Time-Memory Scheduling and Code Generation of Real-Time Embedded Software

Time-Memory Scheduling and Code Generation ofReal-Time Embedded Software

Chuen-Hau Gau and Pao-Ann Hsiung

National Chung Cheng University

Chiayi, Taiwan, R.O.C.

8th International Conference on Real-Time Computing Systems and Applications, March 18-20, 2002, Tokyo, Japan

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Outline

Introduction

Previous Work

Real-Time Embedded Software Synthesis

ATM VPN Server Example

Conclusions

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Introduction

Embedded systems abound in human daily life We interact with embedded systems in

our homes, at offices, at labs, on transportations, in communications, …

Due to this interaction with humans, most embedded systems are also REAL-TIME systems

And, software accounts for more than 70% functionalities in a real-time embedded system

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What is an embedded system?

Installed in a larger system

Dedicated task

Small Memory Space (200~400 KB)

Low Processing Power (100~200 MHz)

Unstable Environment (mobile, …)

Reactive

Real-Time

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Embedded System Examples

medical instrumentshome appliancesoffice equipments

space crafts research lab equipments

factory automation

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Embedded System Architecture

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Design Issues and Solution

2. Real-Time Constraints

1. Bounded Memory Execution

Proposed Solution

Time Memory Scheduling (TMS)

Code Generation

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Previous Work

Formal Software Synthesis

Safe Petri-Nets (PN) Quasi-Static Scheduling (QSS) [Lin: DATE’98, DAC’98]

Free-Choice PN Net Decomposition + QSS [Sgroi: DAC’99]

Codesign FSM POLIS [Balarin: ICCD’99]

Non-timed multi-rate PN Reachability graph[Cortadella et al: DAC’00]

Time Free-Choice PN QSS + RTS or FIBS [Hsiung: CODES’01, FORTE’01]

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Real-Time Embedded Software (RTES) Model Real-Time Embedded Software is specified

as a set of Colored Time Petri Nets (CTPN)

Allows explicit modeling of Timing Constraints

Memory Usages

No free-choice restriction!

Larger domain of real-time embedded applications!

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Colored Time Petri Nets

t2

t0

t3

t5

t1

t4

p0

p1

p2

p4

p3

[2, 5]

[1, ]

[1, 5]

[3, 6]

[7, 7]

[1, 2]

{(1, red), (1,green), (1,blue)}

{(2, black), (1, red)}

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Colored Time Petri Nets

A CTPN is a 6-tuple (P,T, C, ,M0,) such that: P is a finite set of places, T is a finite set of transitions, P T , P T

= , C is a set of colors associated with each token : (P T ) (T P ) 2NC, a set of weighted

arcs such that each arc is associated with a set of integer-color pairs,

M0: P 2NC, the initial marking, (t ) = (, ), t T, : Earliest Firing Time,

: Latest Firing Time.

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CTPN Marking

A marking is a vector

M = <NC1, NC2, …, NC|P|>

where NCi is a set of integer-color pairs representing the non-negative number of colored tokens in place pi.

2 attributes are associated with each M: (1) a time-stamp (M) (2) a memory-usage (M)

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Valid Firing (System Execution) A transition t is said to be enabled at time in a markin

g M with time-stamp (M) if: (1) (pk, t) NCk, (pk, t) , k {1, …,|P|},

(2) (M) (t)

The firing of a transition t at time in a marking M with time-stamp (M) is called a valid firing if: Transition Deadline:

(t) (M) (t)

Memory Constraint: (M') max

where M' is the marking obtained by firing t in M and max is the maximum amount of memory available.

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RTES Synthesis Problem

Target Problem

Real-Time Embedded Software Synthesis

Given: a set of CTPN S = {Ai | i = 1,2,…,n}, an upper-bound max on memory space, and a set of real-time constraints: CTPN periods, deadlines

software code is to be generated such that

1. it can be executed on a single processor,

2. it uses memory less than or equal to max, and

3. it satisfies all EFT, LFT, and real-time constraints.

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RTES Synthesis Algorithm

Choice Set:

H = {t2, t3, t4}

t2

t3

t4

p1

[2, 5]

[7, 7]

[1, 2]

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RTES Synthesis Algorithm

Exclusion Set

H = {t2, t3, t4}

Merging of all

non-disjoint

choice sets

t2

t3

t4

p0

p1

p2

[2, 5]

[7, 7]

[1, 2]

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RTES Synthesis Algorithm

Time-Memory Scheduling

A schedule (sequence of firing transitions) is valid if the following are satisfied: Transition deadline

CTPN deadline

Memory bound

Incomplete exclusion sets are deleted (because corresponding code will be illegal)

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RTES Synthesis Algorithm

Transition Deadline Satisfaction

Assume transition t:

enabled at marking M with time-stamp (M)

fired at marking M with time-stamp (M),

then it must satisfy

(M) - (M) + (t) (t)transition deadline

transition execution time

token age

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RTES Synthesis Algorithm

CTPN Deadline Satisfaction

Assume transition t:

fired at marking M

(M) + (t) d

CTPN deadline for current task

transition execution time

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RTES Synthesis Algorithm

Memory Bound Satisfaction

Assume transition t:

fires and CTPN reaches marking M

(M) max

memory bound

memory usage

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RTES Synthesis Algorithmwhile( |Tree| != 0 ){ if( Entire Tree Marked ) CodeGen();

if( Current Node Is Spawned ){ Current Node :: Delete Incomplete Exsets

if Current Node :: Has Marked Child Current Node :: Delete Other Child, Mark, Go Parentif(Child := SELECT() == null) Current Node :: Delete Current and Go Parentelse Current Node :: Go Child }

else{ if(Current Node Is A CompleteSchedule)

Current Node :: Mark and Go Parentelse Current Node :: Spawn }

}

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RTES Synthesis Algorithm

Memory Estimation

Global Memory: G(R), R: tree

Local Memory: maxtM (L(t)), t: transition,

M: marking Buffer Memory:

Total Memory: )()(maxmaxmax MtRS BLMtRM

GSR

Pi NCcnCB

i

cnM1 ),(

)(

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Code Generation

A real-time process for each independent task, i.e., each reachability tree

# tasks is minimal (= # independent tasks)

Main Program

Processi

Task 1 Task 2 Task k…

Source Transitions in TFCPN

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Code Generation Algorithm

Extract( CNode ) {if( CNode is leaf ) // no child{ Code += getCode(CNode);

Code += “return;”;}else if( CNode is branching ) // multi-child{ Code += getBranchCode(CNode);

for each child node CNode.ciExtract(CNode.ci);

}else // one child{ Code += getCode(CNode);

Extract(CNode.child) }return(Code);

}

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ATM VPN Server

ATM switching nodes interconnect LANs via an ATM backbone.

An ATM server:

temporarily stores input cells from VCCs (Virtual Channel Connections), and

forward VCC cells to the VPCs (Virtual Path Connections) by identifying cell headers.

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CASE STUDY: AN ATM VIRTUAL CASE STUDY: AN ATM VIRTUAL PRIVATE NETWORK SERVERPRIVATE NETWORK SERVER

CLASSIFIERCLASSIFIERCONGESTION CONGESTION

CONTROL CONTROL (MSD)(MSD)

SUPERVISORSUPERVISOR

WFQ WFQ SCHEDULERSCHEDULER

ATM INATM IN

(155 (155 Mbit/sMbit/s))

ATM OUTATM OUT

(155 (155 Mbit/sMbit/s))

DISCARDED DISCARDED CELLSCELLS

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Functionalities of ATM VPN

1. Message Selective Discarding (MSD):A message discarding technique that avoids buffer overflow by discarding selected incoming cells

2. Weighted Fair Queuing (WFQ):A bandwidth control policy for outgoing flows

Thus, there are TWO independent tasks!

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ATM VPN Server

Message SelectiveDiscarding

Cell ExtractCounter

WFQ scheduling

VCC cell

TICK

PUSH

INSERT

POP

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CTPN model of MSD in ATM

CID READ_STATE_VCC UPDATE_STATE_INIT

p1

p2

p3

p4

p5

p6

p7

p8

p10

MSD

PTI

TI

t1

READ_OUT_QUID

t2

t6

t9

p9

p11

p12

p15

p16

p19

p13

p14

p17

p18

p20

p22

p23

t3

t4

t5

READ_MAX_QLENGTH

CHECK_QLENGTH

t8

READ_THRESHOLD

CHECK_QLENGTH

t7

t11

UPDATE_STATE_REJ

t10

t12

PUSH

Qlength < thres ?

UPDATE_STATE_ACC

N

Y

Qlength <max ?

Y

N

p21

Qlength = 0 ?

*SCHEDULE_WFQ

COMPUTE_OUT_TIME

Y

N

p24 st=2

st=0

st=1

PTI = 1/3 ?

Y

N

[1, 16]

[10, 25]

[9, 9]

[6, 15]

[12, 37]

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CTPN models of WFQ, Extract

*SCHEDULE_WFQ READ_BW

READ_LAST

t13

t14

t15

LAST + BW>

GLOBAL_TIME ?

N

Yp25

p26

p27

p28p29 P30

INSERT_CELL

p34 p35

p33p32p31

p37

p36

p38 p39

POP

CHECK_QLENGTH

t19

COMPUTE_OUT_TIME

*SCHEDULE_WFQ

t17

t18

TICK

I=I+1

I=0

t16

READ_SORTERQlength=0?

Y

N

CELL_OUT_TIME<=GLOBAL_TIME?

Y

NI=N? N

Y

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Reachability Treefor MSD

Schedule Results: 49 markings 14 schedules 66 instructions 12 Kbytes

Memory

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Reachability Trees for WFQ and Extract

Schedule Results:

WFQ 9 markings 2 schedules

Extract 13 markings 4 schedules

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Scheduling Results

Both MSD and Extract call WFQ (2 schedules)

MSD Task

# schedules = 14 2 = 28

Extract Task

# schedules = 4 x 2 = 8

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Conclusions

A synthesis method for real-time embedded software was presented

No free-choice restriction on model

Explicit time and data modeling

Both real-time constraints and memory constraints are considered for scheduling

Minimal number of tasks in generated code

Can be used for prototyping platforms