Performance Evaluation of Real-time Mechanisms for Real-time Embedded Linux

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1 Journal of Institute of Control Robotics and Systems (0) 8(4): ISSN: eissn: Performance Evaluation of Real-time Mechanisms for Real-time Embedded Linux * (Jae-Hwan Koh and Byoung-Wook Choi) Seoul National University of Science and Technology Abstract: This paper presents performance evaluation of real-time mechanisms for real-time embedded linux First we presents process for implementing open-source real-time embedded linux namely and These are real-time extensions to linux kernel and we implemented real-time embedded linux over the latest linux kernel Measurements of executions of real-time mechanisms for each distribution are performed to give a quantitative comparison Performance evaluations are conducted in kernel space about repeatability of periodic task response time of Semaphore Mailbox and Message queue in terms of inter-task communication for each distribution These rules can be helpful for deciding which real-time linux extension should be used with respect to the requirements of the real-time applications Keywords: real-time embedded linux real-time mechanism ITC I 서론 (open-source project) RTLinux [6] (the Real-time Application Interface for Linux) [78] 996 DIAPM (Dipartimento di Ingegneria Aerospaziale Politecnico di Milano) Paolo Mantegazza RTLinux [] (Adaptive Domain Environment for Operating System) [9] ARM m68k i386 x86 PowerPC (Real-time Operating System) VxWorks Nucleus PLUS QNX LynxOS [] 005 [0-] ARM Blackfin Nios II i64 PowerPC x86 i386 [8] [3-5] * (Corresponding Author) : 0 9 : 0 9 : (go367@gmailcom/bwchoi@seoultechackr) : 0 8 Copyright ICROS 0

2 338 고 재 환 최 병 욱 (semaphore) (First-In First Out) (message queue) (mailbox) [3] (a) (b) Fig Real-time Embedded Linux Architecture [4-6] [] (b) [5] 비교 II IPC (Inter-Process Communication) III LXRT IV II services functions LXRT module module II 와 아키텍처 및 비교 분석 Inter-process communications 아키텍처 비교 Semaphores gcc-443 (real-time interface) (real-time development framework) Mailbox functions Message handling functions Remote procedure call functions Semaphore functions Unified real-time memory management mini LXRT tasklets module Native xeno_native [7] [9] 타스크 관리: Linux (a) 동기화 서비스: 타이밍 서비스: 99 메시지 및 통신 서비스:

3 실시간 임베디드 리눅스의 실시간 메커니즘 성능 분석 Table Mechanisms of and package Semaphores Condition variables Mutexes Bits s Message queues(piosix) Messages Shared Memory Extended Mailboxes 339 # ln -s rtai-38 rtai native package Semaphores Condition variables Mutexes Event flag groups Message pipes Message queues Message passing support (shared) Heaps Message queues (ubuntu) Vanilla # cd /usr/src/linux # patch -p < /usr/src/rtai/base/arch/x86/patches/hal-linux-6 3-x patch # cp /boot/config-63-8-generic /usr/src/linux 디바이스 I/O 처리: I/O (Real- Time Device Module) RTDM # make oldconfig # make menuconfig 레지스트리 지원: General setup - Prompt for development and/or incomplete code/ drivers "y" [7] Enable loadable module support - Enable module support "y" - Module unloading "y" - Module versioning support "n" III 실시간 임베디드 리눅스 구현 Processor type and features - Preemption Model Voluntary Kernel Preemption (Desktop) - Processor family Power Management options (tool chain) - CPU Frequency scaling "n" # make # make modules_install Ubuntu 004 LTS Intel Core Duo CPU 300GHz kernel 63 # make install # update-grub gcc-443 build-essential # vi /etc/default/grub GRUB_HIDDEN_TIMEOUT=0 # update-grub kernel-package libncurses5-dev # shutdown -r now # cd /usr/src # cd /usr/src/rtai # make menuconfig # tar xvfj linux-63tarbz # ln -s linux-63 linux # tar xvfj rtai-38tarbz

4 340 고 재 환 최 병 욱 Supported services - Fifo "m" - Semaphores "m" - Mailboxes "m" [3] 63 xenomai-53 [56] # cd /usr/src # tar xvfj linux-63tarbz # ln -s linux-63 linux # tar xvfj xenomai-53tarbz # ln -s xenomai-53 xenomai Vanilla # cd /usr/src/xenomai # scripts/prepare-kernelsh --arch=x86 --adeos=/usr/src/xenom ai/ksrc/arch/x86/patches/adeos-ipipe-63-x patch -linux=/usr/src/linux # cp /boot/config-63-8-generic /usr/src/linux # make oldconfig # make menuconfig x86 disable 주기적 타스크의 주기성 CONFIG_CPU_FREQ CONFIG_APM CONFIG_ACPI_PROCESSOR CONFIG_INTEL_IDLE 0 ms CONFIG_INPUT_PCSPKR CONFIG_PCI_MSI CONFIG_CC_STACKPROTECTOR Real-time sub-system interfaces Native - Message pipes "y" - Counting semaphores "y" 5878 ns 869 ns - Message queues "y" # cd /usr/src/xenomai # /configure Fig Periodic task structure # make # make install Periodic Task Table Experimental results of the Periodic Task IV 성능 분석

5 실시간 임베디드 리눅스의 실시간 메커니즘 성능 분석 34 4 Table 4 Experimental results of the Fig 3 Task structure for Semaphore evaluation 3 Semaphore Table 3 Experimental results of the Semaphore Mailbox & Message queue Fig 5 Task structure for Mailbox & Message queue evaluation 세마포어(semaphore) 3 5 Table 5 Experimental results of the Mailbox and Message queue Mailbox Message queue 메일박스와 메시지큐(mailbox & message queue) RT_Task (O_RDWR) RT_Task 5 (message pipe) 5 : N: 4 Fig 4 Task structure for evaluation

34 고 재 환 최 병 욱 V 결론 bile robot control platform using real-time embedded linux Journal of Control Automation and Systems (in Korean) vol no pp 94-00 Feb 006 [] B W Choi D G Shin J H Park S Y Yi and S

pattern generation method of humanoid robot MAHRU-R Journal of Intelligent Service Robotics vol pp 6-7 009 [3] Comparison between VxWorks QNX and PSosSystem Real Time Magazine [4] J H Park S Y Yi and

6 34 고 재 환 최 병 욱 V 결론 bile robot control platform using real-time embedded linux Journal of Control Automation and Systems (in Korean) vol no pp Feb 006 [] B W Choi D G Shin J H Park S Y Yi and S Gerald Real-time control architecture using for intelligent service robot in USN environments Journal of Intelligent Service Robotics vol pp [] S M Hong Y H Oh B J You and S R Oh A walking pattern generation method of humanoid robot MAHRU-R Journal of Intelligent Service Robotics vol pp [3] Comparison between VxWorks QNX and PSosSystem Real Time Magazine [4] J H Park S Y Yi and B W Choi Implementation of dual-kernel based control system and evaluationof real-time control performance for intelligent robots Journal Institute of Control Robotics and Systems (in Korean) vol 4 no pp 7-3 Nov 008 [5] A Barbalace A Lunchetta G Manduchi M Moro A Soppelsa and C Taliercio Performance Comparison of VxWorks Linux and XENOMAI in a Hard Real-time Application Proc of Real-Time Conference 007 5th IEEE-NPSS pp -5 May 007 [6] M Franke A Quantitative Comparison of Realtime Linux Solutions Chemnitz University of Technology 007 [7] homepage xenomai-3/pdf/native--tour-rev-cpdf [] [] [3] [4] [5] 고재환 참고문헌 B W Choi A Review and Outlook of Robotic Software Framework Journal of Korean Robotic 0 0 Society vol5 no pp W S Liu Real-Time Systems Prentice Hall 000 Tim Bird Comparing two approaches to real-time Linux wwwlinuxdevicescom 00 Kevin Dankwardt Comparing real-time Linux alternatives wwwlinuxdevicescom 000 최병욱 [6] D Abbout Linux for Embedded and Real-time Applications Elsevier 006 N Vun H F Hor and J W Chao Real-time [7] Enhancements for Embedded Linux 4th IEEE Int Conf on Parallel and Distributed Systems pp the Real-time Application Interface for Linux [8] [9] from DIAMP The Project The Project [0] E C Shin and B W Choi Implementation of a mo- ~ ~000 LG 000 ~ ~ ~008 Nanyang Technological University Senior Fellow 005 ~

Real-time Performance of Real-time Mechanisms for RTAI and Xenomai in Various Running Conditions

Real-time Performance of Real-time Mechanisms for RTAI and Xenomai in Various Running Conditions Jae Hwan Koh and Byoung Wook Choi * Dept. of Electrical and Information Engineering Seoul National University