PReGO: a generative methodology for satisfying real-time requirements on COTS-based systems: definition and experience report

Rouxel, Benjamin; Schultz, Ulrik Pagh; Åkesson, Benny; Holst, Jesper; Jørgensen, Ole Dan; Grelck, Clemens

doi:10.1145/3425898.3426954

Cited by 5 publications

(6 citation statements)

References 35 publications

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“…A study of the SAR use case, available in [34], exhibits an increment in timing control. Using our TeamPlay methodology, we observe an energy improvement of 18%, resulting in the flight time being increased by approximately 4 minutes.…”

Section: Uncrewed Aerial Vehiclementioning

confidence: 99%

2023 Design, Automation & Test in Europe Conference & Exhibition (DATE)

2023

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Non-functional properties, such as energy, time, and security (ETS) are becoming increasingly important for the programming of Cyber-Physical Systems (CPS). This paper describes TeamPlay, a research project funded under the EU Horizon 2020 programme between January 2018 and June 2021. TeamPlay aimed to provide the system designer with a toolchain for developing embedded applications where ETS properties are first-class citizens, allowing the developer to reflect directly on energy, time and security properties at the source code level. In this paper we give an overview of the TeamPlay methodology, introduce the challenges and solutions of our approach and summarise the results achieved. Overall, applying our TeamPlay methodology led to an improvement of up to 18% performance and 52% energy usage over traditional approaches.

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Section: Uncrewed Aerial Vehiclementioning

confidence: 99%

2023 Design, Automation & Test in Europe Conference & Exhibition (DATE)

2023

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“…Handling Real-Time Components Achieving real-time performance of the robot control system is crucial for robots that operate or collaborate with humans (Rouxel et al 2020), as is the case of most service robots from our studied companies. Since ROS does not handle real-time, developers at PAL Robotics use OROCOS to develop and manage realtime constrained components.…”

Section: Trade-offsmentioning

confidence: 99%

Software variability in service robotics

et al. 2022

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Robots artificially replicate human capabilities thanks to their software, the main embodiment of intelligence. However, engineering robotics software has become increasingly challenging. Developers need expertise from different disciplines as well as they are faced with heterogeneous hardware and uncertain operating environments. To this end, the software needs to be variable—to customize robots for different customers, hardware, and operating environments. However, variability adds substantial complexity and needs to be managed—yet, ad hoc practices prevail in the robotics domain, challenging effective software reuse, maintenance, and evolution. To improve the situation, we need to enhance our empirical understanding of variability in robotics. We present a multiple-case study on software variability in the vibrant and challenging domain of service robotics. We investigated drivers, practices, methods, and challenges of variability from industrial companies building service robots. We analyzed the state-of-the-practice and the state-of-the-art—the former via an experience report and eleven interviews with two service robotics companies; the latter via a systematic literature review. We triangulated from these sources, reporting observations with actionable recommendations for researchers, tool providers, and practitioners. We formulated hypotheses trying to explain our observations, and also compared the state-of-the-art from the literature with the-state-of-the-practice we observed in our cases. We learned that the level of abstraction in robotics software needs to be raised for simplifying variability management and software integration, while keeping a sufficient level of customization to boost efficiency and effectiveness in their robots’ operation. Planning and realizing variability for specific requirements and implementing robust abstractions permit robotic applications to operate robustly in dynamic environments, which are often only partially known and controllable. With this aim, our companies use a number of mechanisms, some of them based on formalisms used to specify robotic behavior, such as finite-state machines and behavior trees. To foster software reuse, the service robotics domain will greatly benefit from having software components—completely decoupled from hardware—with harmonized and standardized interfaces, and organized in an ecosystem shared among various companies.

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“…In addition, it is possible to configure the Linux kernel to prevent the aforementioned periodic scheduler task: a value of −1 needs to be written in the virtual file /proc/sys/kernel/sched_rt_runtime_us. We refer readers interested in how to increase user control over time in Linux to [32].…”

Section: Partitioned and Global On-line Schedulingmentioning

confidence: 99%

“…• Compatibility: When a specific platform has no RTOS support, e.g. due to vendor-specific drivers, YASMIN provides more timing guarantees than what a vanilla OS has on offer: soft real-time guarantees can be given on a vanilla Linux [32]. • Flexibility: Using YASMIN with different workload packages supports different configurations for each package, such as different task models, scheduling strategies, etc.…”

Section: Introductionmentioning

confidence: 99%

“…Application components, their functional interplay, timing properties and requirements can be specified in a high-level coordination DSL [30]. Following a mostly automated generative approach [32], our compiler tool chain turns a high-level description of an application into C code ready for binary code generation by a targetspecific C compiler. The whole tool chain, including YASMIN, is available under a GPLv3 licence [2].…”

Section: Introductionmentioning

confidence: 99%

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Yasmin

Rouxel

Altmeyer

Grelck

2021

Proceedings of the 22nd International Middleware Conference

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Commercial-off-the-shelf (COTS) heterogeneous platforms provide immense computational power, but are difficult to program and to correctly use when real-time requirements come into play: A sound configuration of the operating system scheduler is needed, and a suitable mapping of tasks to computing units must be determined. Flawed designs lead to sub-optimal system configurations and, thus, to wasted resources or even to deadline misses and system failures.We propose YASMIN, a middleware to schedule end-user applications with real-time requirements in user space and on behalf of the operating system. YASMIN combines an easy-to-use programming interface with portability across a wide range of architectures. It treats heterogeneity on COTS embedded platforms as a first-class citizen: YASMIN supports multiple functionally equivalent task implementations with distinct extra-functional behaviour. This enables the system designer to quickly explore different scheduling policies and task-to-core mappings, and thus, to improve overall system performance.In this paper, we present the design and implementation of YAS-MIN and provide an analysis of the scheduling overhead on an Odroid-XU4 platform. We demonstrate the merits of YASMIN on an industrial use-case involving a search-and-rescue drone. CCS CONCEPTS• Computer systems organization → Real-time operating systems; Embedded software; • Software and its engineering → Software libraries and repositories.

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PReGO: a generative methodology for satisfying real-time requirements on COTS-based systems: definition and experience report

Cited by 5 publications

References 35 publications

2023 Design, Automation & Test in Europe Conference & Exhibition (DATE)

2023 Design, Automation & Test in Europe Conference & Exhibition (DATE)

Software variability in service robotics

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