Abstract. We introduce the notion of a k-FIFO queue which may dequeue elements out of FIFO order up to a constant k ≥ 0. Retrieving the oldest element from the queue may require up to k + 1 dequeue operations (bounded fairness), which may return elements not younger than the k + 1 oldest elements in the queue (bounded age) or nothing even if there are elements in the queue. A k-FIFO queue is starvation-free for finite k where k + 1 is what we call the worst-case semantical deviation (WCSD) of the queue from a regular FIFO queue. The WCSD bounds the actual semantical deviation (ASD) of a k-FIFO queue from a regular FIFO queue when applied to a given workload. Intuitively, the ASD keeps track of the number of dequeue operations necessary to return oldest elements and the age of dequeued elements. We show that a number of existing concurrent algorithms implement k-FIFO queues whose WCSD are determined by configurable constants independent from any workload. We then introduce so-called Scal queues, which implement k-FIFO queues with generally larger, workloaddependent as well as unbounded WCSD. Since ASD cannot be obtained without prohibitive overhead we have developed a tool that computes lower bounds on ASD from time-stamped runs. Our micro-and macrobenchmarks on a state-ofthe-art 40-core multiprocessor machine show that Scal queues, as an immediate consequence of their weaker WCSD, outperform and outscale existing implementations at the expense of moderately increased lower bounds on ASD.

Document VersionPublisher's PDF, also known as Version of Record (includes final page, issue and volume numbers) Please check the document version of this publication:• A submitted manuscript is the author's version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website.• The final author version and the galley proof are versions of the publication after peer review.• The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publicationCitation for published version (APA): Sokolova, A., Craciunas, S. S., Kirsch, C. M., Payer, H., & Röck, H. (2009). Programmable temporal isolation through variable-bandwidth servers. In Proceedings Fourth IEEE International Symposium on Industrial Embedded Systems (SIES 2009, Lausanne, Switzerland, July 8-10, 2009 General rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.• Users may download and print one copy of any publication from the public portal for the purpose of private study or research.• You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal ? Take down policyIf you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim. Abstract-We introduce variable-bandwidth servers (VBS) for scheduling and executing processes under programmable temporal isolation. A VBS is an extension of a constant-bandwidth server where throughput and latency of process execution can not only be controlled to remain constant across different competing workloads but also to vary in time as long as the resulting bandwidth stays below a given bandwidth cap. We have designed and implemented a VBS-based EDF-style constant-time scheduling algorithm, a constant-time admission test, and four alternative queue management plugins which influence the scheduling algorithm's overall temporal and spatial complexity. Experiments confirm the theoretical bounds in a number of microbenchmarks and demonstrate that the scheduler can effectively manage in constant time any number of processes up to available memory while maintaining response times of individual processes within a bounded range. We have also developed a small-footprint, bare-metal virtual machine that uses VBS for temporal isolation of multiple, concurrently running processes executing real code. I. INTRODUCTIONVirtualization has always been a fascinating topic in sys...

Exotasks are a novel Java programming construct that achieve three important goals. They achieve low latency while allowing the fullest use of Java language features, compared to previous attempts to restrict the Java language for use in the submillisecond domain. They support pluggable schedulers, allowing easy implementation of new scheduling paradigms in a real-time Java system. They can achieve deterministic timing, even in the presence of other Java threads, and across changes of hardware and software platform. To achieve these goals, the program is divided into tasks with private heaps. Tasks may be strongly isolated, communicating only with each other and guaranteeing determinism, or weakly isolated, allowing some communication with the rest of the Java application. Scheduling of the tasks' execution, garbage collection, and value passing is accomplished by the pluggable scheduler. Schedulers that we have written employ logical execution time (LET) in association with strong isolation to achieve time portability. We have also built a quad-rotor model helicopter, the JAviator, which we use to evaluate our implementation of Exotasks in an experimental embedded version of IBM's J9 real-time virtual machine. Our experiments show that we are able to maintain very low scheduling jitter and deterministic behavior in the face of variations in both software load and hardware platform. We also show that Exotasks perform nearly as well as Eventrons on a benchmark audio application.

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Large real-time software systems such as real-time Java virtual machines often use barrier protocols, which work for a dynamically varying number of threads without using centralized locking. Such barrier protocols, however, still suffer from priority inversion similar to centralized locking. We introduce gang priority management as a generic solution for avoiding unbounded priority inversion in barrier protocols. Our approach is either kernel-assisted (for efficiency) or library-based (for portability) but involves cooperation from the protocol designer (for generality). We implemented gang priority management in the Linux kernel and rewrote the garbage collection safe-point barrier protocol in IBM's WebSphere Real Time Java Virtual Machine to exploit it. We run experiments on an 8-way SMP machine in a multi-user and multi-process environment, and show that by avoiding unbounded priority inversion, the maximum latency to reach a barrier point is reduced by a factor of 5.3 and the application jitter is reduced by a factor of 1.5.