PROCEEDINGS OF OSPERT 2017 the 13th Annual Workshop on Operating Systems Platforms for Embedded Real-Time Applications June 27th, 2017 in Duprovnik, Kings Landing, Croatia in conjunction with the 29th Euromicro Conference on Real-Time Systems June 27–30, 2017, Duprovnik, Croatia Editors: Marcus VOLP¨ Heechul YUN Contents Message from the Chairs 3 Program Committee 3 Keynote Talks 5 Session 1: The thing called RTOS7 Shared Resource Partitioning in an RTOS Eunji Pak, Donghyouk Lim, Young-Mok Ha and Taeho Kim ...................7 Look Mum, no VM Exits! (Almost) Ralf Ramsauer, Jan Kiszka, Daniel Lohmann and Wolfgang Mauerer .............. 13 Predictable Low-Latency Interrupt Response with General-Purpose Systems Adam Lackorzynski, Carsten Weinhold and Hermann Hartig¨ .................. 19 Migration of Components and Processes as means for dynamic Reconfiguration in Distributed Embed- ded Real-Time Operating Systems Sebastian Eckl, Daniel Krefft and Uwe Baumgarten ....................... 25 Session 2: Memory and the other thing 29 Network and Memory Bandwidth Regulation in a Soft Real-Time Healthcare Application Miltos Grammatikakis, George Tsamis, Polydoros Petrakis, Angelos Mouzakitis and Marcello Coppola .............................................. 29 Hypervisor Feedback Control of Mixed Critical Systems: the XtratuM Approach Alfons Crespo, Angel Soriano, Patricia Balbastre, Javier Coronel, Daniel Gracia and Philippe Bonnot ............................................... 35 A Co-Designed RTOS and MCU Concept for Dynamically Composed Embedded Systems Renata Martins Gomes, Marcel Baunach, Maja Malenko, Leandro Batista Ribeiro and Fabian Mauroner ............................................. 41 Inferring the Scheduling Policies of an Embedded CUDA GPU Nathan Otterness, Ming Yang, Tanya Amert, James Anderson and F. Donelson Smith ..... 47 Session 3: Oh no, I got synch’ed 53 Implementation and Evaluation of Multiprocessor Resource Synchronization Protocol (MrsP) on LITMUSRT Junjie Shi, Kuan-Hsun Chen, Shuai Zhao, Wen-Hung Huang, Jian-Jia Chen and Andy Wellings 53 What are you Waiting for – Removing Blocking Time from High Priority Jobs through Hardware Transactional Memory Benjamin Engel and Claude-Joachim Hamann .......................... 59 Program 66 © Copyright 2017 University of Luxembourg. All rights reserved. The copyright of this collection is with University of Luxembourg. The copyright of the individual articles remains with their authors. Message from the Chairs Welcome to Duprovnik, Croatia, welcome to Kings Landing, and welcome to OSPERT’17, the 13th annual workshop on Operating Systems Platforms for Embedded Real-Time Applications. We invite you to join us in participating in a workshop of lively discussions, exchanging ideas about systems issues related to real-time and embedded systems. The workshop received a total of thirteen submissions, one of which was in the short-paper format. All papers were peer-reviewed and ten papers were finally accepted. Each paper received four individual reviews. The papers will be presented in three sessions. The first session includes four papers on real-time operating systems. Four interesting papers on memory and feedback control will be presented in Session 2, while the third session will present three compelling papers addressing topics in synchonization. This year, we have two interesting keynotes by Dr. Moritz Neukirchner and Prof. Dr. Sergio Montenegro. Moritz will share with us his insights on the future of the automotive software infrastructure whereas Sergio will take us into space to tell us about space vehicles and how they are programmed. OSPERT’17 would not have been possible without the support of many people. The first thanks are due to Martina Maggio, Marko Bertogna and Gerhard Fohler and the ECRTS steering committee for entrusting us with organizing OSPERT’17, and for their continued support of the workshop. We would also like to thank the chairs of prior editions of the workshop who shaped OSPERT and let it grow into the successful event that it is today. Our special thanks go to the program committee, a team of twelf experts from six different countries, for volunteering their time and effort to provide useful feedback to the authors, and of course to all the authors for their contributions and hard work. Last, but not least, we thank you, the audience, for your participation. Through your stimulating questions and lively interest you help to define and improve OSPERT. We hope you will enjoy this day. The Workshop Chairs, Marcus Volp¨ Heechul Yun University of Luxembourg University of Kansas Luxembourg USA Program Committee Andrea Bastoni, SYSGO AG Reinder J. Bril, Eindhoven University of Technology Aaron Carroll Apple Juri Lelli ARM Shinpei Kato Nagoya University Hyoseung Kim University of California Riverside Guiseppe Lipari Scuola Superiore Sant’Anna Daniel Lohmann Leibniz Universitat¨ Hannover Mitra Nasri MPI Software Systems KyoungSoo Park KAIST Harini Ramaprasad UNC Charlotte Rich West Boston University 3 Keynote Talks The Future of Automotive Software Infrastructure – Building adaptive dependable systems Dr. Moritz Neukirchner Elektrobit Automotive GmbH The automotive industry is undergoing significant change in the way software is structured, developed and maintained throughout its lifecycle. The industry trends of autonomous driving, of open connectivity and of electrification of vehicles call for platforms that provide enhanced compute power at lower hardware complexity, while ensuring safe and secure operation and providing capabilities to easily and remotely change software after deployment of the vehicle. This talk gives an overview of software architectures for next-generation vehicles that enable adaptive and dependable software systems. Dr. Moritz Neukirchner is a senior expert and lead architect for the AutoCore (Classic AUTOSAR) and AdaptiveCore (Adaptive AUTOSAR) development at Elektrobit Automotive GmbH. His responsibilities include the definition of overall architectural concepts for in-vehicle software infrastructure. He received his Diploma and Ph.D. (both with distinction) in electrical engineering from the Technische Universitat¨ Braunschweig working in timing analysis and runtime support for safety-critical real-time systems. How to program space vehicles? Make it simple! Prof. Sergio Montenegro Aerospace Information Technology, Universitat¨ Wurzburg¨ Prof. Montenegro has coordinated over 100 research projects in Fraunhofer Institute FIRST, he has headed the Department for Avionics Systems of the DLR Institute for Space Systems in Bremen and now holds the chair of Aerospace Information Technology at University of Wurzburg.¨ His research interests include dependable real- time distributed control systems, specially for aerospace applications. His group has developed and maintains the real time operating system RODOS, including its Middleware, which provides transparent communication between software and hardware modules (It is implemented in hardware too), between modules running in the same computer, or on different computers in the same satellite/UAV, or between modules (applications) running on different satellites/UAVs and even between satellites/UAVs applications and ground segment applications. RODOS is already running on several satellites and UAVs now in orbit and some others which will fly soon. Now Prof. Montenegro and his group is moving the same concepts to drones (UAVs) and networks of UAVs and even to under water autonomous vehicles and for Beehives monitorig. 5 Shared Resource Partitioning in an RTOS Eunji Pak∗ Donghyouk Lim‡ Young-Mok Ha∗ Taeho Kim∗ Electronics and Telecommunications Research Institute (ETRI) pakeunji, ymha, taehokim @etri.re.kr ∗ { } ‡ RTST [email protected] Abstract—This paper presents a comprehensive shared re- II. BACKGROUND source partitioning implementation on an real-time operating system (RTOS), Qplus-AIR. We also report the challenges when A. Qplus-AIR integrating multiple resource partitioning mechanisms and con- sideration while implementing those mechanisms on an RTOS Qplus-AIR [12] is a ARINC653 compliant RTOS, devel- that has a different structure from general-purpose operating oped by ETRI and commercialized by its spin-off company systems. With the support of resource isolation of the RTOS, we can host multiple applications simultaneously on a single system RTST, for safety-critical systems. It has a certifiable package without considering the mutual influences among the applications for DO-178B level A, the highest design assurance level for and timing variability caused by shared resource contention. avionics safety. Qplus-AIR complies with ARINC653 [1], the avionics software runtime specification that requires spatial and tem- I. INTRODUCTION poral isolation between simultaneously executing avionics applications. As a result, multiple applications with various safety-critical levels can be deployed on one system, and In multicore platforms, contention for shared hardware can be executed independently without affecting each other. resources is the major source of timing variability, which is ARINC653 support in Qplus-AIR is implemented in the kernel highly undesirable for real-time systems [15], [20]. Therefore, level as a lightweight RTOS. an RTOS must deal with the resource contention properly Since the first release, Qplus-AIR has been deployed to so that the worst-case execution time (WCET) of tasks stays various safety-critical industrial applications: flight control guaranteed and