Comprehensive Comparison of Schedulability Tests for Uniprocessor Rate-Monotonic Scheduling

 

Arnoldo Díaz-Ramírez¹*, Pedro Mejía-Alvarez², Luis E. Leyva-del-Foyo³

 

¹ Departamento de Sistemas y Computación Instituto Tecnológico de Mexicali Mexicali, Baja California, México. *adiaz@itmexicali.edu.mx.

² Departamento de Computación CINVESTAV-IPN México, D. F., México.

³ Departamento de Tecnologías de la Información Universidad Autónoma Metropolitana México, D. F., México.

 

ABSTRACT

Schedulability conditions are used in real-time systems to verify the fulfillment of the temporal constraints of task sets. In this paper, a performance analysis is conducted for the best-known real-time schedulability conditions that can be used in online admission control on uni-processor systems executing under the Rate-Monotonic scheduling policy. Since Liu and Layland introduced the Rate-Monotonic scheduling algorithm, many research studies have been conducted on the schedulability analysis of real-time periodic task sets. However, in most cases, the performance of the proposed schedulability conditions were compared only against the Liu and Layland test and not against the remaining schedulability tests. The goal of this paper is to provide guidelines for system designers in order to decide which schedulability condition provides better performance under different task characteristics. Extensive simulation experiments were conducted to evaluate the inexact schedulability conditions and compare their performance and computational complexity.

Keywords: real-time systems, real-time scheduling, rate-monotonic scheduling.

 

RESUMEN

Las condiciones de planificabilidad son utilizadas en los sistemas de tiempo real para verificar el cumplimiento de las restricciones temporales de los conjuntos de tareas. En este artículo se presenta un análisis del desempeño de las condiciones de planificabilidad mas conocidas y que pueden ser usadas como control de admisión en línea en sistemas monoprocesador que se ejecutan con la política de planificación rate-monotonic. Desde que Liu y Layland propusieron el algoritmo de planificación R-M, se han llevado a cabo muchos proyectos de investigación acerca del análisis de planificabilidad de conjuntos de tareas periódicas de tiempo real. Sin embargo, en la mayoría de los casos, el desempeño de las condiciones de planificabilidad ha sido comparado tan solo con la prueba de Liu y Layland y no consideran al resto de las condiciones de planificabilidad. El objetivo de este artículo es el de proporcionar una guía a los diseñadores de sistemas para que puedan decidir qué condición de planificabilidad presenta un mejor desempeño con diferentes características de las tareas. Se llevaron a cabo extensos experimentos de simulación para evaluar a las condiciones inexactas de planificabilidad, así como para comparar su desempeño y complejidad computacional.

 

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