View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Göteborgs universitets publikationer - e-publicering och e-arkiv Migrating from Proprietary RTOS to Embedded Linux: An Empirical Study Bachelor of Science Thesis Software Engineering and Management OSCAR MUCHOW DAVID USTARBOWSKI Department of Computer Science and Engineering CHALMERS UNIVERSITY OF TECHNOLOGY UNIVERSITY OF GOTHENBURG Göteborg, Sweden, June 2014 The Author grants to Chalmers University of Technology and University of Gothenburg the non-exclusive right to publish the Work electronically and in a non-commercial purpose make it accessible on the Internet. The Author warrants that he/she is the author to the Work, and warrants that the Work does not contain text, pictures or other material that violates copyright law. The Author shall, when transferring the rights of the Work to a third party (for example a publisher or a company), acknowledge the third party about this agreement. If the Author has signed a copyright agreement with a third party regarding the Work, the Author warrants hereby that he/she has obtained any necessary permission from this third party to let Chalmers University of Technology and University of Gothenburg store the Work electronically and make it accessible on the Internet. Migrating from Proprietary RTOS to Embedded Linux: An Empirical Study OSCAR MUCHOW DAVID USTARBOWSKI © OSCAR MUCHOW, June 2014. © DAVID USTARBOWSKI, June 2014. Examiner: HÅKAN BURDEN University of Gothenburg Chalmers University of Technology Department of Computer Science and Engineering SE-412 96 Göteborg Sweden Telephone + 46 (0)31-772 1000 Department of Computer Science and Engineering Göteborg, Sweden June 2014 Migrating from Proprietary RTOS to Embedded Linux: An Empirical Study Oscar Muchow and David Ustarbowski Department of Engineering and Computer Science, University of Gothenburg, Gothenburg - Sweden Abstract. Embedded systems and the open source operating system Linux are some things that has been going hand in hand for a long time now. Companies using Linux for their embedded products are praising it for being cost and time efficient when it comes to performance and maintainability. Another solution for embedded systems is a Real-Time Operating System (RTOS). The goal of this this paper was to investigate whether a traditional pro- prietary RTOS can be substituted with embedded Linux, and if this kind of migration can lead to reduced licensing costs and increased general quality of the system. We used a qualitative research method for this case-study. The investi- gation was conducted with interviews as the main source of information. The result of this study was an empirical model we named 'Embedded Linux Adoption Model'. We concluded that in many cases a proprietary RTOS can be substituted with embedded Linux without affecting the critical needs of the system. The study also showed that many embedded system developers are very receptive to open source solutions and could think of contributing to the community. Keywords: RTOS, Embedded Linux, Linux, Migration, Adoption 1 Introduction The use of embedded systems is a rapidly growing industry, resulting in chang- ing requirements for the market. There are many organizations that today use proprietary Real-Time Operating Systems (RTOS) for their products with high licensing costs as a side effect, some example products are smartphones, eleva- tors, dishwashers, door locks, and cars. A successful migration from an RTOS to embedded Linux can bring a lot of advantages for an organization; reduced licensing costs, increased maintainabil- ity, among others [13,31], especially for organizations that uses obsolete systems. A general problem in this kind of migration is about critical factors like execu- tion time and how they can be solved or substituted without affecting crucial aspects of the system [8]. RTOS has for a long time been seen as a critical component of embedded systems holding an extensive role for integrated circuits [14]. RTOS provide the abilities of structuring the system on hardware platforms and can be customized so it guarantees response to events within microseconds [14]. Linux does not have the same real-time performance but can in many cases be tailored to perform sufficiently for the intended task. Although, it is important to understand that the results of these customizations can vary from time to time, thus the timing performance of Linux can not be guaranteed. However, there are solutions that take care of this. By using Linux as a process in an RTOS hard real-time con- straints can be achieved. This gives hard real-time on the processes that needs it, and Linux, with all its advantages can be used on processes that do not need real-time pre-emption. There are trends showing that the market is interested in large scale software systems which most likely results in a limited amount of dominating RTOS [14]. With escalating complexity in systems and hardware platforms, and increasing demands for faster time-to-market, the need for general-purpose software plat- forms such as Linux became high [15]. Modern communication systems require advanced services which closed software systems cannot provide without addi- tional development [15]. This study was based on investigating the needs and challenges behind a possible migration. Also, we wanted to research on the opinions about open source solutions within different organizations that today use RTOS. The study was conducted according to the guidelines in [23]. As a part of the research, interviews were conducted together with relevant stakeholders or organization. The interview questions are based on the ISO/IEC 25010:2011 Product Quality Model [4] where the main points from this model suitable for embedded systems where taken into consideration when the interviews were conducted. Our goal with this paper was to find what perceived quality aspects needs to be taken into consideration when a possible migration from RTOS to embedded Linux is to be conducted. 2 Purpose of the Study The purpose of this case-study is to explore the possibilities of migrating from RTOS to embedded Linux and discover the challenges and advantages of such a migration. Today many organizations are using proprietary source RTOS, which gives the organization expensive licensing costs. This could be solved by introducing the open source operating system embedded Linux. We investigated the possibilities of migrating from RTOS to embedded Linux solutions to ascertain if there are any specific challenges with this kind of changes. Existing systems, needs, and cost should be taken into consideration when as- certaining if switching systems may be possible and worth conducting. The most important thing to have in mind when conducting a migration from RTOS to embedded Linux is, a standard Linux solution can not guarantee any response time, thus it is not a hard real-time system. The research questions we have decided to answer for this study is the fol- lowing: { RQ1: What are the perceived quality gains of migrating from RTOS to em- bedded Linux? { RQ2: In what cases are RTOS needed? This research will help to understand the possibilities and challenges that evolve from migrating from RTOS to Embedded Linux, which in turn will help to understand the quality trade-offs when comparing RTOS and embedded Linux. 3 Case Company Description This case study [23] was conducted in collaboration with HiQ [12]. Inquiry meth- ods include reflections on data elicited by existential investigation of different companies within a wide variety of sectors in the embedded software industry and investigation of existing research. 3.1 Collaboration Company HiQ G¨oteborg AB (which is a branch of HiQ International) is a consultant com- pany with over 300 specialists with expertise within fields such as software devel- opment, quality management, project management and business development, mobility and web development [12]. The branch of HiQ that we are collaborating with operates for a large variety of companies within the embedded industry. Their main goal is to sell competent staff to help companies with implemen- tation and development of embedded systems. HiQ provided us with contact information to different companies that we conducted our study on. These com- panies all develop different types of embedded systems, using both RTOS and embedded Linux. 3.2 Interview Companies Company 1 A large Swedish company within the Telecom domain, providing communication technology and services for Telecom operators. They have a large amount of products for different markets within the Telecom sector, and are all the time trying to shape the future in a rapid changing area of technology. The company has a total of over 110 000 employees globally. This company currently run both RTOS and embedded Linux in their products. Company 2 A medium size company within the Telecom domain, specialized in Mission-Critical Communication, focusing on developing wireless solutions for healthcare, penal system, retirement homes, hotels, and industries. The company has approximately 1 500 employees globally. They currently run both RTOS and embedded Linux in their products. Company 3 A medium size Swedish industrial appliance company within the industry domain known for their professional high quality products for welding and cutting. The company has around 8 000 employees globally. This company currently run an old RTOS solution and are discussing a possible migration to a solution with both RTOS and embedded Linux. Company 4 A large size worldwide Software development company focusing on developing solutions for the automotive industry. The whole corporation has a total of over 160 000 employees globally. This company has recently done a migration from RTOS to embedded Linux. 4 Background and Related Work There are different options when choosing what type of solution to run on an embedded system, where the simplest of these is a commercial distribution, this gives you a tested kernel as well as support and maintenance. Another option is to use a complete open source solution, this option is free to download and open source solutions are usually licensed under GPL [9].