Stack-based scheduling for realtime processes
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This paper presents an extensive implementation study where we evaluate and compare different synchronization protocol mechanisms within the domain of two-level hierarchical fixed-priority preemptive scheduling. These protocol mechanisms include HSRPnP (Hierarchical Stack Resource Policy no Payback), HSRPwP (Hierarchical Stack Resource Policy with Payback), SIRAP (Subsystem Integration and Resource Allocation Policy), RRP (Rollback Resource Policy) and SRPwD (Stack Resource Policy with Donation). In an attempt to shed new light to the research in this area, we focus on the actual software implementation of these protocols in a widely used real-time operating system (VxWorks). This study is not based on worst-case schedulability analysis which is the most common angle of work in this research field. All five protocols have been implemented, tested and executed for several months with many different parameters, for example; variant number of subsystems, number of resources, system utilization settings, resource allocation strategies etc. These tests generated a large amount of useful data, for example, protocol overhead, effective subsystem utilization, number of protocol mechanism invocations etc. Due to the large complexity and size of this data, we analyzed the data with state-of-the-art statistical methods and tools (Principal Component Analysis) in order to grasp the efficiency of the protocols with respect to a large number of different parameters.