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The BUNDLE and BUNDLEP scheduling algorithms are cache-cognizant thread-level scheduling algorithms and associated worst case execution time and cache overhead (WCETO) techniques for hard real-time multi-threaded tasks. The BUNDLE-based approaches utilize the inter-thread cache benefit to reduce WCETO values for jobs. Currently, the BUNDLE-based approaches are limited to scheduling a single task. This work aims to expand the applicability of BUNDLE-based scheduling to multiple task multi-threaded task sets. BUNDLE-based scheduling leverages knowledge of potential cache conflicts to selectively preempt one thread in favor of another from the same job. This thread-level preemption is a requirement for the run-time behavior and WCETO calculation to receive the benefit of BUNDLE-based approaches. This work proposes scheduling BUNDLE-based jobs non-preemptively according to the earliest deadline first (EDF) policy. Jobs are forbidden from preempting one another, while threads within a job are allowed to preempt other threads. An accompanying schedulability test is provided, named Threads Per Job (TPJ). TPJ is a novel schedulability test, input is a task set specification which may be transformed (under certain restrictions); dividing threads among tasks in an effort to find a feasible task set. Enhanced by the flexibility to transform task sets and taking advantage of the inter-thread cache benefit, the evaluation shows TPJ scheduling task sets fully preemptive EDF cannot.
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GCAPS: GPU Context-Aware Preemptive Priority-Based Scheduling for Real-Time Tasks
Scheduling real-time tasks that utilize GPUs with analyzable guarantees poses a significant challenge due to the intricate interaction between CPU and GPU resources, as well as the complex GPU hardware and software stack. While much research has been conducted in the real-time research community, several limitations persist, including the absence or limited availability of GPU-level preemption, extended blocking times, and/or the need for extensive modifications to program code. In this paper, we propose GCAPS, a GPU Context-Aware Preemptive Scheduling approach for real-time GPU tasks. Our approach exerts control over GPU context scheduling at the device driver level and enables preemption of GPU execution based on task priorities by simply adding one-line macros to GPU segment boundaries. In addition, we provide a comprehensive response time analysis of GPU-using tasks for both our proposed approach as well as the default Nvidia GPU driver scheduling that follows a work-conserving round-robin policy. Through empirical evaluations and case studies, we demonstrate the effectiveness of the proposed approaches in improving taskset schedulability and response time. The results highlight significant improvements over prior work as well as the default scheduling approach, with up to 40% higher schedulability, while also achieving predictable worst-case behavior on Nvidia Jetson embedded platforms.
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- PAR ID:
- 10527894
- Editor(s):
- Pellizzoni, Rodolfo
- Publisher / Repository:
- Schloss Dagstuhl – Leibniz-Zentrum für Informatik
- Date Published:
- Volume:
- 298
- ISSN:
- 1868-8969
- ISBN:
- 978-3-95977-324-9
- Page Range / eLocation ID:
- 298-298
- Subject(s) / Keyword(s):
- Real-time systems GPU scheduling Computer systems organization → Real-time systems Computer systems organization → Embedded and cyber-physical systems
- Format(s):
- Medium: X Size: 25 pages; 1914695 bytes Other: application/pdf
- Size(s):
- 25 pages 1914695 bytes
- Right(s):
- Creative Commons Attribution 4.0 International license; info:eu-repo/semantics/openAccess
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.4230/LIPIcs.ECRTS.2024.14
