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A library to test schedulability of the real-time DAG task model

This repo offers a library to handle the real-time Directed Acyclic Graph (DAG) task model and its extensions, such as the Conditional DAG and the Typed DAG. Moreover, several methods from real-time literature have been implemented. It's one of the contributions of Micaela Verucchi's Ph.D. thesis "A comprehensive analysis of DAG tasks: solutions for modern real-time embedded systems".

If you use this code in your research, please cite the following paper.

@article{verucchi2023survey,
  title={A survey on real-time DAG scheduling, revisiting the Global-Partitioned Infinity War},
  author={Verucchi, Micaela and Olmedo, Ignacio Sa{\~n}udo and Bertogna, Marko},
  journal={Real-Time Systems},
  pages={1--52},
  year={2023},
  publisher={Springer}
}

Dependencies

For this repo the following libraries are needed: graphviz (for dot), libyaml-cpp-dev (to read yaml confi files) and python3-matplotlib (to plot the charts). On Linux, install the dependencies in this way:

sudo apt-get install graphviz libyaml-cpp-dev python3-matplotlib libtbb-dev libeigen3-dev python3-dev

How to compile this repo

Once the dependencies have been installed, build the project with cmake.

git clone https://github.com/mive93/DAG-scheduling 
cd DAG-scheduling
git submodule update --init --recursive 
mkdir build && cd build
cmake ..
make

Input and output

This library reads and outputs DAG in DOT format as shown in the image.

dot

Input

The library accept two input formats for taskse: yaml or DOT.

YAML format

A taskset is specified as an array of task, which has the following params

  • t the period
  • d the deadline
  • vertices array of nodes of the DAG, defined by:
    • id id of the node
    • c WCET of the node
    • p core to which the node is assigned to [optional]
    • s gamma, the kind of engine the node is assigned to [optional]

An example is given with demo/taskset.yaml.

DOT format

Each DAG is defined via a DOT file, and each path of dot file belonging to the taskset should be written (line by line) in a txt file. An example is given in demo/dot_files.txt

Each DOT file is the defined with this convention. At the begninning there is an initial node with the info of the DAG Task, where the deadline D and the period T should be specified. For example: i [shape=box, D=603.859, T=1605.45];

Then each node is secified by an ID, a label which represent the WCET and additional optional parameters, as p and s. For example: 0 [label="57", p=7];

Finally the edges are discribed only via nodes IDs. For example: 0 -> 2;

A complete example is given in demo/test0.dot.

Output

To convert a dot file into a png image use the following command:

dot -Tpng test.dot > test.png

Demo

The demo is a program that tests all the supported methods on user-defined DAG task set or a randomly generated one. It can be executed as

./demo <random-flag> <dag-file>

where

  • <random-flag> can be set to 0 if the taskset should be read from file, or to 1 if the taskset should be randomly generated, using the method proposed by Melani et al. [1][2].
  • <dag-file> path to the file that describes the task set to analyze if <random-flag> is set to 0.

Eval

The eval program will evaluate several schedulability methods based on a given config file. To run the evaluation execute:

./eval <config-file> <show-plots>

Where

  • <config-file> is a yml file, like the ones in the data folder, that specifies all the parameters for the task set generation and the selection of the methods to evaluate.
  • <show-plots> 1 to show plots, 0 to hide them. In any case, the resulting plots will not be shown but saved in a folder named res.

At the end of each evaluation two kinds of plots will be produced, one regarding the schedulability rate and one the execution times of the methods.

plots

Supported schedulability tests

Work Workload Deadline Model Scheduling Preemption Algorithm
Baruah2012 [3] single task C DAG G - EDF
Bonifaci2013 [4] task set A DAG G FP EDF, DM
Li2013 [5] task set I DAG G FP EDF
Qamhieh2013 [6] task set C DAG G FP EDF
Baruah2014 [7] task set C DAG G FP EDF
Melani2015 [1] task set C DAG, C-DAG G FP EDF, FTP
Serrano2016 [8] task set C DAG G LP FTP
Fonseca2016 [14] task set C DAG P FP FTP
Pathan2017 [9] task set C DAG G FP DM
Fonseca2017 [10] task set C DAG G FP DM
Casini2018 [15] task set C DAG P LP FTP
Han2019 [11] single task C H-DAG G - -
He2019 [12] task set C DAG G FP EDF, FTP
Fonseca2019 [13] task set C, A DAG G FP EDF, FTP
Nasri2019 [16] task set C DAG G LP EDF
Zahaf2020 [17] task set C HC-DAG P FP, FNP EDF
  • [1] Alessandra Melani et al. “Response-time analysis of conditional dag tasks in multiprocessor systems”. (ECRTS 2015)
  • [2] https://retis.sssup.it/~d.casini/resources/DAG_Generator/cptasks.zip
  • [3] Baruah et al. "A generalized parallel task model for recurrent real-time processes" (RTSS 2012)
  • [4] Bonifaci et al., "Feasibility Analysis in the Sporadic DAG Task Model" (ECRTS 2013)
  • [5] Li et al. "Outstanding Paper Award: Analysis of Global EDF for Parallel Tasks" (ECRTS 2013)
  • [6] Qamhieh et al. "Global EDF scheduling of directed acyclic graphs on multiprocessor systems", (RTNS 2013)
  • [7] Baruah et al. "Improved Multiprocessor Global Schedulability Analysis of Sporadic DAG Task Systems" (ECRTS 2014)
  • [8] Maria A Serrano et al. “Response-time analysis of DAG tasks under fixed priority scheduling with limited preemptions” (DATE 2016)
  • [9] Risat Pathan et al. “Scheduling parallel real-time recurrent tasks on multicore platforms”. (IEEE Transactions on Parallel and Distributed Systems 2017)
  • [10] Fonseca et al. “Improved response time analysis of sporadic dag tasks for global fp scheduling”. (RTNS 2017)
  • [11] Meiling Han et al. “Response time bounds for typed dag parallel tasks on heterogeneous multi-cores”. (IEEE Transactions on Parallel and Distributed Systems 2019)
  • [12] Qingqiang He et al. “Intra-task priority assignment in real-time scheduling of dag tasks on multi-cores”. (IEEE Transactions on Parallel and Distributed Systems 2019)
  • [13] Fonseca et al. “Schedulability Analysis of DAG Tasks with Arbitrary Deadlines under Global Fixed-Priority Scheduling”. (Real-Time Systems 2019)
  • [14] Fonseca et al. “Response time analysis of sporadic dag tasks under partitioned scheduling”. (SIES 2016)
  • [15] Daniel Casini et al. “Partitioned fixed-priority scheduling of parallel tasks without preemptions”. (RTSS 2018).
  • [16] Mitra Nasri, et al. “Response-time analysis of limited-preemptive parallel DAG tasks under global scheduling”. (ECRTS 2019)
  • [17] Houssam-Eddine Zahaf et al. “The HPC-DAG Task Model for Heterogeneous Real-Time Systems”. (IEEE Transactions on Computers 2020)