Improving the schedulability of soft real-time open dynamic systems: The inheritor is actually a debtor

This paper presents the Clearing Fund Protocol, a three layered protocol designed to schedule soft real-time sets of precedence related tasks with shared resources. These sets are processed in an open dynamic environment. Open because new applications may enter the system at any time and dynamic because the schedulability is tested on-line as tasks request admission. Top-down, the three layers are the Clearing Fund, the Bandwidth Inheritance and two versions of the Constant Bandwidth Server algorithms. Bandwidth Inheritance applies a priority inheritance mechanism to the Constant Bandwidth Server. However, a serious drawback is its unfairness. In fact, a task executing in a server can potentially steal the bandwidth of another server without paying any penalty. The main idea of the Clearing Fund Algorithm is to keep track of processor-time debts contracted by lower priority tasks that block higher priority ones and are executed in the higher priority servers by having inherited the higher priority. The proposed algorithm reduces the undesirable effects of those priority inversions because the blocked task can finish its execution in its own server or in the server of the blocking task, whichever has the nearest deadline. If demanded, debts are paid back in that way. Inheritors are therefore debtors. Moreover, at certain instants in time, all existing debts may be waived and the servers are reset making a clear restart of the system. The Clearing Fund Protocol showed definite better performances when evaluated by simulations against Bandwidth Inheritance, the protocol it tries to improve. (c) 2007 Elsevier Inc. All rights reserved.