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Rubus Offline Scheduler for Resource Constrained Embedded Real-Time Systems

Authors:

Jukka Mäki-Turja, Vildan Zivojevic , Saad Mubeen

Research group:

Heterogeneous systems - hardware software co-design

Publication Type:

Conference/Workshop Paper

Venue:

21st IEEE International Conference on Embedded Software and Systems

Abstract

In this paper, we present the Rubus tool suite, with a focus on its static (offline) real-time scheduler. The schedules generated by the scheduler are executed by a real-time operating system certified according to the ISO 26262 safety standard. The Rubus tool suite and its scheduler have been utilized in the vehicle industry for model- and component-based software development of resource-constrained embedded systems for over 25 years. Since its introduction in 1998, the scheduler has evolved significantly, transitioning from pure Earliest Deadline First (EDF) heuristics to incorporating priorities, data dependencies, and the ability to distribute the schedule over the entire hyper-period of the software application, among other heuristics. We provide an in-depth discussion on the mechanisms and algorithms that constitute the Rubus offline scheduler. Moreover, we provide an example of its application in generating an offline schedule for a part of software architecture in an industrial setting.

Bibtex

@inproceedings{Maki-Turja7231,
author = {Jukka M{\"a}ki-Turja and Vildan Zivojevic and Saad Mubeen},
title = {Rubus Offline Scheduler for Resource Constrained Embedded Real-Time Systems},
month = {September},
year = {2025},
booktitle = {21st IEEE International Conference on Embedded Software and Systems},
url = {http://www.es.mdu.se/publications/7231-}
}