RT#Xen:(Real#Time( Virtualiza2on(for(the(Cloud( Chenyang(Lu( Cyber-Physical(Systems(Laboratory( Department(of(Computer(Science(and(Engineering(
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1 RT#Xen:(Real#Time( Virtualiza2on(for(the(Cloud( Chenyang(Lu( Cyber-Physical(Systems(Laboratory( Department(of(Computer(Science(and(Engineering(
2 Real#Time(Virtualiza2on(! Cars are becoming real-time mini-clouds!! " Consolidate 100 ECUs # 10 multicore processors.! " Integrate multiple vendors systems # common platforms.! " Must preserve real-time guarantees on a virtualized platform!!! Internet of Things # Cyber-Physical Systems! " Smart manufacturing, smart transportation, smart grid.! " Internet-scale sensing and control # real-time cloud computing.!! Cloud gaming! " Xbox One: cloud offloading computation of environmental elements! " Sony acquired Gaikai, an open cloud gaming platform.! 5/9/14( 1(
![Virtualiza2on(is(not(real#2me(today(! Existing hypervisors provide no guarantee on latency! " Xen: credit scheduler, [credit, cap]! " VMware ESXi: [reservation, share, limitation]!](/docs-images/87/95385250/images/3-4.jpg "\" Microsoft Hyper-V: [reserve, weight, limit]!!!! Public clouds lack service level agreement on latency! \" EC2, Compute Engine, Azure: #VCPUs!")
3 Virtualiza2on(is(not(real#2me(today(! Existing hypervisors provide no guarantee on latency! " Xen: credit scheduler, [credit, cap]! " VMware ESXi: [reservation, share, limitation]! " Microsoft Hyper-V: [reserve, weight, limit]!!!! Public clouds lack service level agreement on latency! " EC2, Compute Engine, Azure: #VCPUs! Current platforms provision CPU resources, not real-time performance! 5/9/14( 2(
4 Challenges(! Support real-time applications in a virtualized environment.! " Latency guarantees to tasks running in virtual machines (VMs).! " Real-time performance isolation between VMs.!! Real-time performance provisioning at different levels! " Virtualization within a host! " Communication and I/O! " Cloud resource management! 5/9/14( 3(
5 RT#Xen(! Real-time hypervisor based on Xen! " Real-time VM scheduling! " Real-time communication!! Build on compositional scheduling theory! " VMs specify resource interfaces! " Real-time guarantees to tasks in VMs!! Open source! " Xen patch in progress!! RT-OpenStack: cloud management based on RT-Xen! 5/9/14! 4!
6 Xen(Virtualiza2on(Architecture(! Xen: type-1, baremetal hypervisor! " Domain-0: drivers, tool stack to control VMs.! " Guest Domain: para-virtualized or fully virtualized OS.!! Xen scheduler! " Guest OS runs on VCPUs.! " Xen schedules VCPUs on PCPUs.! " Credit scheduler: round-robin with proportional share.! Real-Time(Task( VCPU( OS Sched OS Sched OS Sched Xen Scheduler PCPUs 5/9/14( 5(
7 Composi2onal(Scheduling(! Analytical real-time guarantees to tasks running in VMs.!! VM resource interfaces! " Hides task-specific information! " Multicore: <period, budget, #VCPU>! " Computed based on compositional scheduling analysis! Hypervisor Resource Interface Scheduler Resource Interface Scheduler Workload Resource Interface Scheduler Workload Virtual Machines 5/9/14( 6(
8 Real#Time(Scheduling(Policies(! Priority schemes! " Static priority: Rate Monotonic! " Dynamic priority: Earliest Deadline First (EDF)!! Multi-core! " Global scheduling: allow VCPU migration across cores! " Partitioned scheduling: bound VCPUs to cores! 5/9/14( 7(
9 Scheduling(VM(as( Server ( T2((5,(3)( T1((5,(3)( 0( 5( 10( 15( Kme( Periodic( Server( (5,3)( Budget( 0( 5( 10( 15( Kme( Deferrable( Server( (5,3)( Budget( 0( 5( 10( 15( back-to-back( Kme( 5/9/14( 8(
10 RT#Xen:(Real#Time(Scheduling(in(Xen(! Single-core!!!!RT-Xen 1.0!! Single-core enhanced!rt-xen 1.1!! Multi-core scheduling!rt-xen 2.0! " RT-global! " RT-partition! Fixed(Priority( (RM)( Capacity( Reclaiming( Periodic( Work( Conserving( Periodic( Polling( Deferrable( Periodic( Periodic( Deferrable( Sporadic( Global(( Scheduling( Deferrable( Periodic( Periodic( Deferrable( ParKKoned( Scheduling( Dynamic(Priority( (EDF)( 5/9/14( 9(
11 Experimental(Setup(! Hardware: Intel i7 processor, 6 cores, 3.33 GHz! " Allocate 1 VCPU for Domain-0, pinned to PCPU 0! " All guest VMs use the remaining cores! " Software! " Xen 4.3 patched with RT-Xen! " Guest OS: Linux patched with LITMUS!! Workload! " Period tasks: synthetic, ARINC 653 avionics workload (RT-Xen 1.1)! " Allocate tasks # VMs! 5/9/14( 10!
12 RT#Xen(2.0:(Credit(Scheduler(( Credit misses deadlines at 22%/CPU utilization.! RT-Xen delivers real-time performance at 78%/CPU utilization.! 5/9/14( 11(
13 RT#Xen(2.0:(Scheduling(Overhead$ rt-global has extra overhead due to global lock.! Credit has poor max overhead due to load balancing.! 5/9/14( 12!
14 RT#Xen(2.0:(Theory(vs.(Experiments( Fraction of schedulable tasksets gedf (RT Xen) pedf (RT Xen) pedf (CSA Theory) gedf (CSA Theory) Task Set Utilization gedf > pedf empirically, thanks to work-conserving global scheduling.! gedf < pedf theoretically due to pessimistic analysis.! 5/9/14( 13(
15 RT#Xen(2.0:(Deferrable(vs.(Periodic( Work-conserving wins empirically!! Deferable Server (DS) > Periodic Server.! gedf+ds # best real-time performance.! 5/9/14( 14(
16 RT#Xen(2.0:(How(about(Cache?( pedf in guest OS! gedf > pedf for cache intensive workload.! Benefit of global scheduling dominates migration cost.! Shared cache mitigates cache penalty due to migration.! 5/9/14( 15(
17 Conclusion(! Diverse applications demand real-time virtualization and cloud.! " Embedded real-time systems! " Internet-scale cyber-physical systems! " Latency-sensitive cloud applications!! RT-Xen provides real-time performance and guarantees! " Efficient implementation of diverse real-time scheduling policies.! " Leverage compositional scheduling theory # analytical guarantee.! " Resource interface # systematic resource allocation for latency bounds.!! On-going! " Working on RT-Xen patch for Xen core distribution.! " RT-OpenStack: integration with OpenStack on the way.! 5/9/14( 16(
18 Check(out(RT#Xen( RT-Xen( hxps://sites.google.com/site/realkmexen/((! RT-Xen 1.0: S. Xi, J. Wilson, C. Lu, and C.D. Gill, RT-Xen: Towards Real-Time Hypervisor Scheduling in Xen, ACM International Conferences on Embedded Software (EMSOFT), 2011.!! RT-Xen 1.1: J. Lee, S. Xi, S. Chen, L.T.X. Phan, C. Gill, I. Lee, C. Lu and O. Sokolsky Realizing Compositional Scheduling through Virtualization, IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS), 2012!! RT-Xen 2.0: S. Xi, C. Lu, C. Gill, M. Xu, L.T.X. Phan, I. Lee, and O. Sokolsky, Real-Time Multi-Core Virtual Machine Scheduling in Xen, Washington University Technical Report, WUCSE !! inter-domain communication: S. Xi, C. Li, C. Lu, and C. Gill, Prioritizing Local Inter-Domain Communication in Xen, ACM/IEEE International Symposium on Quality of Service (IWQoS), 2013.! 5/9/14( 17!
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