Library rt.model.schedule.uni.schedule
Require Import rt.util.all.
Require Import rt.model.time rt.model.arrival.basic.task rt.model.arrival.basic.job rt.model.arrival.basic.arrival_sequence.
Module UniprocessorSchedule.
Import SporadicTaskset.
Export Time ArrivalSequence.
Section Schedule.
(* We begin by defining a uniprocessor schedule. *)
Section ScheduleDef.
(* Consider any job type. *)
Variable Job: eqType.
(* We define a uniprocessor schedule by mapping each point in time to either
Some job that is scheduled or None, if the processor is idle. *)
Definition schedule := time → option Job.
End ScheduleDef.
(* In this section, we define properties of a schedule. *)
Section ScheduleProperties.
Context {Job: eqType}.
Variable job_arrival: Job → time.
Variable job_cost: Job → time.
(* Consider any uniprocessor schedule. *)
Variable sched: schedule Job.
(* Let's define properties of the jobs to be scheduled. *)
Section JobProperties.
(* Let j be any job. *)
Variable j: Job.
(* First, we define whether a job j is scheduled at time t, ... *)
Definition scheduled_at (t: time) := sched t == Some j.
(* ...which also yields the instantaneous service received by
job j at time t (i.e., either 0 or 1). *)
Definition service_at (t: time) : time := scheduled_at t.
(* Based on the notion of instantaneous service, we define the
cumulative service received by job j during any interval [t1, t2). *)
Definition service_during (t1 t2: time) :=
\sum_(t1 ≤ t < t2) service_at t.
(* Using the previous definition, we define the cumulative service
received by job j up to time t, i.e., during interval [0, t). *)
Definition service (t: time) := service_during 0 t.
(* Next, we say that job j has completed by time t if it received enough
service in the interval [0, t). *)
Definition completed_by (t: time) := service t == job_cost j.
(* Job j is pending at time t iff it has arrived but has not yet completed. *)
Definition pending (t: time) := has_arrived job_arrival j t && ~~ completed_by t.
(* Job j is backlogged at time t iff it is pending and not scheduled. *)
Definition backlogged (t: time) := pending t && ~~ scheduled_at t.
End JobProperties.
(* In this section, we define some properties of the processor. *)
Section ProcessorProperties.
(* We say that the processor is idle at time t iff there is no job being scheduled. *)
Definition is_idle (t: time) := sched t == None.
(* In addition, we define the total service performed by the processor in any interval
[t1, t2) as the cumulative time in which the processor is not idle. *)
Definition total_service_during (t1 t2: time) :=
\sum_(t1 ≤ t < t2) ~~ is_idle t.
(* Using the previous definition, we also define the total service up to time t2.*)
Definition total_service (t2: time) := total_service_during 0 t2.
End ProcessorProperties.
End ScheduleProperties.
(* In this section, we define properties of valid schedules. *)
Section ValidSchedules.
Context {Job: eqType}.
Variable job_arrival: Job → time.
Variable job_cost: Job → time.
(* Consider any uniprocessor schedule. *)
Variable sched: schedule Job.
(* We define whether jobs come from some arrival sequence... *)
Definition jobs_come_from_arrival_sequence (arr_seq: arrival_sequence Job) :=
∀ j t, scheduled_at sched j t → arrives_in arr_seq j.
(* ..., whether a job can only be scheduled if it has arrived ... *)
Definition jobs_must_arrive_to_execute :=
∀ j t, scheduled_at sched j t → has_arrived job_arrival j t.
(* ... and whether a job cannot be scheduled after it completes. *)
Definition completed_jobs_dont_execute :=
∀ j t, service sched j t ≤ job_cost j.
End ValidSchedules.
(* In this section, we prove some basic lemmas about schedules. *)
Section Lemmas.
Context {Job: eqType}.
Variable job_arrival: Job → time.
Variable job_cost: Job → time.
(* Consider any uniprocessor schedule. *)
Variable sched: schedule Job.
(* Let's begin with lemmas about service. *)
Section Service.
(* Let j be any job that is to be scheduled. *)
Variable j: Job.
(* First, we prove that the instantaneous service cannot be greater than 1, ... *)
Lemma service_at_most_one:
∀ t, service_at sched j t ≤ 1.
(* ...which implies that the cumulative service received by job j in any
interval of length delta is at most delta. *)
Lemma cumulative_service_le_delta:
∀ t delta,
service_during sched j t (t + delta) ≤ delta.
End Service.
(* Next, we prove properties related to job completion. *)
Section Completion.
(* Assume that completed jobs do not execute. *)
Hypothesis H_completed_jobs:
completed_jobs_dont_execute job_cost sched.
(* Let j be any job that is to be scheduled. *)
Variable j: Job.
(* We prove that after job j completes, it remains completed. *)
Lemma completion_monotonic:
∀ t t',
t ≤ t' →
completed_by job_cost sched j t →
completed_by job_cost sched j t'.
(* We also prove that a completed job cannot be scheduled. *)
Lemma completed_implies_not_scheduled :
∀ t,
completed_by job_cost sched j t →
~~ scheduled_at sched j t.
(* Next, we show that the service received by job j in any interval
is no larger than its cost. *)
Lemma cumulative_service_le_job_cost :
∀ t t',
service_during sched j t t' ≤ job_cost j.
End Completion.
(* In this section we prove properties related to job arrivals. *)
Section Arrival.
(* Assume that jobs must arrive to execute. *)
Hypothesis H_jobs_must_arrive:
jobs_must_arrive_to_execute job_arrival sched.
(* Let j be any job that is to be scheduled. *)
Variable j: Job.
(* First, we show that job j does not receive service at any time t
prior to its arrival. *)
Lemma service_before_job_arrival_zero :
∀ t,
t < job_arrival j →
service_at sched j t = 0.
(* Note that the same property applies to the cumulative service. *)
Lemma cumulative_service_before_job_arrival_zero :
∀ t1 t2,
t2 ≤ job_arrival j →
\sum_(t1 ≤ i < t2) service_at sched j i = 0.
(* Hence, one can ignore the service received by a job before its arrival time. *)
Lemma ignore_service_before_arrival:
∀ t1 t2,
t1 ≤ job_arrival j →
t2 ≥ job_arrival j →
\sum_(t1 ≤ t < t2) service_at sched j t =
\sum_(job_arrival j ≤ t < t2) service_at sched j t.
End Arrival.
(* In this section, we prove properties about pending jobs. *)
Section Pending.
(* Assume that jobs must arrive to execute... *)
Hypothesis H_jobs_must_arrive:
jobs_must_arrive_to_execute job_arrival sched.
(* ...and that completed jobs do not execute. *)
Hypothesis H_completed_jobs:
completed_jobs_dont_execute job_cost sched.
(* Let j be any job. *)
Variable j: Job.
(* First, we show that if job j is scheduled, then it must be pending. *)
Lemma scheduled_implies_pending:
∀ t,
scheduled_at sched j t →
pending job_arrival job_cost sched j t.
End Pending.
(* In this section we show that the schedule is unique at any point. *)
Section OnlyOneJobScheduled.
(* Let j1 and j2 be any jobs. *)
Variable j1 j2: Job.
(* At any time t, if both j1 and j2 are scheduled, then they must be the same job. *)
Lemma only_one_job_scheduled:
∀ t,
scheduled_at sched j1 t →
scheduled_at sched j2 t →
j1 = j2.
End OnlyOneJobScheduled.
Section ServiceIsAStepFunction.
(* First, we show that the service received by any job j
is a step function. *)
Lemma service_is_a_step_function:
∀ j,
is_step_function (service sched j).
(* Next, consider any job j at any time t... *)
Variable j: Job.
Variable t: time.
(* ...and let s0 be any value less than the service received
by job j by time t. *)
Variable s0: time.
Hypothesis H_less_than_s: s0 < service sched j t.
(* Then, we show that there exists an earlier time t0 where
job j had s0 units of service. *)
Corollary exists_intermediate_service:
∃ t0,
t0 < t ∧
service sched j t0 = s0.
End ServiceIsAStepFunction.
Section ScheduledAtEarlierTime.
(* Next, we show that if the service is positive,
then the job is scheduled at some earlier time. *)
Lemma scheduled_at_earlier_time:
∀ j t,
service sched j t > 0 →
∃ t0,
t0 < t ∧
scheduled_at sched j t0.
End ScheduledAtEarlierTime.
Section ServiceNotZero.
(* Let j be any job. *)
Variable j: Job.
(* Assume that the service received by j during [t1, t2) is not zero. *)
Variable t1 t2: time.
Hypothesis H_service_not_zero: service_during sched j t1 t2 > 0.
(* Then, there must be a time t where job j is scheduled. *)
Lemma cumulative_service_implies_scheduled :
∃ t,
t1 ≤ t < t2 ∧
scheduled_at sched j t.
End ServiceNotZero.
(* In this section, we prove some lemmas about time instants
with same service. *)
Section TimesWithSameService.
(* Let j be any job. *)
Variable j: Job.
(* Consider any time instants t1 and t2... *)
Variable t1 t2: time.
(* ...where job j has received the same amount of service. *)
Hypothesis H_same_service: service sched j t1 = service sched j t2.
(* First, we show that job j is scheduled at some point t < t1 iff
j is scheduled at some point t' < t2. *)
Lemma same_service_implies_scheduled_at_earlier_times:
[∃ t: 'I_t1, scheduled_at sched j t] =
[∃ t': 'I_t2, scheduled_at sched j t'].
End TimesWithSameService.
End Lemmas.
End Schedule.
End UniprocessorSchedule.
Require Import rt.model.time rt.model.arrival.basic.task rt.model.arrival.basic.job rt.model.arrival.basic.arrival_sequence.
Module UniprocessorSchedule.
Import SporadicTaskset.
Export Time ArrivalSequence.
Section Schedule.
(* We begin by defining a uniprocessor schedule. *)
Section ScheduleDef.
(* Consider any job type. *)
Variable Job: eqType.
(* We define a uniprocessor schedule by mapping each point in time to either
Some job that is scheduled or None, if the processor is idle. *)
Definition schedule := time → option Job.
End ScheduleDef.
(* In this section, we define properties of a schedule. *)
Section ScheduleProperties.
Context {Job: eqType}.
Variable job_arrival: Job → time.
Variable job_cost: Job → time.
(* Consider any uniprocessor schedule. *)
Variable sched: schedule Job.
(* Let's define properties of the jobs to be scheduled. *)
Section JobProperties.
(* Let j be any job. *)
Variable j: Job.
(* First, we define whether a job j is scheduled at time t, ... *)
Definition scheduled_at (t: time) := sched t == Some j.
(* ...which also yields the instantaneous service received by
job j at time t (i.e., either 0 or 1). *)
Definition service_at (t: time) : time := scheduled_at t.
(* Based on the notion of instantaneous service, we define the
cumulative service received by job j during any interval [t1, t2). *)
Definition service_during (t1 t2: time) :=
\sum_(t1 ≤ t < t2) service_at t.
(* Using the previous definition, we define the cumulative service
received by job j up to time t, i.e., during interval [0, t). *)
Definition service (t: time) := service_during 0 t.
(* Next, we say that job j has completed by time t if it received enough
service in the interval [0, t). *)
Definition completed_by (t: time) := service t == job_cost j.
(* Job j is pending at time t iff it has arrived but has not yet completed. *)
Definition pending (t: time) := has_arrived job_arrival j t && ~~ completed_by t.
(* Job j is backlogged at time t iff it is pending and not scheduled. *)
Definition backlogged (t: time) := pending t && ~~ scheduled_at t.
End JobProperties.
(* In this section, we define some properties of the processor. *)
Section ProcessorProperties.
(* We say that the processor is idle at time t iff there is no job being scheduled. *)
Definition is_idle (t: time) := sched t == None.
(* In addition, we define the total service performed by the processor in any interval
[t1, t2) as the cumulative time in which the processor is not idle. *)
Definition total_service_during (t1 t2: time) :=
\sum_(t1 ≤ t < t2) ~~ is_idle t.
(* Using the previous definition, we also define the total service up to time t2.*)
Definition total_service (t2: time) := total_service_during 0 t2.
End ProcessorProperties.
End ScheduleProperties.
(* In this section, we define properties of valid schedules. *)
Section ValidSchedules.
Context {Job: eqType}.
Variable job_arrival: Job → time.
Variable job_cost: Job → time.
(* Consider any uniprocessor schedule. *)
Variable sched: schedule Job.
(* We define whether jobs come from some arrival sequence... *)
Definition jobs_come_from_arrival_sequence (arr_seq: arrival_sequence Job) :=
∀ j t, scheduled_at sched j t → arrives_in arr_seq j.
(* ..., whether a job can only be scheduled if it has arrived ... *)
Definition jobs_must_arrive_to_execute :=
∀ j t, scheduled_at sched j t → has_arrived job_arrival j t.
(* ... and whether a job cannot be scheduled after it completes. *)
Definition completed_jobs_dont_execute :=
∀ j t, service sched j t ≤ job_cost j.
End ValidSchedules.
(* In this section, we prove some basic lemmas about schedules. *)
Section Lemmas.
Context {Job: eqType}.
Variable job_arrival: Job → time.
Variable job_cost: Job → time.
(* Consider any uniprocessor schedule. *)
Variable sched: schedule Job.
(* Let's begin with lemmas about service. *)
Section Service.
(* Let j be any job that is to be scheduled. *)
Variable j: Job.
(* First, we prove that the instantaneous service cannot be greater than 1, ... *)
Lemma service_at_most_one:
∀ t, service_at sched j t ≤ 1.
(* ...which implies that the cumulative service received by job j in any
interval of length delta is at most delta. *)
Lemma cumulative_service_le_delta:
∀ t delta,
service_during sched j t (t + delta) ≤ delta.
End Service.
(* Next, we prove properties related to job completion. *)
Section Completion.
(* Assume that completed jobs do not execute. *)
Hypothesis H_completed_jobs:
completed_jobs_dont_execute job_cost sched.
(* Let j be any job that is to be scheduled. *)
Variable j: Job.
(* We prove that after job j completes, it remains completed. *)
Lemma completion_monotonic:
∀ t t',
t ≤ t' →
completed_by job_cost sched j t →
completed_by job_cost sched j t'.
(* We also prove that a completed job cannot be scheduled. *)
Lemma completed_implies_not_scheduled :
∀ t,
completed_by job_cost sched j t →
~~ scheduled_at sched j t.
(* Next, we show that the service received by job j in any interval
is no larger than its cost. *)
Lemma cumulative_service_le_job_cost :
∀ t t',
service_during sched j t t' ≤ job_cost j.
End Completion.
(* In this section we prove properties related to job arrivals. *)
Section Arrival.
(* Assume that jobs must arrive to execute. *)
Hypothesis H_jobs_must_arrive:
jobs_must_arrive_to_execute job_arrival sched.
(* Let j be any job that is to be scheduled. *)
Variable j: Job.
(* First, we show that job j does not receive service at any time t
prior to its arrival. *)
Lemma service_before_job_arrival_zero :
∀ t,
t < job_arrival j →
service_at sched j t = 0.
(* Note that the same property applies to the cumulative service. *)
Lemma cumulative_service_before_job_arrival_zero :
∀ t1 t2,
t2 ≤ job_arrival j →
\sum_(t1 ≤ i < t2) service_at sched j i = 0.
(* Hence, one can ignore the service received by a job before its arrival time. *)
Lemma ignore_service_before_arrival:
∀ t1 t2,
t1 ≤ job_arrival j →
t2 ≥ job_arrival j →
\sum_(t1 ≤ t < t2) service_at sched j t =
\sum_(job_arrival j ≤ t < t2) service_at sched j t.
End Arrival.
(* In this section, we prove properties about pending jobs. *)
Section Pending.
(* Assume that jobs must arrive to execute... *)
Hypothesis H_jobs_must_arrive:
jobs_must_arrive_to_execute job_arrival sched.
(* ...and that completed jobs do not execute. *)
Hypothesis H_completed_jobs:
completed_jobs_dont_execute job_cost sched.
(* Let j be any job. *)
Variable j: Job.
(* First, we show that if job j is scheduled, then it must be pending. *)
Lemma scheduled_implies_pending:
∀ t,
scheduled_at sched j t →
pending job_arrival job_cost sched j t.
End Pending.
(* In this section we show that the schedule is unique at any point. *)
Section OnlyOneJobScheduled.
(* Let j1 and j2 be any jobs. *)
Variable j1 j2: Job.
(* At any time t, if both j1 and j2 are scheduled, then they must be the same job. *)
Lemma only_one_job_scheduled:
∀ t,
scheduled_at sched j1 t →
scheduled_at sched j2 t →
j1 = j2.
End OnlyOneJobScheduled.
Section ServiceIsAStepFunction.
(* First, we show that the service received by any job j
is a step function. *)
Lemma service_is_a_step_function:
∀ j,
is_step_function (service sched j).
(* Next, consider any job j at any time t... *)
Variable j: Job.
Variable t: time.
(* ...and let s0 be any value less than the service received
by job j by time t. *)
Variable s0: time.
Hypothesis H_less_than_s: s0 < service sched j t.
(* Then, we show that there exists an earlier time t0 where
job j had s0 units of service. *)
Corollary exists_intermediate_service:
∃ t0,
t0 < t ∧
service sched j t0 = s0.
End ServiceIsAStepFunction.
Section ScheduledAtEarlierTime.
(* Next, we show that if the service is positive,
then the job is scheduled at some earlier time. *)
Lemma scheduled_at_earlier_time:
∀ j t,
service sched j t > 0 →
∃ t0,
t0 < t ∧
scheduled_at sched j t0.
End ScheduledAtEarlierTime.
Section ServiceNotZero.
(* Let j be any job. *)
Variable j: Job.
(* Assume that the service received by j during [t1, t2) is not zero. *)
Variable t1 t2: time.
Hypothesis H_service_not_zero: service_during sched j t1 t2 > 0.
(* Then, there must be a time t where job j is scheduled. *)
Lemma cumulative_service_implies_scheduled :
∃ t,
t1 ≤ t < t2 ∧
scheduled_at sched j t.
End ServiceNotZero.
(* In this section, we prove some lemmas about time instants
with same service. *)
Section TimesWithSameService.
(* Let j be any job. *)
Variable j: Job.
(* Consider any time instants t1 and t2... *)
Variable t1 t2: time.
(* ...where job j has received the same amount of service. *)
Hypothesis H_same_service: service sched j t1 = service sched j t2.
(* First, we show that job j is scheduled at some point t < t1 iff
j is scheduled at some point t' < t2. *)
Lemma same_service_implies_scheduled_at_earlier_times:
[∃ t: 'I_t1, scheduled_at sched j t] =
[∃ t': 'I_t2, scheduled_at sched j t'].
End TimesWithSameService.
End Lemmas.
End Schedule.
End UniprocessorSchedule.