analysis (ii) modular performance analysis (real-time ... · acm trans. embed. comput. syst.,...
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Kai Huang
Analysis (II) Modular Performance Analysis
(Real-Time Calculus)
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Timing analysis in general
Real-Time Calculus
MPA
1/2/2014 Kai.Huang@tum 2
Outline
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Timing Analysis Overview
R. Wilhelm, J. Engblom, A. Ermedahl, N. Holsti, S. Thesing, D. Whalley, G. Bernat, C. Ferdinand, R. Heckmann, T. Mitra, F. Mueller, I. Puaut, P. Puschner, J. Staschulat, and P. Stenstr om. The worst-case execution-time problem—overview of methods and survey of tools. ACM Trans. Embed. Comput. Syst., 7(3):1–53, 2008
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Formal Analysis vs. Simulation
e.g. delay
Real System Simulation Formal analysis
Best-Case
Worst-Case upper bound
lower bound
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Analysis and Design
Analysis: Infer system properties from subsystem properties.
Design: Build a system from subsystems while meeting requirements.
Embedded System = Computation + Communication + Resource Interaction
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Modular Performance Analysis
Service Model (Resources)
Load Model (Environment)
Performance Model
Processing Model (HW/SW)
Analysis
Analysis Results
Input traces
Formal specification
System Model
Application Architecture
Mapping Scheduling
UML sequence diagrams
Task graphs UML/SysML
diagrams
Formal specification
Component simulation
Measure- ments
Data sheets
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Abstract Models for Performance Analysis
Concrete Instance
Abstract Representation
Processor
Task
Input Stream
Service Model
Load Model
Processing Model
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Modular System Composition CPU BUS DSP
RM TDMA
GPC GPC
GPC GPC
GPC GSC
TDMA
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Abstract Models for Performance Analysis
Concrete Instance
Abstract Representation
Processor
Task
Input Stream R(t) R’(t)
C(t)
Service Model
Load Model
Processing Model ()
()
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Timing analysis in general
Real-Time Calculus
MPA
1/2/2014 Kai.Huang@tum 10
Outline
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Event Stream Model: Arrival Curves
4
2 3
time [ms]
events Event Stream
maximum / minimum arriving demand in any interval of length 2.5 ms
2.5
Arrival Curve demand
interval [ms] 2.5
number of events in in t=[0 .. 2.5] ms
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Service Model (Resources)
t [ms]
availability
Resource Availability
maximum/minimum available service in any interval of length 2.5 ms
available service in t=[0 .. 2.5] ms
2.5
Service Curves service
D [ms] 2.5
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A common event pattern that is used in literature can be specified by the parameter triple (p, j, d), where p denotes the period, j the jitter, and d the minimum inter-arrival distance of events in the modeled stream.
Example 1: Event Arrival Model
periodic
p
periodic jitter
p j d
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Example 1: Periodic (with Jitter)
periodic periodic with jitter
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Example 1: (p, J, d) model
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Consider a real-time system consisting of n applications that are executed on a resource with bandwidth B that controls resource access using a TDMA policy.
Analogously, we could consider a distributed system with n communicating nodes, that communicate via a shared bus with bandwidth B, with a bus arbitrator that implements a TDMA policy.
TDMA policy: In every TDMA cycle of length , one single resource slot of length si is assigned to application i.
Example 2: TDMA Resource
c c
appl.1 appl.2 appl. n appl.1 appl.2 appl. n
sn
... ...
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Service curves available to the applications / node i:
Example 2: TDMA Resource
B si
c si c-si c 2
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Event and Resource Models
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Examples: o computation (event – task instance, resource –
computing resource [tasks/second]) o communication (event – data packet, resource –
bandwidth [packets/second])
Greedy Processing Component (GPC)
remaining resources
FIFO buffer input event
stream
output event
stream
available resources
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Behavioral Description o Component is triggered by
incoming events.
o A fully preemptable task is instantiated at every event arrival to process the incoming event.
o Active tasks are processed in a greedy fashion in FIFO order.
o Processing is restricted by the availability of resources.
Greedy Processing Component
GPC
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Greedy Processing Component (GPC)
Conservation Laws
GPC R(t)
C(t)
R’(t)
C’(t) t
C(t)
R(t)
R’(t)
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For all times u t we have R’(u) R(u) (conservation law). We also have R’(t) R’(u)+C(t)–C(u) as the output can not
be larger than the available resources. Combining both statements yields R’(t) R(u) + C(t) –
C(u).
Let us suppose that u* is the last time before t with an empty buffer. We have R(u*) = R’(u*) at u* and also R’(t) = R’(u*) + C(t) – C(u*) as all available resources are used to produce output. Therefore, R’(t) = R(u*) + C(t) – C(u*).
As a result, we obtain
Greedy Processing
t u*
B(t)
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Abstract Models for Performance Analysis
Concrete Instance
Abstract Representation
Processor
Task
Input Stream R(t) R’(t)
C(t)
Service Model
Load Model
Processing Model ()
()
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Abstraction
time domain cumulative functions
time-interval domain variability curves
GPC GPC
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is called min-plus convolution
is called min-plus de-convolution
For max-plus convolution and de-convolution:
Relation between convolution and deconvolution
»
Some Definitions and Relations
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The arrival and service curves provide bounds on event and resource functions as follows:
We can determine valid variability curves from cumulative functions as follows:
One proof:
Arrival and Service Curve
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Abstraction
time domain cumulative functions
time-interval domain variability curves
GPC GPC
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The output stream of a component satisfies:
The output upper arrival curve of a component satisfies:
The remaining lower service curve of a component satisfies:
The Most Simple Relations
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Two Sample Proofs
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The greedy processing component transforms the variability curves as follows:
Tighter Bounds
Without proof ... .
[al, au]
[bl, bu]
[bl’, bu’]
[al’, au’]
GPC
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Backlog & Delay Schedulability Close-form solution Modular and composition
Performance Analysis Based on Arrival Curves
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Delay and Backlog
maximum delay D
maximum backlog B
l
u
[al, au]
[bl, bu]
[bl’, bu’]
[al’, au’] GPC
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Proof of Backlog Bound
maximum backlog B
l
u
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Timing analysis in general
Real-Time Calculus
Modular Performance Analysis
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Outline
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System Composition CPU BUS DSP
GPC GPC
GPC GPC
GPC
How to inter- connect service?
RM TDMA
Scheduling!
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Scheduling and Arbitration
FP/RM
GPC
GPC
EDF
EDF
RR
RR
GPS
GPC
GPC
sum
share
TDMA
GPC
GPC
TDMA
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New HW behavior New SW behavior New scheduling scheme ...
Extending the Framework
’
’
RTC
This is the hard part…!
Find new relations:
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Wave Field Synthesis Example
Analysis model System view
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Duration of Analysis Model Generation and Calibration
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Wave Field Synthesis Example