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Embedded Systems Programming

Lecture 9

Verónica Gaspes
www2.hh.se/staff/vero

Center for Research on Embedded Systems

School of Information Science, Computer and Electrical Engineering
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Real Time

Real Time and a program

An external process to sample (did that!)
An external process to react to (did that: remember AFTER?)
An external process to be constrained by.

Constrained by time
Do something before a certain point in time.

Difficult
There is a limit to how fast a processor can work . . .
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Real Time

Real Time and a program

An external process to sample (did that!)
An external process to react to (did that: remember AFTER?)
An external process to be constrained by.

Constrained by time
Do something before a certain point in time.

Difficult
There is a limit to how fast a processor can work . . .
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Real Time

Real Time and a program

An external process to sample (did that!)
An external process to react to (did that: remember AFTER?)
An external process to be constrained by.

Constrained by time
Do something before a certain point in time.

Difficult
There is a limit to how fast a processor can work . . .
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Real Time

Real Time and a program

An external process to sample (did that!)
An external process to react to (did that: remember AFTER?)
An external process to be constrained by.

Constrained by time
Do something before a certain point in time.

Difficult
There is a limit to how fast a processor can work . . .
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Execution speed

Fast enough in sequential programs

use a sufficiently efficient algorithm
running it on a sufficiently fast computer

Execution time . . .
the time from program start to program stop

. . . depends on input data

So . . . the real issue is whether the Worst Case Execution Time
(WCET) for a program on a platform is small enough!
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Execution speed

Fast enough in sequential programs

use a sufficiently efficient algorithm
running it on a sufficiently fast computer

Execution time . . .
the time from program start to program stop

. . . depends on input data

So . . . the real issue is whether the Worst Case Execution Time
(WCET) for a program on a platform is small enough!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Execution speed

Fast enough in sequential programs

use a sufficiently efficient algorithm
running it on a sufficiently fast computer

Execution time . . .
the time from program start to program stop

. . . depends on input data

So . . . the real issue is whether the Worst Case Execution Time
(WCET) for a program on a platform is small enough!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Execution speed

Fast enough in sequential programs

use a sufficiently efficient algorithm
running it on a sufficiently fast computer

Execution time . . .
the time from program start to program stop

. . . depends on input data

So . . . the real issue is whether the Worst Case Execution Time
(WCET) for a program on a platform is small enough!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Execution speed

Fast enough in sequential programs

use a sufficiently efficient algorithm
running it on a sufficiently fast computer

Execution time . . .
the time from program start to program stop

. . . depends on input data

So . . . the real issue is whether the Worst Case Execution Time
(WCET) for a program on a platform is small enough!
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Obtaining WCET

By meassurement
Deal with data dependencies by By analysis
testing the program on every Deal with data dependencies
possible combination of input using semantic information and
data. conservative approximations.

Usually not feasible! Must find Exact analysis is usually no more

instead a representative subset of feasible than exhaustive testing!
all cases!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Obtaining WCET

By meassurement
Deal with data dependencies by By analysis
testing the program on every Deal with data dependencies
possible combination of input using semantic information and
data. conservative approximations.

Usually not feasible! Must find Exact analysis is usually no more

instead a representative subset of feasible than exhaustive testing!
all cases!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Obtaining WCET

By meassurement
Deal with data dependencies by By analysis
testing the program on every Deal with data dependencies
possible combination of input using semantic information and
data. conservative approximations.

Usually not feasible! Must find Exact analysis is usually no more

instead a representative subset of feasible than exhaustive testing!
all cases!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Obtaining WCET

By meassurement
Deal with data dependencies by By analysis
testing the program on every Deal with data dependencies
possible combination of input using semantic information and
data. conservative approximations.

Usually not feasible! Must find Exact analysis is usually no more

instead a representative subset of feasible than exhaustive testing!
all cases!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Obtaining WCET

By meassurement
Deal with data dependencies by By analysis
testing the program on every Deal with data dependencies
possible combination of input using semantic information and
data. conservative approximations.

Usually not feasible! Must find Exact analysis is usually no more

instead a representative subset of feasible than exhaustive testing!
all cases!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Obtaining WCET

By meassurement
Deal with data dependencies by By analysis
testing the program on every Deal with data dependencies
possible combination of input using semantic information and
data. conservative approximations.

Usually not feasible! Must find Exact analysis is usually no more

instead a representative subset of feasible than exhaustive testing!
all cases!
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WCET by meassurements

Generate test cases automaticaly?

int g(int in1, int in2){
if((in1*in2)%in2==3831)
// do something that takes 300ms
else
// do something that takes 5ms
}

How likely is it that it generates data that finds the worst case?
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WCET by meassurements

Test all cases?

For one 16-bit integer as input there are 65536 cases.

Test all cases?

For two 16-bit integer as input there are 4 294 967 296 cases.
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WCET by meassurements

Test all cases?

For one 16-bit integer as input there are 65536 cases.

Test all cases?

For two 16-bit integer as input there are 4 294 967 296 cases.
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WCET through analysis

A conservative approximation
Example
Each turn takes 300 ms and so
for(i=1;i<=10;i++){ WCET = 10*300 ms!
if(E)
// do something
Assume the worst, err on the safe
// that takes 300ms
side!
else
// do something Using semantic information
// that takes 5ms
Suppose E is i<3. The test is true
}
at most 2 turns, WCET is
2*300+8*5 = 640ms!
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WCET through analysis

A conservative approximation
Example
Each turn takes 300 ms and so
for(i=1;i<=10;i++){ WCET = 10*300 ms!
if(E)
// do something
Assume the worst, err on the safe
// that takes 300ms
side!
else
// do something Using semantic information
// that takes 5ms
Suppose E is i<3. The test is true
}
at most 2 turns, WCET is
2*300+8*5 = 640ms!
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WCET through analysis

A conservative approximation
Example
Each turn takes 300 ms and so
for(i=1;i<=10;i++){ WCET = 10*300 ms!
if(E)
// do something
Assume the worst, err on the safe
// that takes 300ms
side!
else
// do something Using semantic information
// that takes 5ms
Suppose E is i<3. The test is true
}
at most 2 turns, WCET is
2*300+8*5 = 640ms!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

WCET through analysis

A conservative approximation
Example
Each turn takes 300 ms and so
for(i=1;i<=10;i++){ WCET = 10*300 ms!
if(E)
// do something
Assume the worst, err on the safe
// that takes 300ms
side!
else
// do something Using semantic information
// that takes 5ms
Suppose E is i<3. The test is true
}
at most 2 turns, WCET is
2*300+8*5 = 640ms!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Obtaining WCET

Testing Analysis
is likely to find the typical can always find a safe WCET
execution times, but finding the approximation but comming close
worst case is much harder. to the real WCET is much harder

There is a lot of research about how to obtain WCET, it is beyond

the scope of this course dealing with programming techniques.

In this course
We will assume that for any sequential program fragment a safe
WCET can be obtained either by meassurement or by analysis or
both!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Obtaining WCET

Testing Analysis
is likely to find the typical can always find a safe WCET
execution times, but finding the approximation but comming close
worst case is much harder. to the real WCET is much harder

There is a lot of research about how to obtain WCET, it is beyond

the scope of this course dealing with programming techniques.

In this course
We will assume that for any sequential program fragment a safe
WCET can be obtained either by meassurement or by analysis or
both!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Obtaining WCET

Testing Analysis
is likely to find the typical can always find a safe WCET
execution times, but finding the approximation but comming close
worst case is much harder. to the real WCET is much harder

There is a lot of research about how to obtain WCET, it is beyond

the scope of this course dealing with programming techniques.

In this course
We will assume that for any sequential program fragment a safe
WCET can be obtained either by meassurement or by analysis or
both!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Obtaining WCET

Testing Analysis
is likely to find the typical can always find a safe WCET
execution times, but finding the approximation but comming close
worst case is much harder. to the real WCET is much harder

There is a lot of research about how to obtain WCET, it is beyond

the scope of this course dealing with programming techniques.

In this course
We will assume that for any sequential program fragment a safe
WCET can be obtained either by meassurement or by analysis or
both!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Obtaining WCET

Testing Analysis
is likely to find the typical can always find a safe WCET
execution times, but finding the approximation but comming close
worst case is much harder. to the real WCET is much harder

There is a lot of research about how to obtain WCET, it is beyond

the scope of this course dealing with programming techniques.

In this course
We will assume that for any sequential program fragment a safe
WCET can be obtained either by meassurement or by analysis or
both!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Scheduling

If 2 tasks share a If 3 tasks share a

If n tasks share a
single processor, single processor,
single processor,
there are 2 ways of there are 3*2 ways of
there are n! ways of
running one before running them in
running them.
the other series

Interleaving
Moreover, if tasks can be split into arbitrarily small fragments,
there are infinitely many ways of running the fragments of even
just 2 tasks!
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Scheduling

If 2 tasks share a If 3 tasks share a

If n tasks share a
single processor, single processor,
single processor,
there are 2 ways of there are 3*2 ways of
there are n! ways of
running one before running them in
running them.
the other series

Interleaving
Moreover, if tasks can be split into arbitrarily small fragments,
there are infinitely many ways of running the fragments of even
just 2 tasks!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Scheduling

If 2 tasks share a If 3 tasks share a

If n tasks share a
single processor, single processor,
single processor,
there are 2 ways of there are 3*2 ways of
there are n! ways of
running one before running them in
running them.
the other series

Interleaving
Moreover, if tasks can be split into arbitrarily small fragments,
there are infinitely many ways of running the fragments of even
just 2 tasks!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Scheduling

If 2 tasks share a If 3 tasks share a

If n tasks share a
single processor, single processor,
single processor,
there are 2 ways of there are 3*2 ways of
there are n! ways of
running one before running them in
running them.
the other series

Interleaving
Moreover, if tasks can be split into arbitrarily small fragments,
there are infinitely many ways of running the fragments of even
just 2 tasks!
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Scheduling

If 2 tasks share a If 3 tasks share a

If n tasks share a
single processor, single processor,
single processor,
there are 2 ways of there are 3*2 ways of
there are n! ways of
running one before running them in
running them.
the other series

Interleaving
Moreover, if tasks can be split into arbitrarily small fragments,
there are infinitely many ways of running the fragments of even
just 2 tasks!
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Scheduling

The schedule
is a major factor
in real-time
behaviour of
concurrent tasks!
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Three issues

Deadlines
How do we express the real-time constraints a program must meet?

How do we construct a scheduler that ensures that those

constraints are met if at all possible?

Priority scheduling!

Schedulability analysis
How do we tell whether scheduling is impossible? Ahead of time or
only when it is too late? (next lecture)
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Three issues

Deadlines
How do we express the real-time constraints a program must meet?

How do we construct a scheduler that ensures that those

constraints are met if at all possible?

Priority scheduling!

Schedulability analysis
How do we tell whether scheduling is impossible? Ahead of time or
only when it is too late? (next lecture)
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Three issues

Deadlines
How do we express the real-time constraints a program must meet?

How do we construct a scheduler that ensures that those

constraints are met if at all possible?

Priority scheduling!

Schedulability analysis
How do we tell whether scheduling is impossible? Ahead of time or
only when it is too late? (next lecture)
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Three issues

Deadlines
How do we express the real-time constraints a program must meet?

How do we construct a scheduler that ensures that those

constraints are met if at all possible?

Priority scheduling!

Schedulability analysis
How do we tell whether scheduling is impossible? Ahead of time or
only when it is too late? (next lecture)
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Deadlines

A point in time when some work must be finished is called a

deadline.

A deadline is often meassured relative to the occurrence of some

event:
When the bill arrives, pay it whithin 10 days
At 9am, complete the exam in 5 hours
When a MIDI note-on message arrives, start emitting a tone
within 15 milliseconds
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Deadlines

A point in time when some work must be finished is called a

deadline.

A deadline is often meassured relative to the occurrence of some

event:
When the bill arrives, pay it whithin 10 days
At 9am, complete the exam in 5 hours
When a MIDI note-on message arrives, start emitting a tone
within 15 milliseconds
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines

A point in time when some work must be finished is called a

deadline.

A deadline is often meassured relative to the occurrence of some

event:
When the bill arrives, pay it whithin 10 days
At 9am, complete the exam in 5 hours
When a MIDI note-on message arrives, start emitting a tone
within 15 milliseconds
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines

A point in time when some work must be finished is called a

deadline.

A deadline is often meassured relative to the occurrence of some

event:
When the bill arrives, pay it whithin 10 days
At 9am, complete the exam in 5 hours
When a MIDI note-on message arrives, start emitting a tone
within 15 milliseconds
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines

A point in time when some work must be finished is called a

deadline.

A deadline is often meassured relative to the occurrence of some

event:
When the bill arrives, pay it whithin 10 days
At 9am, complete the exam in 5 hours
When a MIDI note-on message arrives, start emitting a tone
within 15 milliseconds
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines

Meeting a deadline
Generate some specific response
before the specified time
Signal level must reach
10mV before . . .
Letter must be post-stamped
no later than . . .
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Deadlines

Meeting a deadline
Generate some specific response
before the specified time
Signal level must reach
10mV before . . .
Letter must be post-stamped
no later than . . .
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines

Meeting a deadline
Generate some specific response
before the specified time
Signal level must reach
10mV before . . .
Letter must be post-stamped
no later than . . .
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines for reactive objects

A point in time when the reaction to an event mut be completed!

Deadlines are naturally meassured relative to the baseline of the

current event.

Example 1
When a SIG PIN CHANGE Example 2
interrupt occurs, react within When a timer signals that a
15ms from the time of the future baseline is due, react within
interrupt (i.e. the newly defined 200ms from the new baseline
baseline)
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines for reactive objects

A point in time when the reaction to an event mut be completed!

Deadlines are naturally meassured relative to the baseline of the

current event.

Example 1
When a SIG PIN CHANGE Example 2
interrupt occurs, react within When a timer signals that a
15ms from the time of the future baseline is due, react within
interrupt (i.e. the newly defined 200ms from the new baseline
baseline)
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines for reactive objects

A point in time when the reaction to an event mut be completed!

Deadlines are naturally meassured relative to the baseline of the

current event.

Example 1
When a SIG PIN CHANGE Example 2
interrupt occurs, react within When a timer signals that a
15ms from the time of the future baseline is due, react within
interrupt (i.e. the newly defined 200ms from the new baseline
baseline)
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines for reactive objects

A point in time when the reaction to an event mut be completed!

Deadlines are naturally meassured relative to the baseline of the

current event.

Example 1
When a SIG PIN CHANGE Example 2
interrupt occurs, react within When a timer signals that a
15ms from the time of the future baseline is due, react within
interrupt (i.e. the newly defined 200ms from the new baseline
baseline)
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Deadlines for reactive objects

What should qualify as a response to an event?

What must actually be done in order to meet a deadline?

Begin execution?
Does that mean completing the first assembler instruction? Is that
observable?

Complete the observable instructions?

For example port writes . . . But not all methods write to ports!

Complete all instructions?

Plausible. But then what about messages a method generates
itself?
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Deadlines for reactive objects

What should qualify as a response to an event?

What must actually be done in order to meet a deadline?

Begin execution?
Does that mean completing the first assembler instruction? Is that
observable?

Complete the observable instructions?

For example port writes . . . But not all methods write to ports!

Complete all instructions?

Plausible. But then what about messages a method generates
itself?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines for reactive objects

What should qualify as a response to an event?

What must actually be done in order to meet a deadline?

Begin execution?
Does that mean completing the first assembler instruction? Is that
observable?

Complete the observable instructions?

For example port writes . . . But not all methods write to ports!

Complete all instructions?

Plausible. But then what about messages a method generates
itself?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines for reactive objects

What should qualify as a response to an event?

What must actually be done in order to meet a deadline?

Begin execution?
Does that mean completing the first assembler instruction? Is that
observable?

Complete the observable instructions?

For example port writes . . . But not all methods write to ports!

Complete all instructions?

Plausible. But then what about messages a method generates
itself?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines for reactive objects

What should qualify as a response to an event?

What must actually be done in order to meet a deadline?

Begin execution?
Does that mean completing the first assembler instruction? Is that
observable?

Complete the observable instructions?

For example port writes . . . But not all methods write to ports!

Complete all instructions?

Plausible. But then what about messages a method generates
itself?
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Deadlines for reactive objects

A SYNC message is really executed by the caller . . .

An ASYNC message is just a delegation from one task to
another!

Conclusion
All instructions should be completed before the deadline for all
messages of a chain-reaction.
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Deadlines for reactive objects

A SYNC message is really executed by the caller . . .

An ASYNC message is just a delegation from one task to
another!

Conclusion
All instructions should be completed before the deadline for all
messages of a chain-reaction.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines for reactive objects

A SYNC message is really executed by the caller . . .

An ASYNC message is just a delegation from one task to
another!

Conclusion
All instructions should be completed before the deadline for all
messages of a chain-reaction.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines for reactive objects

A SYNC message is really executed by the caller . . .

An ASYNC message is just a delegation from one task to
another!

Conclusion
All instructions should be completed before the deadline for all
messages of a chain-reaction.
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Timely reaction

Baseline Deadline
"start after" "finish before"

Original event
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Late reaction

Baseline Deadline
"start after" "finish before"

Original event
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Timely reaction

Baseline Deadline
"start after" "finish before"

A
SYNC(&B,meth,arg)

Original event

B
same same
baseline deadline
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

A
SYNC(&B,meth,arg)

Original event

B
same same
baseline deadline
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

A
SYNC(&B,meth,arg)

Original event

B
same same
baseline deadline
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Timely reaction

Baseline Deadline
"start after" "finish before"

A
ASYNC(&B,meth,arg)

Original event

B
same same
baseline deadline
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

A
ASYNC(&B,meth,arg)

Original event

B
same same
baseline deadline
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

A
ASYNC(&B,meth,arg)

Original event

B
same same
baseline deadline
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Priorities

Task or Thread or Message priorities are integer values that denote

the relative importance of each task.

Quite often the priority scale is reversed!

Low priority values = high priority!

Priority scheduler
Always run the task with the highest priority! (tasks with the same
prio are sorted according to some secondary scheme, e.g. FIFO)

A task can only run after all tasks considered more important have
terminated or are blocked.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Priorities

Task or Thread or Message priorities are integer values that denote

the relative importance of each task.

Quite often the priority scale is reversed!

Low priority values = high priority!

Priority scheduler
Always run the task with the highest priority! (tasks with the same
prio are sorted according to some secondary scheme, e.g. FIFO)

A task can only run after all tasks considered more important have
terminated or are blocked.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Priorities

Task or Thread or Message priorities are integer values that denote

the relative importance of each task.

Quite often the priority scale is reversed!

Low priority values = high priority!

Priority scheduler
Always run the task with the highest priority! (tasks with the same
prio are sorted according to some secondary scheme, e.g. FIFO)

A task can only run after all tasks considered more important have
terminated or are blocked.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Priorities

Task or Thread or Message priorities are integer values that denote

the relative importance of each task.

Quite often the priority scale is reversed!

Low priority values = high priority!

Priority scheduler
Always run the task with the highest priority! (tasks with the same
prio are sorted according to some secondary scheme, e.g. FIFO)

A task can only run after all tasks considered more important have
terminated or are blocked.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Terminology

Static vs. dynamic priorities

A system where the programmer assigns the priorities of each
task is said to use static (or fixed) priorities.
A system where priorities are automaticaly derived from some
other run-time value is using dynamic priorities.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Terminology

Static vs. dynamic priorities

A system where the programmer assigns the priorities of each
task is said to use static (or fixed) priorities.
A system where priorities are automaticaly derived from some
other run-time value is using dynamic priorities.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Terminology

Static vs. dynamic priorities

A system where the programmer assigns the priorities of each
task is said to use static (or fixed) priorities.
A system where priorities are automaticaly derived from some
other run-time value is using dynamic priorities.
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Terminology

Preemptivness
A system where the scheduler is run only when a task calls the
kernel (or terminate) is non-preemptive.
A system where it also runs as the result of interrupts is called
preemptive.
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Terminology

Preemptivness
A system where the scheduler is run only when a task calls the
kernel (or terminate) is non-preemptive.
A system where it also runs as the result of interrupts is called
preemptive.
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Terminology

Preemptivness
A system where the scheduler is run only when a task calls the
kernel (or terminate) is non-preemptive.
A system where it also runs as the result of interrupts is called
preemptive.
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The common case

Preemptive scheduling based on static prios

totally dominates teh field of real-time programming.

in OS
Supported by real-time operating systems like QNX, VxWorks,
RTLinux, Lynx and standards like POSIX (pthreads)

in Languages
The basis of real-time languages like Ada and Real-time Java

This course
Preemptive scheduling (dispatch might be called within
interrupt handlers).
Static as well as dynamic priorities.
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The common case

Preemptive scheduling based on static prios

totally dominates teh field of real-time programming.

in OS
Supported by real-time operating systems like QNX, VxWorks,
RTLinux, Lynx and standards like POSIX (pthreads)

in Languages
The basis of real-time languages like Ada and Real-time Java

This course
Preemptive scheduling (dispatch might be called within
interrupt handlers).
Static as well as dynamic priorities.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

The common case

Preemptive scheduling based on static prios

totally dominates teh field of real-time programming.

in OS
Supported by real-time operating systems like QNX, VxWorks,
RTLinux, Lynx and standards like POSIX (pthreads)

in Languages
The basis of real-time languages like Ada and Real-time Java

This course
Preemptive scheduling (dispatch might be called within
interrupt handlers).
Static as well as dynamic priorities.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

The common case

Preemptive scheduling based on static prios

totally dominates teh field of real-time programming.

in OS
Supported by real-time operating systems like QNX, VxWorks,
RTLinux, Lynx and standards like POSIX (pthreads)

in Languages
The basis of real-time languages like Ada and Real-time Java

This course
Preemptive scheduling (dispatch might be called within
interrupt handlers).
Static as well as dynamic priorities.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Implementing priority scheduling

static void enqueueByPriority (Msg p, Msg *queue){

Msg prev = NULL;
Msg q = *queue;
while(q && (q->priority <= p->priority) ){
prev=q;
q=q->next;
}
p->next=q;
if(prev==NULL)
*queue=p;
else
prev->next=p;
}

Replace calls to enqueue by calls to enqueueByPriority. Msg

has an extra field! See the reversed scale?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Implementing priority scheduling

static void enqueueByPriority (Msg p, Msg *queue){

Msg prev = NULL;
Msg q = *queue;
while(q && (q->priority <= p->priority) ){
prev=q;
q=q->next;
}
p->next=q;
if(prev==NULL)
*queue=p;
else
prev->next=p;
}

Replace calls to enqueue by calls to enqueueByPriority. Msg

has an extra field! See the reversed scale?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Setting the priority

Could be done like this (but TinyTimber does differently!)

void async(Time offset, int prio ,

Object *to, Method meth, int arg){
Msg m = dequeue(&msgPool);
m->to = to;
m->meth = meth;
m->arg = arg;
m->baseline = MAX(TIMERGET(),current->baseline+offset);
m->priority = prio;
...
}

We discuss TinyTimber later!

 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Setting the priority

Could be done like this (but TinyTimber does differently!)

void async(Time offset, int prio ,

Object *to, Method meth, int arg){
Msg m = dequeue(&msgPool);
m->to = to;
m->meth = meth;
m->arg = arg;
m->baseline = MAX(TIMERGET(),current->baseline+offset);
m->priority = prio;
...
}

We discuss TinyTimber later!

 Constrained by time Deadlines Priorities Deadlines in TinyTimber

What happens?

int methA(ClassA *self, int arg){

while(1){
if(is_prime(arg)) Low priority High priority
printAt(0,arg);
arg++;
}
}

int methB(ClassB *self, int arg){

if(is_prime(arg))
printAt(3,arg);
arg++; High priority Low priority
AFTER(SEC(1),self,methB,arg);
}
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

What happens?

int methA(ClassA *self, int arg){

while(1){
if(is_prime(arg)) Low priority High priority
printAt(0,arg);
arg++;
}
}

int methB(ClassB *self, int arg){

if(is_prime(arg))
printAt(3,arg);
arg++; High priority Low priority
AFTER(SEC(1),self,methB,arg);
}
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Using priorities

Static priorities offer a way of assigning a relative importance to

each task/thread/message.

The highest priority task is offered the whole processor.

Any cycles not used by this task are offered to the second but
highest priority task.

A task that consumes whatever cycles it is given will effectively

disable all lower priority tasks.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Using priorities

Static priorities offer a way of assigning a relative importance to

each task/thread/message.

The highest priority task is offered the whole processor.

Any cycles not used by this task are offered to the second but
highest priority task.

A task that consumes whatever cycles it is given will effectively

disable all lower priority tasks.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Using priorities

Static priorities offer a way of assigning a relative importance to

each task/thread/message.

The highest priority task is offered the whole processor.

Any cycles not used by this task are offered to the second but
highest priority task.

A task that consumes whatever cycles it is given will effectively

disable all lower priority tasks.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Using priorities

Static priorities offer a way of assigning a relative importance to

each task/thread/message.

The highest priority task is offered the whole processor.

Any cycles not used by this task are offered to the second but
highest priority task.

A task that consumes whatever cycles it is given will effectively

disable all lower priority tasks.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Using priorities

With static priorities, the relative importance of each task must be

such that its active execution time is less than the deadline of
every task of less importance!

Then all possibilities of interference by several high priority tasks

must be taken into account!

Depends on detailed knowledge (or assumptions) about external

event patterns!

Requires means to connect the priority settings to deadline

constraints, as well as sophisticated analysis techniques.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Using priorities

With static priorities, the relative importance of each task must be

such that its active execution time is less than the deadline of
every task of less importance!

Then all possibilities of interference by several high priority tasks

must be taken into account!

Depends on detailed knowledge (or assumptions) about external

event patterns!

Requires means to connect the priority settings to deadline

constraints, as well as sophisticated analysis techniques.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Using priorities

With static priorities, the relative importance of each task must be

such that its active execution time is less than the deadline of
every task of less importance!

Then all possibilities of interference by several high priority tasks

must be taken into account!

Depends on detailed knowledge (or assumptions) about external

event patterns!

Requires means to connect the priority settings to deadline

constraints, as well as sophisticated analysis techniques.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Using priorities

With static priorities, the relative importance of each task must be

such that its active execution time is less than the deadline of
every task of less importance!

Then all possibilities of interference by several high priority tasks

must be taken into account!

Depends on detailed knowledge (or assumptions) about external

event patterns!

Requires means to connect the priority settings to deadline

constraints, as well as sophisticated analysis techniques.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Timely reaction

Baseline Deadline
"start after" "finish before"

Original event
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

Original event

Where will this

In informal comments Or in concrete source
reaction deadline be
only? code?
defined?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

Original event

Where will this

In informal comments Or in concrete source
reaction deadline be
only? code?
defined?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

Original event

Where will this

In informal comments Or in concrete source
reaction deadline be
only? code?
defined?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

Original event

Where will this

In informal comments Or in concrete source
reaction deadline be
only? code?
defined?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Timely reaction

Baseline Deadline
"start after" "finish before"

A
ASYNC(&B,meth,arg)

Original event

B
same same
baseline deadline
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

A
ASYNC(&B,meth,arg)

Original event

B
same same
baseline deadline

But what if B actually needs a deadline of its own?

 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

A
ASYNC(&B,meth,arg)

Original event

B
same same
baseline deadline

But what if B actually needs a deadline of its own?

 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Adjusted deadlines

Baseline Deadline
"start after" "finish before"

A
BEFORE(dl,&B,meth,arg)

MAX(now, current−>baseline+0) new deadline

B
same
baseline dl
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

Baseline Deadline
"start after" "finish before"

A
BEFORE(dl,&B,meth,arg)

MAX(now, current−>baseline+0) new deadline

B
same
baseline dl
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines and AFTER

baseline deadline
"start after" "finish before"

A
AFTER(bl,&B,meth,arg)

new baseline deadline = infinity!

bl
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines and AFTER

baseline deadline
"start after" "finish before"

A
AFTER(bl,&B,meth,arg)

new baseline deadline = infinity!

bl
MAX(now, current−>baseline+bl)
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines and AFTER

baseline deadline
"start after" "finish before"

A
AFTERBEFORE(bl,dl,&B,meth,arg)

new baseline new baseline new deadline

B
bl dl
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Late reaction

baseline deadline
"start after" "finish before"

A
AFTERBEFORE(bl,dl,&B,meth,arg)

new baseline new baseline new deadline

B
bl dl
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Interrupt handler deadline

timestamp
deadline = infinity!

top
level
object

Interrupt signal

Note
Interrupt handlers are scheduled by the CPU hardware, i.e. they
will run as fast as possible without regard to any deadline.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Interrupt handler deadline

timestamp
deadline = infinity!

top
level
object

Interrupt signal

Note
Interrupt handlers are scheduled by the CPU hardware, i.e. they
will run as fast as possible without regard to any deadline.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Expressing deadlines

In TinyTimber.h
#define BEFORE(dl, to, meth, arg) \
AFTERBEFORE(0, dl, to, meth, arg);

#define AFTER(bl, to, meth, arg) \

AFTERBEFORE(bl, 0, to, meth, arg);

#define ASYNC(to, meth, arg) \

AFTERBEFORE(0, 0, to, meth, arg);

#define AFTERBEFORE(bl, dl, to, meth, arg) \

async(bl, dl, to, meth, arg);

Defaults for interrupt handlers

baseline = timestamp and deadline = infinity (0).
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Expressing deadlines

In TinyTimber.h
#define BEFORE(dl, to, meth, arg) \
AFTERBEFORE(0, dl, to, meth, arg);

#define AFTER(bl, to, meth, arg) \

AFTERBEFORE(bl, 0, to, meth, arg);

#define ASYNC(to, meth, arg) \

AFTERBEFORE(0, 0, to, meth, arg);

#define AFTERBEFORE(bl, dl, to, meth, arg) \

async(bl, dl, to, meth, arg);

Defaults for interrupt handlers

baseline = timestamp and deadline = infinity (0).
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines and priorities

In the application
Using BEFORE, we can both define the deadline for a chain of
reactions to an external interrupt, and fork off a new chain of
reactions with its own deadline at any point.

Inside the kernel

The priorities used will determine in which order messages are
scheduled, and hence affect the time when a reaction is able to
complete.

Core question
What will be the preferred relation between deadlines and
priorities?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines and priorities

In the application
Using BEFORE, we can both define the deadline for a chain of
reactions to an external interrupt, and fork off a new chain of
reactions with its own deadline at any point.

Inside the kernel

The priorities used will determine in which order messages are
scheduled, and hence affect the time when a reaction is able to
complete.

Core question
What will be the preferred relation between deadlines and
priorities?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines and priorities

In the application
Using BEFORE, we can both define the deadline for a chain of
reactions to an external interrupt, and fork off a new chain of
reactions with its own deadline at any point.

Inside the kernel

The priorities used will determine in which order messages are
scheduled, and hence affect the time when a reaction is able to
complete.

Core question
What will be the preferred relation between deadlines and
priorities?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Deadlines and priorities

In the application
Using BEFORE, we can both define the deadline for a chain of
reactions to an external interrupt, and fork off a new chain of
reactions with its own deadline at any point.

Inside the kernel

The priorities used will determine in which order messages are
scheduled, and hence affect the time when a reaction is able to
complete.

Core question
What will be the preferred relation between deadlines and
priorities?
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Priority assignment

Question
How do we set thread/message priority for the purpose of meeting
deadlines?

Static priorities Dynamic priorities

Assign a fixed priority to each Determine the priority at run-time
thread and keep it constant until from factors such as the time
termination. remaining until deadline.

:-(
In neither case a method exists that is both predictable and
generally applicable to all programs!

It is possible to get by if we concentrate on programs of a

restricted form.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Priority assignment

Question
How do we set thread/message priority for the purpose of meeting
deadlines?

Static priorities Dynamic priorities

Assign a fixed priority to each Determine the priority at run-time
thread and keep it constant until from factors such as the time
termination. remaining until deadline.

:-(
In neither case a method exists that is both predictable and
generally applicable to all programs!

It is possible to get by if we concentrate on programs of a

restricted form.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Priority assignment

Question
How do we set thread/message priority for the purpose of meeting
deadlines?

Static priorities Dynamic priorities

Assign a fixed priority to each Determine the priority at run-time
thread and keep it constant until from factors such as the time
termination. remaining until deadline.

:-(
In neither case a method exists that is both predictable and
generally applicable to all programs!

It is possible to get by if we concentrate on programs of a

restricted form.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Priority assignment

Question
How do we set thread/message priority for the purpose of meeting
deadlines?

Static priorities Dynamic priorities

Assign a fixed priority to each Determine the priority at run-time
thread and keep it constant until from factors such as the time
termination. remaining until deadline.

:-(
In neither case a method exists that is both predictable and
generally applicable to all programs!

It is possible to get by if we concentrate on programs of a

restricted form.
 Constrained by time Deadlines Priorities Deadlines in TinyTimber

Priority assignment

Question
How do we set thread/message priority for the purpose of meeting
deadlines?

Static priorities Dynamic priorities

Assign a fixed priority to each Determine the priority at run-time
thread and keep it constant until from factors such as the time
termination. remaining until deadline.

:-(
In neither case a method exists that is both predictable and
generally applicable to all programs!

It is possible to get by if we concentrate on programs of a

restricted form.