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Solving the Priority Inversion Problem in legOS (2001)
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@MISC{Pedersen01solvingthe,
author = {Michael Haugaard Pedersen and Morten Klitgaard Christiansen and Thomas Glæsner and Thomas Glsner},
title = {Solving the Priority Inversion Problem in legOS},
year = {2001}
}
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Abstract
legOS is currently the most powerful development tool available for the LEGO r Mindstorms TM RCX unit. Besides being a powerful development tool it also comes close to being a full scale operating system that supports prioritized threads, synchronization with semaphores and multitasking. legOS however suffers from some serious problems with respect to being a real-time operating system, and one of these problems is the problem of priority inversion. The actual existence of the priority inversion problem in the legOS operating system is illustrated through a test case and as a solution we have implemented the Priority Ceiling Protocol. Besides preventing priority inversion, the Priority Ceiling Protocol also prevents deadlock and chained blocking, and the correctness of the implementation is therefore documented through various tests cases, illustrating how priority inversion, deadlock and chained blocking are prevented. 1
