Scheduling Sporadic Tasks with Shared Resources in Hard-Real-Time Systems

The problem of scheduling a set of sporadic tasks that share a set of serially reusable, single unit software resources on a single processor is considered. The correctness conditions are that: each invocation of each task completes execution at or before a well-defined deadline; and a resource is never accessed by more than one task simultaneously. An optimal online algorithm for scheduling a set of sporadic tasks is presented. The algorithm results from the integration of a synchronization scheme for access to shared resources with the earliest deadline first algorithm. A set of relations on task parameters that are necessary and sufficient for a set of tasks to be schedulable is also derived. The proposed model for the analysis of processor scheduling policies is novel in that it incorporates minimum as well as maximum processing time requirements of tasks. The scheduling algorithm and the sporadic tasking model have been incorporated into an operating system kernel and used to implement several real-time systems. >