedicaed ask wih a period Ts and a capaciy Cs. erver mainains is capaciy unil end of period so ha requess can be serviced as capaciy is no exhaused. dvanage: Even beer average response ime because capaciy is no los Cs
6 ED41/DIT171 - Parallel and Disribued Real-Time ysems, Chalmers/GU, 011/01 Lecure #10 Updaed pril 15, 01 Deferrable erver: = 1, { } τ = {,5} { } U 0.98 =,6 R1 = R = R = R4 = 1 aperiodic requess Feasibiliy es for RM + D: se of n periodic asks and one aperiodic server are schedulable using RM if he processor uilizaion does no exceed: U U RM +D = U + n + U + 1 1/n 1 Cs (Oher) Feasibiliy es for RM + D: Rules-of-humb: n U RM +D 0.65 ( for U = 0.186) ( ) ( ) U RM +D U RM for U 0.4 U RM +D > U RM for U > 0.4 Prioriy Exchange erver: (Lehoczky, ha & rosnider, 1987) Preserves is capaciy by emporarily exchanging i for he execuion ime of a lower-prioriy periodic ask. poradic erver: (prun, ha & Lehoczky, 1989) Replenishes is capaciy only afer i has been consumed by aperiodic ask execuion. lack ealing: (Lehoczky & Ramos-Thuel, 199) Does no use a periodic server ask. Insead, i creaes a passive ask which aemps o make ime for servicing aperiodic asks by sealing processing ime from periodic asks wihou causing heir deadlines o be missed. 6
7 ED41/DIT171 - Parallel and Disribued Real-Time ysems, Chalmers/GU, 011/01 Lecure #10 Updaed pril 15, 01 Dynamic-prioriy servers Non-exisence of opimal servers: (Tia, Liu & hankar, 1995) For any se of periodic asks ordered on a given saic-prioriy scheme and aperiodic requess ordered according o a given aperiodic queuing discipline, here does no exis any valid algorihm ha minimizes he response ime of every sof aperiodic reques. For any se of periodic asks ordered on a given saic-prioriy scheme and aperiodic requess ordered according o a given aperiodic queuing discipline, here does no exis any on-line algorihm ha minimizes he average response ime of he sof aperiodic requess. Dynamic Prioriy Exchange erver: (puri & Buazzo, 1994) Preserves is capaciy by emporarily exchanging i for he execuion ime of a lower-prioriy (longer deadline) ask. Dynamic poradic erver: (puri & Buazzo, 1994) Replenishes is capaciy only afer i has been consumed by aperiodic ask execuion. Toal Bandwidh erver: (puri & Buazzo, 1994) ssign a (possibly earlier) deadline o each aperiodic ask and schedule i as a normal ask. Deadlines are assigned such ha he overall processor uilizaion of he aperiodic load never exceeds a specified maximum value Us. lo-shifing server lo-hifing erver: (Fohler, 1995) chedules aperiodic asks in he unused ime slos in a schedule generaed for ime-driven dispaching. ssociaed wih each poin in ime is a spare capaciy ha indicaes by how much he execuion of he nex periodic ask can be shifed in ime wihou missing any deadline. Whenever an aperiodic ask arrives, ask insances in he saic workload may be shifed in ime by as much as he spare capaciy indicaes in order o accommodae he new ask. 7
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