Scheduling Globally Asynchronous Locally Synchronous Programs for Guaranteed Response Times

Abstract

Safety-critical software systems need to guarantee functional correctness and bounded response times to external input events. Programs designed using reactive programming languages, based on formal mathematical semantics, can be automatically verified for functional correctness guarantees. Real-time guarantees on the other hand are much harder to achieve. In this article we provide a static analysis framework for guaranteeing response times for reactive programs developed using the Globally Asynchronous Locally Synchronous (GALS) model of computation. The proposed approach is applicable to scheduling of GALS programs for different target architectures with single or multiple processors or cores. A Satisfiability Modulo Theory (SMT) formulation in the quantifier free linear real arithmetic (QF LRA) logic is used for scheduling. A novel technique to encode rendezvous used in synchronization of globally asynchronous processes in the presence of locally synchronous parallelism and arbitrary preemption into QF LRA logic is presented. Finally, our SMT formulation is shown to produce schedules in reasonable time.