Library prosa.analysis.facts.transform.edf_wc

Require Import prosa.model.readiness.basic.
Require Export prosa.analysis.facts.transform.edf_opt.
Require Export prosa.analysis.facts.transform.wc_correctness.
Require Export prosa.analysis.facts.behavior.deadlines.
Require Export prosa.analysis.facts.readiness.backlogged.

Optimality of Work-Conserving EDF on Ideal Uniprocessors

In this file, we establish the foundation needed to connect the EDF and work-conservation optimality theorems: if there is any work-conserving way to meet all deadlines (assuming an ideal uniprocessor schedule), then there is also an (ideal) EDF schedule that is work-conserving in which all deadlines are met.

Non-Idle Swaps

We start by showing that swapped, a function used in the inner-most level of edf_transform, maintains work conservation if the two instants being swapped are not idle.

Section NonIdleSwapWorkConservationLemmas.

We assume the classic (i.e., Liu & Layland) model of readiness without jitter or self-suspensions, wherein pending jobs are always ready.

#[local] Existing Instance basic_ready_instance.

For any given type of jobs...

Context {Job : JobType} `{JobCost Job} `{JobDeadline Job} `{JobArrival Job}.

... and any valid job arrival sequence.

Variable arr_seq: arrival_sequence Job.
Hypothesis H_arr_seq_valid: valid_arrival_sequence arr_seq.

...consider an ideal uniprocessor schedule...

Variable sched: schedule (ideal.processor_state Job).

...that is well-behaved (i.e., in which jobs execute only after having arrived and only if they are not yet complete, and in which all jobs come from the arrival sequence).

  Hypothesis H_jobs_must_arrive_to_execute: jobs_must_arrive_to_execute sched.
  Hypothesis H_completed_jobs_dont_execute: completed_jobs_dont_execute sched.
  Hypothesis H_from_arr_seq: jobs_come_from_arrival_sequence sched arr_seq.

Suppose we are given two specific times t1 and t2,...

Variables t1 t2 : instant.

...which we assume to be ordered (to avoid dealing with symmetric cases),...

Hypothesis H_well_ordered: t1 ≤ t2.

...and two jobs j1 and j2...

Variables j1 j2 : Job.

...such that j2 arrives before time t1,...

Hypothesis H_arrival_j2 : job_arrival j2 ≤ t1.

...j1 is scheduled at time t1, and...

Hypothesis H_t1_not_idle : scheduled_at sched j1 t1.

...j2 is scheduled at time t2.

Hypothesis H_t2_not_idle : scheduled_at sched j2 t2.

We let swap_sched denote the schedule in which the allocations at t1 and t2 have been swapped.

Let swap_sched := swapped sched t1 t2.

Now consider an arbitrary job j...

Variable j : Job.

...and an arbitrary instant t...

Variable t : instant.

...such that j arrives in arr_seq...

Hypothesis H_arrival_j : arrives_in arr_seq j.

...and is backlogged in swap_sched at instant t.

Hypothesis H_backlogged_j_t : backlogged swap_sched j t.

We proceed by case analysis. We first show that, if t equals t1, then swap_sched maintains work conservation. That is, there exists some job that's scheduled in swap_sched at instant t

  Lemma non_idle_swap_maintains_work_conservation_t1 :
    work_conserving arr_seq sched →
    t = t1 →
    ∃ j_other , scheduled_at swap_sched j_other t.
  Proof.
    move⇒ _ EQ; rewrite EQ; by ∃ j2; rewrite swap_job_scheduled_t1.
  Qed.

Similarly, if t equals t2 then then swap_sched maintains work conservation.

  Lemma non_idle_swap_maintains_work_conservation_t2 :
    work_conserving arr_seq sched →
    t = t2 →
    ∃ j_other , scheduled_at swap_sched j_other t.
  Proof.
    move⇒ _ EQ; rewrite EQ; by ∃ j1; rewrite swap_job_scheduled_t2.
  Qed.

If t is less than or equal to t1 then then then swap_sched maintains work conservation.

  Lemma non_idle_swap_maintains_work_conservation_LEQ_t1 :
    work_conserving arr_seq sched →
    t ≤ t1 →
    ∃ j_other , scheduled_at swap_sched j_other t.
  Proof.
    move⇒ WC_sched LEQ.
    case: (boolP(t == t1)) ⇒ [/eqP EQ| /eqP NEQ]; first by apply non_idle_swap_maintains_work_conservation_t1.
    case: (boolP(t == t2)) ⇒ [/eqP EQ'| /eqP NEQ']; first by apply non_idle_swap_maintains_work_conservation_t2.
    have [j_other j_other_scheduled] : ∃ j_other , scheduled_at sched j_other t.
    { rewrite /work_conserving in WC_sched. apply (WC_sched j) ⇒ //; move :H_backlogged_j_t.
      rewrite /backlogged/job_ready/basic_ready_instance/pending/completed_by.
      move /andP ⇒ [ARR_INCOMP scheduled]; move :ARR_INCOMP; move /andP ⇒ [arrive not_comp].
      apply /andP; split; first (apply /andP; split) ⇒ //.
      + by rewrite (service_before_swap_invariant sched t1 t2 _ t).
      + by rewrite -(swap_job_scheduled_other_times _ t1 t2 j t) //; (apply /neqP; eauto).
    }
    ∃ j_other; by rewrite (swap_job_scheduled_other_times) //; do 2! (apply /neqP; eauto).
  Qed.

Similarly, if t is greater than t2 then then then swap_sched maintains work conservation.

  Lemma non_idle_swap_maintains_work_conservation_GT_t2 :
    work_conserving arr_seq sched →
    t2 < t →
    ∃ j_other , scheduled_at swap_sched j_other t.
  Proof.
    move⇒ WC_sched GT.
    case: (boolP(t == t1)) ⇒ [/eqP EQ| /eqP NEQ]; first by apply non_idle_swap_maintains_work_conservation_t1.
    case: (boolP(t == t2)) ⇒ [/eqP EQ'| /eqP NEQ']; first by apply non_idle_swap_maintains_work_conservation_t2.
    have [j_other j_other_scheduled] : ∃ j_other , scheduled_at sched j_other t.
    { rewrite /work_conserving in WC_sched. apply (WC_sched j) ⇒ //; move :H_backlogged_j_t.
      rewrite /backlogged/job_ready/basic_ready_instance/pending/completed_by.
      move /andP ⇒ [ARR_INCOMP scheduled]; move :ARR_INCOMP; move /andP ⇒ [arrive not_comp].
      apply /andP; split; first (apply /andP; split) ⇒ //.
      + by rewrite (service_after_swap_invariant sched t1 t2 _ t) // /t2; apply fsc_range1.
      + by rewrite -(swap_job_scheduled_other_times _ t1 t2 j t) //; (apply /neqP; eauto).
    }
    ∃ j_other; by rewrite (swap_job_scheduled_other_times) //; do 2! (apply /neqP; eauto).
  Qed.

Lastly, we show that if t lies between t1 and t2 then work conservation is still maintained.

  Lemma non_idle_swap_maintains_work_conservation_BET_t1_t2 :
    work_conserving arr_seq sched →
    t1 < t ≤ t2 →
    ∃ j_other , scheduled_at swap_sched j_other t.
  Proof.
    move⇒ WC_sched H_range.
    case: (boolP(t == t1)) ⇒ [/eqP EQ| /eqP NEQ]; first by apply non_idle_swap_maintains_work_conservation_t1.
    case: (boolP(t == t2)) ⇒ [/eqP EQ'| /eqP NEQ']; first by apply non_idle_swap_maintains_work_conservation_t2.
    move: H_range. move /andP ⇒ [LT GE].
    case: (boolP(scheduled_at sched j2 t)) ⇒ Hj'.
    - ∃ j2; by rewrite (swap_job_scheduled_other_times _ t1 t2 j2 t) //; (apply /neqP; eauto).
    - have [j_other j_other_scheduled] : ∃ j_other , scheduled_at sched j_other t.
      { rewrite /work_conserving in WC_sched. apply (WC_sched j2).
        - by unfold jobs_come_from_arrival_sequence in H_from_arr_seq; apply (H_from_arr_seq _ t2) ⇒ //.
        - rewrite/backlogged/job_ready/basic_ready_instance/pending/completed_by.
          apply /andP; split; first (apply /andP; split) ⇒ //; last by done.
          + by rewrite /has_arrived; apply (leq_trans H_arrival_j2); apply ltnW.
          + rewrite -ltnNge. apply (leq_ltn_trans) with (service sched j2 t2).
            × by apply service_monotonic.
            × by apply H_completed_jobs_dont_execute. }
      ∃ j_other. now rewrite (swap_job_scheduled_other_times) //; (apply /neqP; eauto).
  Qed.

End NonIdleSwapWorkConservationLemmas.

Work-Conserving Swap Candidates

Now, we show that work conservation is maintained by the inner-most level of edf_transform, which is find_swap_candidate.

Section FSCWorkConservationLemmas.

We assume the classic (i.e., Liu & Layland) model of readiness without jitter or self-suspensions, wherein pending jobs are always ready.

#[local] Existing Instance basic_ready_instance.

For any given type of jobs...

Context {Job : JobType} `{JobCost Job} `{JobDeadline Job} `{JobArrival Job}.

...and any valid job arrival sequence,...

Variable arr_seq: arrival_sequence Job.
Hypothesis H_arr_seq_valid: valid_arrival_sequence arr_seq.

...consider an ideal uniprocessor schedule...

Variable sched: schedule (ideal.processor_state Job).

...that is well-behaved (i.e., in which jobs execute only after having arrived and only if they are not yet complete)...

Hypothesis H_jobs_must_arrive_to_execute: jobs_must_arrive_to_execute sched.
Hypothesis H_completed_jobs_dont_execute: completed_jobs_dont_execute sched.

...and in which all jobs come from the arrival sequence.

Hypothesis H_from_arr_seq: jobs_come_from_arrival_sequence sched arr_seq.

Suppose we are given a job j1...

Variable j1: Job.

...and a point in time t1...

Variable t1: instant.

...at which j1 is scheduled...

Hypothesis H_not_idle: scheduled_at sched j1 t1.

...and that is before j1's deadline.

Hypothesis H_deadline_not_missed: t1 < job_deadline j1.

We now show that, if t2 is a swap candidate returned by find_swap_candidate for t1, then swapping the processor allocations at the two instants maintains work conservation.

  Corollary fsc_swap_maintains_work_conservation :
    work_conserving arr_seq sched →
    work_conserving arr_seq (swapped sched t1 (edf_trans.find_swap_candidate sched t1 j1)).
  Proof.
    set t2 := edf_trans.find_swap_candidate sched t1 j1.
    have [j2 [t2_not_idle t2_arrival]] : ∃ j2 , scheduled_at sched j2 t2 ∧ job_arrival j2 ≤ t1
        by apply fsc_not_idle.
    have H_range : t1 ≤ t2 by apply fsc_range1.
    move⇒ WC_sched j t ARR BL.
    case: (boolP(t == t1)) ⇒ [/eqP EQ| /eqP NEQ].
    - by apply (non_idle_swap_maintains_work_conservation_t1 arr_seq _ _ _ j2).
    - case: (boolP(t == t2)) ⇒ [/eqP EQ'| /eqP NEQ'].
      + by apply (non_idle_swap_maintains_work_conservation_t2 arr_seq _ _ _ j1).
      + case: (boolP((t ≤ t1 ) || (t2 < t))) ⇒ [NOT_BET | BET]. (* t <> t2 *)
        × move: NOT_BET; move/orP ⇒ [] ⇒ NOT_BET.
          { by apply (non_idle_swap_maintains_work_conservation_LEQ_t1 arr_seq _ _ _ H_range _ _ H_not_idle t2_not_idle j). }
          { by apply (non_idle_swap_maintains_work_conservation_GT_t2 arr_seq _ _ _ H_range _ _ H_not_idle t2_not_idle j). }
        × move: BET; rewrite negb_or. move /andP. case; rewrite <- ltnNge ⇒ range1; rewrite <- leqNgt ⇒ range2.
          have BET: (t1 < t) && (t ≤ t2) by apply /andP.
          now apply (non_idle_swap_maintains_work_conservation_BET_t1_t2 arr_seq _ H_completed_jobs_dont_execute H_from_arr_seq _ _ _ _ t2_arrival H_not_idle t2_not_idle ).
  Qed.

End FSCWorkConservationLemmas.

Work-Conservation of the Point-Wise EDF Transformation

In the following section, we show that work conservation is maintained by the next level of edf_transform, which is make_edf_at.

Section MakeEDFWorkConservationLemmas.

We assume the classic (i.e., Liu & Layland) model of readiness without jitter or self-suspensions, wherein pending jobs are always ready.

#[local] Existing Instance basic_ready_instance.

For any given type of jobs...

Context {Job : JobType} `{JobCost Job} `{JobDeadline Job} `{JobArrival Job}.

... and any valid job arrival sequence, ...

Variable arr_seq: arrival_sequence Job.
Hypothesis H_arr_seq_valid: valid_arrival_sequence arr_seq.

... consider an ideal uniprocessor schedule ...

Variable sched: schedule (ideal.processor_state Job).

... in which all jobs come from the arrival sequence, ...

Hypothesis H_from_arr_seq: jobs_come_from_arrival_sequence sched arr_seq.

...that is well-behaved,...

Hypothesis H_jobs_must_arrive_to_execute: jobs_must_arrive_to_execute sched.
Hypothesis H_completed_jobs_dont_execute: completed_jobs_dont_execute sched.

...and in which no scheduled job misses a deadline.

Hypothesis H_no_deadline_misses: all_deadlines_met sched.

We analyze make_edf_at applied to an arbitrary point in time, which we denote t_edf in the following.

Variable t_edf: instant.

For brevity, let sched' denote the schedule obtained from make_edf_at applied to sched at time t_edf.

Let sched' := make_edf_at sched t_edf.

We show that, if a schedule is work-conserving, then applying make_edf_at to it at an arbitrary instant t_edf maintains work conservation.

  Lemma mea_maintains_work_conservation :
    work_conserving arr_seq sched → work_conserving arr_seq sched'.
  Proof. rewrite /sched'/make_edf_at ⇒ WC_sched. destruct (sched t_edf) eqn:E ⇒ //.
         apply fsc_swap_maintains_work_conservation ⇒ //.
         - by rewrite scheduled_at_def; apply /eqP ⇒ //.
         - apply (scheduled_at_implies_later_deadline sched) ⇒ //.
           + rewrite /all_deadlines_met in (H_no_deadline_misses).
             now apply (H_no_deadline_misses s t_edf); rewrite scheduled_at_def; apply /eqP.
           + by rewrite scheduled_at_def; apply/eqP ⇒ //.
  Qed.

End MakeEDFWorkConservationLemmas.

Work-Conserving EDF Prefix

On to the next layer, we prove that the transform_prefix function at the core of the EDF transformation maintains work conservation

Section EDFPrefixWorkConservationLemmas.

We assume the classic (i.e., Liu & Layland) model of readiness without jitter or self-suspensions, wherein pending jobs are always ready.

#[local] Existing Instance basic_ready_instance.

For any given type of jobs, each characterized by execution costs, an arrival time, and an absolute deadline,...

Context {Job : JobType} `{JobCost Job} `{JobDeadline Job} `{JobArrival Job}.

... and any valid job arrival sequence, ...

Variable arr_seq: arrival_sequence Job.
Hypothesis H_arr_seq_valid: valid_arrival_sequence arr_seq.

... consider an ideal uniprocessor schedule,...

Variable sched: schedule (ideal.processor_state Job).

... an arbitrary finite horizon, and ...

Variable horizon: instant.

...let sched_trans denote the schedule obtained by transforming sched up to the horizon.

Let sched_trans := edf_transform_prefix sched horizon.

Let schedule_behavior_premises define the premise that a schedule is: 1) well-behaved, 2) has all jobs coming from the arrival sequence arr_seq, and 3) in which no scheduled job misses its deadline

  Definition scheduled_behavior_premises (sched : schedule (processor_state Job)) :=
    jobs_must_arrive_to_execute sched
    ∧ completed_jobs_dont_execute sched
    ∧ jobs_come_from_arrival_sequence sched arr_seq
    ∧ all_deadlines_met sched.

For brevity, let P denote the predicate that a schedule satisfies scheduled_behavior_premises and is work-conserving.

Let P (sched : schedule (processor_state Job)) :=
scheduled_behavior_premises sched ∧ work_conserving arr_seq sched.

We show that if sched is work-conserving, then so is sched_trans.

  Lemma edf_transform_prefix_maintains_work_conservation:
    P sched → P sched_trans.
  Proof.
    rewrite/sched_trans/edf_transform_prefix. apply (prefix_map_property_invariance ). rewrite /P.
    move⇒ sched' t [[H_ARR [H_COMPLETED [H_COME H_all_deadlines_met]]] H_wc_sched].
    rewrite/scheduled_behavior_premises/valid_schedule; split; first split.
    - by apply mea_jobs_must_arrive.
    - split; last split.
      + by apply mea_completed_jobs.
      + by apply mea_jobs_come_from_arrival_sequence.
      + by apply mea_no_deadline_misses.
    - by apply mea_maintains_work_conservation.
  Qed.

End EDFPrefixWorkConservationLemmas.

Work-Conservation of the EDF Transformation

Finally, having established that edf_transform_prefix maintains work conservation, we go ahead and prove that edf_transform maintains work conservation, too.

Section EDFTransformWorkConservationLemmas.

We assume the classic (i.e., Liu & Layland) model of readiness without jitter or self-suspensions, wherein pending jobs are always ready.

#[local] Existing Instance basic_ready_instance.

For any given type of jobs, each characterized by execution costs, an arrival time, and an absolute deadline,...

Context {Job : JobType} `{JobCost Job} `{JobDeadline Job} `{JobArrival Job}.

... and any valid job arrival sequence, ...

Variable arr_seq: arrival_sequence Job.
Hypothesis H_arr_seq_valid: valid_arrival_sequence arr_seq.

... consider a valid ideal uniprocessor schedule ...

Variable sched: schedule (ideal.processor_state Job).
Hypothesis H_sched_valid: valid_schedule sched arr_seq.

...and in which no scheduled job misses a deadline.

Hypothesis H_no_deadline_misses: all_deadlines_met sched.

We first note that sched satisfies scheduled_behavior_premises.

  Lemma sched_satisfies_behavior_premises : scheduled_behavior_premises arr_seq sched.
  Proof.
    split; [ apply (jobs_must_arrive_to_be_ready sched) | split; [ apply (completed_jobs_are_not_ready sched) | split]].
    all: by try apply H_sched_valid.
  Qed.

We prove that, if the given schedule sched is work-conserving, then the schedule that results from transforming it into an EDF schedule is also work-conserving.

  Lemma edf_transform_maintains_work_conservation :
    work_conserving arr_seq sched → work_conserving arr_seq (edf_transform sched).
  Proof.
    move⇒ WC_sched j t ARR.
    set sched_edf := edf_transform sched.
    have IDENT: identical_prefix sched_edf (edf_transform_prefix sched t.+1) t.+1
      by rewrite /sched_edf/edf_transform ⇒ t' LE_t; apply (edf_prefix_inclusion) ⇒ //; apply sched_satisfies_behavior_premises.
    rewrite (backlogged_prefix_invariance _ _ (edf_transform_prefix sched t.+1) t.+1) // ⇒ BL;
            last by apply basic_readiness_nonclairvoyance.
    have WC_trans: work_conserving arr_seq (edf_transform_prefix sched (succn t))
      by apply edf_transform_prefix_maintains_work_conservation; split ⇒ //; apply sched_satisfies_behavior_premises.
    move: (WC_trans _ _ ARR BL) ⇒ [j_other SCHED_AT].
    ∃ j_other.
    now rewrite (identical_prefix_scheduled_at _ (edf_transform_prefix sched t.+1) t.+1) //.
  Qed.

End EDFTransformWorkConservationLemmas.