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Doctoral Thesis 2017 Adding Fault Tolerance to A DOCTORAL THESIS 2017 ADDING FAULT TOLERANCE TO A FLEXIBLE REAL-TIME ETHERNET NETWORK FOR EMBEDDED SYSTEMS David Gessner DOCTORAL THESIS 2017 Doctoral Programme of Information and Communications Technology ADDING FAULT TOLERANCE TO A FLEXIBLE REAL-TIME ETHERNET NETWORK FOR EMBEDDED SYSTEMS David Gessner Thesis Supervisor: Dr. Julián Proenza Thesis Supervisor: Dr. Manuel Barranco Thesis Tutor: Dr. Julián Proenza Doctor by the Universitat de les Illes Balears Statement of Authorship This thesis has been submitted to the Exwla d: Daclorut, Uni verxilat de (e: 1112: Rattan. in fulfilment of the requiremean for the degree of Ductor en Teena/051a: dc Ia Informaciafn y [as Comunicaciontsr I hereby declare that, except where specihc reference is made to the work of others. the content of this dissertation is entirely my own work, describes my own research and has not been submitted in whole or in part for consideration for any other degree or qualification in this. or any other university David Gessner Palma de Mallorca. September 2017 Supervisors’ Agreement lulién Proenza, PhD. in Computer Science and Profesar Titulur tie Univzrridad at the Department of Mathematics and Computer Science. Universitat de 1e: Ills: Balenrs and Manuel Emma. PhD. in Computer Science and meexor Contmtado Doctor of the same department DECLARE that the thesis titled Adding fault tolerance 10 a flexible real-lime Ethernet network for embedded xylem. presented by David Gessner to obtain the degree of Doctor en Teenalaglas de la Informaeidn y la: Comunicacianes‘ has been completed under our supervision and meets the requirements to opt for an International Doctorate For all intents and purposes. we hereby sign this document. 2 Hay-wk [32an ,0, Dr. lién ProenuArenas Dr. Manuel Alejandro Barranco Gonzélez Palma de Mallorca, September 2017 Abstract Distributed embedded systems consist of a set of computing nodes that cooperate to achieve a common goal within a larger physical system. In modern societies they are ubiquitous. Among other places we find them in aircraft, cars, trains, factories, chemical plants, power plants, human-made satellites, space probes, household appliances, and medical equipment. Wherever we find a distributed embedded system, and whatever it does, its nodes must collaborate to achieve a common goal. For example, the nodes in a car collaborate to ensure a safe and comfortable journey and the nodes in a factory collaborate to manufacture a given product. Collaboration calls for a means of communication: a communication subsystem or network that allows nodes to exchange messages among themselves. These messages must be exchanged on time. Distributed embedded systems interact with physical environments that progress inexorably and do not wait. This means that the network must support real-time communication; that is, messages must be exchanged before specified instants of time, called deadlines. For this task, Ethernet has traditionally been unsuitable. It could not provide real-time guarantees. But this has changed thanks to the development of new Ethernet-based protocols. Among them, the ones based on the Flexible Time- Triggered (FTT) communication paradigm stand out because of their flexibility: they can guarantee the timely delivery of messages even if the real-time parameters of messages change at runtime. For instance, deadlines, transmission times, periods, and minimum interarrival times of messages are all allowed to change at runtime. Despite their advantages, current Ethernet versions of FTT can only meet real- time requirements in the absence of faults. But this is unacceptable in many of the domains where distributed embedded systems are deployed, such as critical subsystems in avionics or cars. Faults do occur and they have to be dealt with for the system to be reliable. In this dissertation we deal with such faults. We show that FTT, using Ethernet i ii as the underlying technology, can be made fault tolerant, and that this can be done without sacrificing the real-time guarantees or flexibility that the FTT paradigm provides. Why is this important? Because it opens up the possibility of using high-bandwidth and inexpensive Ethernet in future distributed embedded systems that must simultaneously be fault-tolerant, flexible, and real-time. As to how we show that FTT over Ethernet can be made fault tolerant while preserving its flexibility and hard real-time guarantees, we present a novel commu- nication subsystem that proves the point. In particular, we design such a communi- cation subsystem and show its feasibility by means of a series of proof-of-concept prototypes. The novel communication subsystem, called Flexible Time-Triggered Repli- cated Star for Ethernet (FTTRS), is based on Hard Real-Time Ethernet Switching (HaRTES), which is a switched Ethernet implementation of the FTT paradigm. Specifically, FTTRS addresses the vulnerabilities of HaRTES: it eliminates the single points of failure of HaRTES by replicating critical components, it ensures the replica determinism of these replicated components, it restricts the failure se- mantics of the components as necessary, and it makes message exchanges capable of tolerating transient channel faults, all the while maintaining the flexibility and real-time guarantees of the FTT paradigm. Abstract in Spanish Un sistema empotrado distribuido consiste en un conjunto de nodos computacionales que cooperan para alcanzar un objetivo común dentro de un sistema físico más grande. En las sociedades modernas podemos encontrar estos sistemas por todos la- dos: en aviones, coches y trenes; en fábricas, plantas químicas y centrales eléctricas; en satélites artificiales y sondas espaciales; en aparatos domésticos y en equipos médicos; y en muchos otros sistemas. Sea donde sea que los encontremos, e independientemente de lo que hagan, los nodos de un sistema empotrado distribuido deben colaborar para alcanzar un obje- tivo común. Así por ejemplo los nodos de un coche colaboran para asegurar un viaje seguro y agradable y los nodos en una fábrica colaboran para fabricar un producto. Como la colaboración requiere de comunicación, los sistemas empotrados distribui- dos necesitan un subsistema de comunicación o red que permita el intercambio de mensajes entre nodos. Estos mensajes deben ser intercambiados a tiempo ya que los sistemas empotrados distribuidos interactúan con entornos físicos que avanzan de forma inexorable y no esperan. Eso significa que la red debe dar soporte a la comunicación en tiempo real; es decir, los mensajes deben ser intercambiados antes de instantes de tiempo preestablecidos, llamados plazos temporales. Para este tipo de comunicación, Ethernet ha sido tradicionalmente inadecuado ya que no podía proporcionar garantías de tiempo real. Pero esto ha cambiado gracias a nuevos protocols basados en Ethernet. Entre ellos destacan por su flexibilidad los que se basan en el paradigma de comunicación FTT (flexible time-triggered). La propiedad clave de FTT es que puede garantizar la entrega a tiempo de mensajes incluso si los parámetros de tiempo real cambian durante la ejecución del sistema. Mientras se ejecuta el sistema, tanto los plazos temporales como los tiempos de transmisión, los periodos y los tiempos mínimos entre llegadas de los mensajes pueden cambiar. A pesar de sus ventajas, las versiones de FTT actuales para Ethernet sólo sa- iii iv tisfacen los requisitos de tiempo real si no hay fallos ni averías de componentes. Desafortunadamente esto hace que sean inadecuadas para muchas aplicaciones en las cuales se usan sistemas empotrados distribuidos, como por ejemplo los subsis- temas críticos de aviones y automóviles. Al fin y al cabo, en la realidad, fallos sí que ocurren y hay que tratarlos para que el sistema sea fiable. En esta tesis demostramos que FTT basado en Ethernet puede ser modificado para ser tolerante a fallos y que esto se puede hacer sin sacrificar las garantías de tiempo real o la flexibilidad que el paradigma FTT proporciona. Esto abre la posibilidad de usar Ethernet, con su bajo coste y alto ancho de banda, en futuros sistemas empotrados distribuidos que deben ser tolerantes a fallos, flexibles y a la vez de tiempo real. Establecemos la veracidad de que FTT sobre Ethernet puede hacerse tolerante a fallos (preservando su flexibilidad y garantías de tiempo real) mediante un nove- doso subsistema de comunicación que lo demuestra. En particular, diseñamos tal subsistema de comunicación y demostramos su factibilidad mediante una serie de prototipos de prueba de concepto. El nuevo subsistema de comunicación, denominado Flexible Time-Triggered Replicated Star for Ethernet (FTTRS), se basa en Hard Real-Time Ethernet Switch- ing (HaRTES), que es una implementación en Ethernet conmutado del paradigma FTT. En concreto, FTTRS trata las vulnerabilidades de HaRTES: elimina los pun- tos únicos de avería de HaRTES mediante la replicación de componentes críticos, garantiza el determinismo de réplica de estos componentes replicados, restringe la semántica de averías de los componentes según sea necesario, y hace que los intercambios de mensaje sean capaces de tolerar fallos transitorios de canal, todo ello manteniendo la flexibilidad y las garantías de tiempo real del paradigma FTT. Abstract in Catalan Un sistema encastat distribuït consisteix en un conjunt de nodes computacionals que cooperen per aconseguir un objectiu comú dins d’un sistema físic més gran. En les societats modernes podem trobar aquests sistemes per tots costats: en avions, cotxes i trens; en fàbriques, plantes químiques i centrals
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