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Guaranteeing Schedulability with Server Mechanisms for RTOS Overheads

We propose techniques for guaranteeing schedulability including RTOS runtime overhead. In the techniques, we introduce two servers with planned capacity: periodic management server for invoking periodic tasks and aperiodic management server for aperiodic events such as task completion. Then, we provide the schedulability test considering the servers’ utilization. In addition, we show techniques for slack reclaiming to improve the aperiodic tasks’ responsiveness by utilizing capacity (or slack) of the servers which is left unused. The evaluation show that average response times for aperiodic tasks can be improved by up to 20.7%.