CoSc 6016 - Real Time and Embedded Systems CoSc 6016 Real-Time and Embedded Systems Dagmawi Lemma (PhD) Assistant Professor Department of Computer courses. [email protected] hitp://sites. google.com /site/dagmawi2012 ence, AAU 2. Real-Time Operating System CoSc 6016 Real-Time and Embedded Systems Dagiawi Lemma (PAD) Assistant Professor Department of Computer Science, AAU cuss. da@ mail cot ntpisites google, comnsite/dapmasi2012 Dagmawi Lemma - AAU 2018 5/31/2019CoSc 6016 - Real Time and Embedded Systems + Wh ° Wh Review of Operating System Basics hat it is. hy we need it, * Task scheduling, ° Al Tes) What is an operation system? ayer in the modern computer system that is ponsible to manage several devices and provide user programs with a simpler interface to the hardware. — Extended Machine — Resource Manager Dagmawi Lemma - AAU 2018 5/31/2019CoSc 6016 - Real Time and Embedded 5/31/2019 systems What is an operation system? Ter system and application programe ‘operating system computer hardware, OS Structure and Services Banking | Airline was | | ‘oysters | reservation | browser | > Application programs ‘Command | | Compiters | Editors | ‘rerpreter | | System programs Operating system Machine language Microarchitecture * Hardware Physical devices | Dagmawi Lemma - AAU 2018CoSc 6016 - Real Time and Embedded 5/31/2019 Systems OS Structure and Services * Kernel Mode — Protected from user application tampering by the hardware * User Mode ~The mode in which applications and system programs run — Permits only a subset of the instructions to be executed and a subset of features to be accessed + Disallow 1/0 instruction, Memory Protection, PSW Setting Classification + Architectures of Operating Systems — Monolithic — Microkernel — Virtual Machines + Increasing Efficiency = Multi program = Multi user — Multi core Dagmawi Lemma - AAU 2018CoSc 6016 - Real Time and Embedded Systems Monolithic Architecture * Monolithic Architecture—the early operating, systems — Every component is contained in the kernel, can directly communicate with other components Monolithic Architecture Dagmawi Lemma - AAU 2018 5/31/2019CoSc 6016 - Real Time and Embedded Systems Monolithic Architecture Pros —Highly efficient — by direct intercommunication between components. * Cons ~ difficult to develop — difficult to isolate the source of bugs and other errors + particularly susceptible to damage from malicious code Layered Architecture + Layered OS structure: — Group components that perform similar functions into layers. Each layer communicates only with neighbour layer Dagmawi Lemma - AAU 2018 5/31/2019CoSc 6016 - Real Time and Embedded Systems Layered Architecture Pros =It provides good modularity — helps simplify the development of an OS * Cons — Less efficient — Complex design — each functionality has to be divided into parts to fit into different layers. Kernel Based Architecture + It separates the machinc-independent parts from the machine-dependent parts — Kernel is machine-dependent, It contains the basic component of OS. Dagmawi Lemma - AAU 2018 5/31/2019CoSc 6016 - Real Time and Embedded Systems Kernel Based Architecture * Pros —Better portability—Kemel encloses all the machine-dependent code * Cons — Suffers similar problem as in layered OSs Microkernel Based Architecture + As OS expanded, the kernel became large and difficult to manage —Microkernel approach removes all nonessential components from the kernel and implementing them as system and user-level programs. + Result: A smaller kernel Dagmawi Lemma - AAU 2018 5/31/2019CoSc 6016 - Real Time and Embedded Systems Microkernel Based Architecture Microkernel Based Architecture * Pros —Enhance portability, extensibility, reliability and security * Cons — Less efficient—inereased system function overhead Dagmawi Lemma - AAU 2018 5/31/2019CoSc 6016 - Real Time and Embedded Systems Virtual Machines Can create the illusion that there are more than one separate machines VML OS Structure and Services To obtain services from the operating system, a user program must make a system call The interface between the operating system and the user programs is defined by the set of system calls that the operating system provides. Dagmawi Lemma - AAU 2018 5/31/2019 10CoSc 6016 - Real Time and Embedded systems OS Structure and Services OS Services — Process Management — Memory Management — File Management —1/O Management — User Management Process * Process is a program in execution, including the current value of program counter, registers and variables ‘ne progam cour ae . N a Gl == le qed Ee “}|_- _- @ » Dagmawi Lemma - AAU 2018 5/31/2019 qtCoSc 6016 - Real Time and Embedded Systems Process * Process Creation —Bom, Live, Die created? — When is a proces + System Initialization + Execution of Process creation system call by a running process + Auser request to create a new process + Initiation of a batch job Process * Process Termination — When is a process terminated + Normal exit (voluntary) + Error exit + Fatal error + Killed by another process Dagmawi Lemma - AAU 2018 5/31/2019 12CoSc 6016 - Real Time and Embedded systems Scheduling * Scheduler — Part of the OS that decide which process to pick from the ready «queue and let to run + Scheduling Algorithm ~ The algorithm used by the scheduler for selecting the process from the ready queue ~ The scheduler has to worry about making efficient use of the CPU because process swiiching is expensive operation + Context Switch Ready Que Scheduling + Process Behavior me ‘ @ » Dagmawi Lemma - AAU 2018 5/31/2019 13CoSc 6016 - Real Time and Embedded 5/31/2019 Systems Scheduling + When to schedule —as new process is created * Which one should run? The parent or the child? as a process exit — during 1/0 block — when 1/O interrupt occurs —If a hardware clock provides periodic interrupts at some frequency, a scheduling decision can be made at each clock interrupt or at every A-th clock interrupt Scheduling Scheduling algorithms cab be —Non-preemptive or — Preemptive Decision on the type of scheduling algorithm has to be made in accordance to the type of system —Batch — Interactive — Real-time Dagmawi Lemma - AAU 2018 14CoSc 6016 - Real Time and Embedded Systems Scheduling * The Goal of scheduling algorithm —For all systems, it has to + Be fair: giving each process a fair share of the CPU + Enforce policy: make sure that stated policy is carried out + Balance: keeping all parts of the system busy Scheduling * The Goal of scheduling algorithm (continued) —For batch systems + Throughput: maximize jobs per hour + Tumaround time: minimize time between subt and termination + CPU utilization: keep the CPU busy all the time Dagmawi Lemma - AAU 2018 5/31/2019 15CoSc 6016 - Real Time and Embedded 5/31/2019 Systems Scheduling * The Goal of scheduling algorithm (continued) — For interactive systems + Response time: respond to request quickly + Proportionality: meet users” expectations Scheduling * The Goal of scheduling algorithm (continued) —For real-time systems + Meeting deadlines Dagmawi Lemma - AAU 2018 16CoSc 6016 - Real Time and Embedded systems Scheduling + Scheduling in Batch Systems — First-come first-served + Applicable in batch systems + Non-preemptive + Basically uses single ready queue ~ Processes that are changing state from blocked to ready are treated as newly arrived jobs, so put on the end of the queue + Easy to program + What if] process has un-proportioned compute and 1/0 bound? Scheduling * Scheduling in Batch Systems (continued) — Shortest jobs first * Applicable in batch systems + Non-preemptive + Assumes runtime in advance * All jobs shall be available simultaneously ae AA a [efe}o alclo] a ® » Dagmawi Lemma - AAU 2018 5/31/2019 17CoSc 6016 - Real Time and Embedded systems Scheduling * Scheduling in Batch Systems (continued) — Shortest remaining time next + Applicable in batch systems + Preemptive version of SJF + Assumes runtime in advance Scheduling * Scheduling in Batch Systems (continued) 1ree-level scheduling + Batch system allows scheduling at three different levels 2 ory andl disk (virtual memory) ~ Level 3 Running [oro 0 J Dagmawi Lemma - AAU 2018 5/31/2019 18CoSc 6016 - Real Time and Embedded systems Scheduling * Scheduling in Interactive Systems —Round-robin scheduling Priority scheduling — Multiple queues — Shortest process next — Guaranteed scheduling Lottery scheduling —Fair-share scheduling Scheduling Scheduling in Interactive Systems (continued) — Round-robin scheduling * CPU is scheduled when a process ~ Useditsqumtan Pocket Ext + Whatshould be the length of the quantum? quantum => high overhead yantum => low response time The other option s setting the quantum greater than the average CPL te aoe . peepee eee [EHEHE} ] fHEHaHe] wt Dagmawi Lemma - AAU 2018 5/31/2019 19CoSc 6016 - Real Time and Embedded systems Scheduling * Scheduling in Interactive Systems (continued) — Priority scheduling + Fach process is assigned a priority + Preventing high-priority process from running indefinitely ~ Dropping the priority at cach clock eysle = Using variable quantum length » Longer quantum = higher priority » Shorter quantum = low priority Scheduling * Scheduling in Interactive Systems (continued) — Multiple queues Queue unable processes teaders 0 en Ponty & (Highest priority) Proity 3 Prony 2 Proty 1 (Lowest pony) Dagmawi Lemma - AAU 2018 5/31/2019 20CoSc 6016 - Real Time and Embedded Systems Scheduling * Scheduling in Interactive Systems (continued) — Shortest process next * Similar to SIF + Estimating the process length based on past behavior — Updating the estimated time by using weighted average eg aly + (-a)T, 7 Ty2tT 2 Ty4+T, 447, 2 Ty /8+ Ty B+ Ty A+ Ty 2 Scheduling * Scheduling in Interactive Systems (continued) — Guaranteed Scheduling + Distributing CPU share equally among proc — How to use its share is upto the process ~ Ie there are m processes then each process as 1in share ofthe cpu + The CPU share shall be periodically adjusted to assign CPU share for new processes + What would be the problem of this approach? (Assignment — discuss the pros and cons of this algorithm) Dagmawi Lemma - AAU 2018 5/31/2019 21CoSc 6016 - Real Time and Embedded Systems Scheduling * Scheduling in Interactive Systems (continued) —Lottery Scheduling + Each process is assigned with a unique number (lottery ticket) and the scheduler pick either of the assigned numbers randomly + Process can be assigned with more numbers to increase their chance + Processes can collaborate by sharing their ticket — Aprocess that is entering its /O block can give all its process to other process with which it wants to collaborate Scheduling * Scheduling in Interactive Systems (continued) —Fair-Share Scheduling + What if the number of processes initiated by different users vary? + The scheduling is based on the share of users and each user’s processes can be scheduled in the allotted CPU share time Dagmawi Lemma - AAU 2018 5/31/2019 22