Abstract
This paper presents Boomerang, an I/O system that integrates a legacy non-real-time OS with one that is customized for timing-sensitive tasks. A relatively small RTOS benefits from the pre-existing libraries, drivers and services of the legacy system. Additionally, timing-critical tasks are isolated from less critical tasks by securely partitioning machine resources among the separate OSes. Boomerang guarantees end-to-end processing delays on input data that requires outputs to be generated within specific time bounds. We show how to construct composable task pipelines in Boomerang that combine functionality spanning a custom RTOS and a legacy Linux system. By dedicating time-critical I/O to the RTOS, we ensure that complementary services provided by Linux are sufficiently predictable to meet end-to-end service guarantees. While Boomerang benefits from spatial isolation, it also outperforms a standalone Linux system using deadline-based CPU reservations for pipeline tasks. We also show how Boomerang outperforms a virtualized system called ACRN, designed for automotive systems.
Comment: This paper is now accepted for publication in Proceedings of the 26th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS), Sydney, Australia, April 21-24, 2020
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Published on 01/01/2019
Volume 2019, 2019
DOI: 10.1109/rtas48715.2020.00013
Licence: CC BY-NC-SA license
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