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Scheduling and shaping of complex task activations for mixed-criticality systems

In this paper, we present a new schedulability test that can cope with complex activation patterns for mixed-criticality systems. Under this analysis we proceed to present a shaping approach that can adaptively make use of system slack to improve the quality of service to less critical tasks. Compared with the state-of-the-art scheduling analysis, our scheduling analysis is more effective in handling the case that activation events can be backlogged and task deadlines can be arbitrary; and the shaping approach furthermore reduces the dropped jobs of less critical tasks without jeopardizing the guarantee to critical tasks. Extensive simulations and real-life deployment in Raspberry Pi 3 board confirm the effectiveness of our proposed schedulability test and shaping approach.