【RTS笔记7】Schedulability

Schedulability 调度性简介

• 【deadlines必须准守】For hard real-time systems the deadlines must always be met.
• 【离线测试来检查是否错过deadline】Schedulability analysis provides an offline test (performed before the system is started) to check that there are no circumstances when deadlines are missed. A system is unschedulable if the scheduler does not find a way to switch between the tasks and meet all the deadlines.
• 【如果不可以在deadline前找到切换tasks方法，则unschedulable 】A system is unschedulable if the scheduler does not find a way to switch between the tasks and meet all the deadlines.

Schedulability test 调度性测试

 predict the worst-case behavior of the system 【预测最坏情况】：

1. Sufficient充分 ：【过了就一定可调度（没过不一定）】If test is passed, then tasks are definitely schedulable (but if it is not passed, they may still be schedulable).
2. Necessary必要 ：【没过就必不可调度（过了不一定）】If test is not passed tasks are definitely not schedulable (but if it is passed tasks may or may not be schedulable).
3. Exact (= Necessary + Sufficient)充要 ：【绝对准确】The task set is schedulable if and only if it passes the test.

Schedulability Assumptions 调度性假设

fixed set of tasks：

1. independent 独立，无synchronisation同步
2. $Ci$ 执行时间 fixed worst-case execution time
3. $Ti$ ： periodic 周期，released at the start of their period
4. $Di$： deadline死线. $Di=Ti$ deadline is equal to its period

Estimating Worst-Case Execution Time 估算执行时间

  Analysis：模拟分析，需要建立模型
  Measurement：直接测量，难以找出worst-case behavior

Rate Monotonic Scheduling 实时调度

Static， simple, optimal , fixed priority
Each task is assigned a (unique) fixed priority based on its execution rate
$Pi$：优先级。 （ $Ti<Tj\leftrightarrow Pi>Pj$） 周期越长优先级越低
The total utilisation should be less than 1.

Earliest Deadline First Scheduling EDF调度，最早截止时间优先调度

Dynamic
$Di$：死线Deadline。
$Pi$：优先级。 （ $Di<Dj\leftrightarrow Pi>Pj$） DDL越近优先度越高

Utilisation-based Schedulability 基于利用率的调度

  Utilisation 利用率

  利用率公式：$Ui=\frac{Ci}{Ti}$ 。执行时间 ÷ 周期。

 Utilisation-based Schedulability Test

  一个测试，当$U<=\overline{U}$ ,表示通过表示tasks必可被调度（没通过也还有机会）。
  公式：$\overline{U}=N(2^{1/n}-1)$

举个例子

Response-Time Analysis 应答时间分析

worst case response time 最坏响应时间：

worst case response time is the worst case execution time (Ci)最坏执行时间 plus the maximum interference (Ii)最大干扰（时间） suffered during execution
【Ri最坏响应时间= Ci最坏执行时间+Ii最大干扰时间】
$Ri=Ci+Ii$

Response-Time Analysis

Response Time Analysis is necessary and sufficient: If test is passed, all tasks will meet their deadlines. If test is failed, a task will miss its deadline.【测试通过则顺利完成，不通过则会错过DDL】
In this test, each task’s worst-case response time ® is calculated and compared to its deadline (D).
【目的：$Ri$最坏响应时间<= $D_i$死线 】
$R_i\le D_i$

periodic 名词解释

periodic 周期
Utilisation 利用，利用率