Joint scheduling of garbage collector and hard real-time tasks for embedded applications

Kim, Taehyoun; Chang, Naehyuck; Shin, Hyundong

doi:10.1016/s0164-1212(01)00042-5

Cited by 12 publications

(25 citation statements)

References 18 publications

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“…Schedulability analysis for systems with RTGC has also been explored by Kim et al [2001]. Again, a Henriksson-style copying two-space GC is assumed, with some proposed improvements.…”

Section: Relative Costs Of Gc Cycle Phasesmentioning

confidence: 99%

Scheduling real-time garbage collection on uniprocessors

Kalibera

Pizlo

Hosking

et al. 2011

ACM Trans. Comput. Syst.

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Managed languages such as Java and C# are increasingly being considered for hard real-time applications because of their productivity and software engineering advantages. Automatic memory management, or garbage collection, is a key enabler for robust, reusable libraries, yet remains a challenge for analysis and implementation of real-time execution environments. This paper comprehensively compares leading approaches to hard real-time garbage collection. There are many design decisions involved in selecting a real-time garbage collection algorithm. For time-based garbage collectors on uni-processors one must choose whether to use periodic, slack-based or hybrid scheduling. A significant impediment to valid experimental comparison of such choices is that commercial implementations use completely different proprietary infrastructures. We present Minuteman, a framework for experimenting with real-time collection algorithms in the context of a high-performance execution environment for real-time Java. We provide the first comparison of the approaches, both experimentally using realistic workloads, and analytically in terms of schedulability.

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“…Schedulability analysis for systems with RTGC has also been explored by Kim et al [2001]. Again, a Henriksson-style copying two-space GC is assumed, with some proposed improvements.…”

Section: Relative Costs Of Gc Cycle Phasesmentioning

confidence: 99%

Scheduling real-time garbage collection on uniprocessors

Kalibera

Pizlo

Hosking

et al. 2011

ACM Trans. Comput. Syst.

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“…Moreover, exact and incremental root scanning as well as interruptible object copying algorithms are also major concerns. The state-of-the-art real-time algorithms that are introduced and assessed in this chapter include Metronome [11] as well as Siebert [94], Henriksson [52], Robertz et al [87], Ritzau [83] and Kim et al's algorithms [60,61]. A brief summary of these algorithms can be found at the end of this chapter.…”

Section: Thesis Structurementioning

confidence: 99%

“…Kim et al design a copying garbage collector for hard real-time systems which are only composed of periodic user tasks under fixed priority scheduling [60,61]. It is assumed that there is no precedence relation between the tasks and preemptions can be immediately executed when needed.…”

Section: Kim Et Al's Algorithmmentioning

confidence: 99%

“…Although nothing has been said about how exact root information is obtained [58,60], Kim et al's incremental root scanning algorithm is doubtless an interesting one for real-time systems. It is argued that the root scanning and heap traversing should be performed one task after another in a longest-period-first order instead of scanning all the tasks' stacks and then traversing the whole heap [58,60].…”

Section: Kim Et Al's Algorithmmentioning

confidence: 99%

“…It is argued that the root scanning and heap traversing should be performed one task after another in a longest-period-first order instead of scanning all the tasks' stacks and then traversing the whole heap [58,60]. By doing so, the more frequently changing stacks are processed later than the less frequently changing ones.…”

Section: Kim Et Al's Algorithmmentioning

confidence: 99%

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Garbage Collection for Flexible Hard Real-Time Systems

Chang

Wellings

2010

IEEE Trans. Comput.

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Garbage collection is key to improving the productivity and code quality in virtually every computing system with dynamic memory requirements. It dramatically reduces the software complexity and consequently allows the programmers to concentrate on the real problems rather than struggling with memory management issues, which finally results in higher productivity. The code quality is also improved because the two most common memory related errors -dangling pointers and memory leaks -can be prevented (assuming that the garbage collectors are implemented correctly and the user programs are not malicious).However, real-time systems, particularly those with hard real-time requirements, always choose not to use garbage collection (or even dynamic memory) in order to avoid the unpredictable executions of garbage collectors as well as the chances of being blocked due to the lack of free memory. Much effort has been expended trying to build predictable garbage collectors which can provide both temporal and spatial guarantees. Unfortunately, most existing work leads to systems that cannot easily achieve a balance between temporal and spatial performance, although their worst-case behaviours in both dimensions can be predicted. Moreover, the real-time systems targeted by the existing real-time garbage collectors are not the state-ofthe-art ones. The scheduling of those garbage collectors has not been integrated into the modern real-time scheduling frameworks, which makes the benefits provided by those systems very difficult to obtain. This thesis argues that the aforementioned issues should be tackled by introducing new design criteria for real-time garbage collectors. The existing criteria are not enough to reflect the unique requirements of real-time systems. A new performance indicator is proposed to describe the capability of a real-time garbage collector to achieve better balance between temporal and spatial performance. Moreover, it is argued that new real-time garbage collectors should be integrated with the real-time task model and more advanced scheduling techniques should be adopted as well.A hybrid garbage collection algorithm, which combines both reference counting and mark-sweep, is designed according to the new design criteria. On the one hand, the reference counting component helps reduce the overall memory requirements. On the other hand, the mark-sweep component periodically identifies cyclic garbage, which cannot be found by the reference counting component. Both parts of the collector are executed by segregated tasks, which are released periodically as the hard real-time user tasks. In order to improve the performance of soft-or non-realtime tasks in our system while still guaranteeing the hard real-time requirements, the dual-priority scheduling algorithm is used for all the tasks including the GC tasks. A multi-heap approach is also proposed to bound the impacts of the softor non-real-time tasks on the overall memory usage as well as the executions of the GC tasks. More importantly, static ana...

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Scheduling-Aware Real-Time Garbage Collection Using Dual Aperiodic Servers

Kim¹,

Shin

2004

Real-Time and Embedded Computing Systems and Applications

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Joint scheduling of garbage collector and hard real-time tasks for embedded applications

Cited by 12 publications

References 18 publications

Scheduling real-time garbage collection on uniprocessors

Scheduling real-time garbage collection on uniprocessors

Garbage Collection for Flexible Hard Real-Time Systems

Scheduling-Aware Real-Time Garbage Collection Using Dual Aperiodic Servers

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