RTAI下动态集成的资源预留调度器的设计与实现

近年来基于双内核架构增强Linux操作系统实时性的RTAI(Real-Time Application Interface)在工业控制等硬实时领域得到广泛应用。RTAI通过抢占Linux的执行来保障硬实时性，Linux被抢占的时间依赖于硬实时应用的处理器要求而每次均会有较大不同，导致Linux的执行时间不可预测，从而无法保障软实时应用的服务质量。动态集成的资源预留调度器(Dynamic Integrated Resource Reserved Scheduler，DIRRS)通过增强RTAI调度器使其支持资源预留机制，在Linux实现可动态集成的、基于服务器的调度策略，不但可以保证Linux及其以上的软实时应用，即使在有硬实时任务并发时也能得到处理器资源，而且很容易通过更换不同的服务器内核模块来实现用户自定义的调度策略。

Design and implementation of dynamic integrated resource reserved scheduler in RTAI

In recentyears hybrid architecture based RTAI(real-time application interface), which enhance real-time capability of linux, has been widely used in hard real-time scope such as industrial control system. To guarantee a bounded response time of hard real-time tasks, RTAI preempts linux for interval of time which depends on requirements of RTAI tasks and it can vary a lot from time to time, resulting in unpredictable linux execution time and impossible guaranteeing soft real-time task QoS quality of service) in linux. DIRRS ( (dynamic integrated resource reserved scheduler) enhances RTAI scheduler supporting resource reservation mechanism and implements dynamic integrated server based scheduling strategy in linux, it can not only guarantee enforcing CPU resource assigned to linux and soft real-time application even there are concurrenthard real-time tasks, but also implement userdefined scheduling strategy by altering server based linux kernel module.