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Our Research on High-performance and Real-time CORBA
Many application domains (such as avionics, telecommunications, and multimedia) require real-time guarantees from the underlying networks, operating systems, and middleware components to achieve their quality of service (QoS) requirements. In addition to providing end-to-end QoS guarantees, applications in these domains must be flexible and reusable. Requirements for flexibility and reusability motivate the use of object-oriented middleware like the Common Object Request Broker Architecture (CORBA). However, the performance levels, and QoS enforcement features of current CORBA implementations are not yet suited for hard real-time systems (e.g., avionics) and constrained latency systems (e.g., teleconferencing).
An increasing number of operating systems, networks, and protocols now support real-time scheduling. However, no integrated solutions yet exist that provide end-to-end QoS guarantees to distributed object applications. To rectify this situation, we've been conducting research over the past several years to identify the key architectural patterns and performance optimizations necessary to build high-performance, real-time ORBs. We have developed a prototype real-time ORB endsystem called TAO that can deliver end-to-end QoS guarantees to applications.
This document describes our existing research on CORBA, outlines our upcoming plans, and provides an overview of our vision of the future of CORBA, particularly for real-time systems.
Measuring the Performance of CORBA Over High-speed ATM Networks
We've have been conducting research on measuring and optimizing the performance of CORBA implementations for high-speed networks and real-time systems, as well as designing reliable CORBA systems. Our experience using CORBA over the past several years indicates that it is well-suited for request/response applications over lower-speed networks (such as Ethernet and Token Ring). However, through our benchmarking efforts, we've determined that conventional implementations of CORBA incur considerable overhead when used for performance-sensitive applications over high-speed networks.
As users and organizations migrate to networks with Gigabit data rates and deploy applications with demanding quality of service requirements, the inefficiencies of current implementations of CORBA will force developers to choose lower-level mechanisms (like ACE C++ wrappers for sockets) to achieve the necessary transfer rates. The use of low-level mechanisms, particularly C language programming interfaces, increases development effort and reduces system reliability, flexibility, and reuse. This is a serious problem for mission/life-critical applications (such as medical imaging and real-time systems).
Therefore, we believe it is imperative that performance of high-level, but inefficient, communication middleware be improved to match that of low-level, but efficient, tools. Moreover, we believe that advances in high-performance, real-time distributed object computing can be achieved only by simultaneously integrating techniques and tools that simplify application development; optimize application, I/O subsystem, and network performance; and systematically measure performance to pinpoint and alleviate bottlenecks. To validate our research hypthesis, we are developing a high-performance, real-time ORB called TAO (The ACE ORB).
Limitations with Existing ORBs
Our experience using CORBA on telecommunication, avionics, and medical projects indicates that it is well-suited for request/response applications. However, the QoS specification and enforcement features of current ORBs, as well as their performance levels, are not yet suitable for applications with hard real-time requirements (e.g., avionics mission computers) and stringent statistical real-time requirements (e.g., teleconferencing). In particular, conventional ORB specifications and implementations are characterized by the following deficiencies:
Lack of QoS specification and enforcement -- Conventional ORBs do not define APIs that allow applications to specify their end-to-end QoS requirements. Likewise, existing ORB implementations do not provide support for end-to-end QoS enforcement between applications across a network. For instance, CORBA provides no standard way for clients to indicate the relative priorities of their requests to an ORB. Likewise, there are no means for DCOM or RMI clients to inform an ORB how frequently to execute operations that must run periodically.
Lack of real-time features -- Conventional ORBs do not provide key features that are necessary to support real-time programming. For instance, although the CORBA inter-operability protocol (GIOP) supports asynchronous messaging, there is no standard programming language mapping for exchanging ORB requests asynchronously. Likewise, the DCOM and RMI specifications do not require an ORB to notify clients when transport layer flow control occurs. Therefore, it is hard to write portable and efficient real-time applications that are guaranteed not to block indefinitely when ORB endsystem and network resources are temporarily unavailable.
Lack of performance optimizations -- Existing ORBs incur significant throughput and latency overhead. These overheads stem from excessive data copying, non-optimized presentation layer conversions, internal message buffering strategies that produce non-uniform behavior for different message sizes, inefficient demultiplexing algorithms, long chains of intra-ORB virtual method calls, and lack of integration with underlying real-time OS and network QoS mechanisms.
Meeting the QoS needs of next-generation distributed applications requires much more than defining IDL interfaces or building real-time scheduling into ORBs. It requires a vertically integrated architecture that can deliver end-to-end QoS guarantees at multiple levels of an entire distributed system.
Optimizations and Features for High-performance, Real-time CORBA
Although some operating systems, networks, and protocols now support real-time scheduling, they do not provide integrated end-to-end solutions. In particular, QoS research at the IPC and OS layers has not necessarily addressed key requirements and usage characteristics of ORB middlware (such as CORBA, DCOM, or RMI). For instance, research on QoS for communication systems has focused largely on policies for allocating network bandwidth on a per-connection basis. Likewise, research on real-time operating systems has focused largely on avoiding priority inversions and non-determinism in synchronization and scheduling mechanisms for multi-threaded applications. In contrast, the programming model for developers of CORBA applications focuses largely on invoking remote operations on distributed objects. Determining how to map the results from QoS work at the IPC and OS layers to ORB middleware is an important open research topic.
In addition, high-performance, real-time ORB endsystems require more than CORBA middleware -- they must also integrate with network adapters, operating system I/O subsystems, communication protocols, and common object services. Below, we outline the requirements of high-performance, real-time ORB endsystems that form the basis for our work on TAO.
Policies and mechanisms for specifying end-to-end application QoS requirements
Real-time ORB endsystems must allow applications to specify the QoS requirements of their IDL operations using a small number of parameters (such as computation time, execution period, bandwidth and delay requirements). For instance, video-conferencing groupware may require high throughput with statistical real-time latency deadlines. In contrast, an operational flight control platform for avionics may require periodic processing with strict real-time deadlines.
QoS enforcement from real-time operating systems and networks
Regardless of the ability to specify QoS requirements, ORBs cannot deliver end-to-end guarantees to applications without network and OS support for QoS enforcement. Therefore, ORB endsystems must be capable of scheduling resources such as CPUs, memory, storage throughput, network adapter throughput, and network connection bandwidth and latency. For instance, OS scheduling mechanisms must allow high priority client requests to run to completion and prevent them from being blocked indefinitely by lower priority requests.
Optimized real-time communication protocols
The throughput, latency, and reliability requirements of multimedia applications like teleconferencing are more stringent and varied than those found in traditional applications like remote login or file transfer. Likewise, the channel speed, bit-error rates, and services (such as isochronous and bounded-latency delivery guarantees) of networks like ATM exceed those offered by traditional networks like Ethernet. Therefore, ORB endsystems must provide a range of communication protocols that can be customized and optimized for specific application requirements and network/host environments.
Optimized real-time request demultiplexing and dispatching
ORB endsystems must demultiplex and dispatch incoming client requests to the appropriate operation of the target object. In conventional ORBs, demultiplexing occurs at multiple layers (e.g., the network interface, the protocol stack, the user/kernel boundary, and the ORB's Object Adapter). However, layered demultiplexing is inappropriate for high-performance and real-time applications because it reduces performance by increasing the number of times that internal tables must be searched while incoming client requests traverse various protocol processing layers. Likewise, layered demultiplexing can cause priority inversions because important target object-level QoS information is inaccessible to the lowest level device drivers and protocol stacks in the I/O subsystem of an ORB endsystem.
Optimized memory management
On modern RISC hardware, data copying consumes a significant amount of CPU, memory, and I/O bus resources. Therefore, multiple layers in an ORB endsystem (e.g., the network adapters, I/O subsystem protocol stacks, Object Adapter, and presentation layer) must collaborate to minimize data copying.
Optimized presentation layer
Presentation layer conversions transform application-level data into a portable format that masks byte order, alignment, and word length differences. There are many optimizations that reduce the cost of presentation layer conversions. For instance, there are tradeoffs between using compiled versus interpreted code for presentation layer conversions. Compiled marshaling code is efficient, but requires excessive amounts of memory, which is problematic in many embedded real-time environments. In contrast, interpreted marshaling code is slower, but more compact.
It is important to recognize that requirements for high performance may conflict with requirements for real-time determinism. For instance, real-time scheduling policies often rely on the predictability of endsystem operations like thread scheduling, demultiplexing, and message buffering. However, certain optimizations (such as using self-organizing search structures to demultiplex client requests) can increase the average-case performance of operations, while decreasing the predictability of any given operation. Therefore, our ORB endsystem is designed with an open architecture that allows applications to select the appropriate tradeoffs between average-case and worst-case performance. Moreover, where possible, we use algorithms and data structures that can optimize for both performance and predictability. For instance, de-layered demultiplexing can increase ORB performance and predictability by eliminating excessive searching and avoiding priority inversions.
Overview of TAO: The ACE ORB
Currently, there is significant interest in developing high-performance implementations of real-time ORB endsystems. However, meeting the requirements outlined above involves much more than defining ORB QoS interfaces using OMG IDL -- it requires an integrated architecture that delivers end-to-end QoS guarantees at multiple levels of the entire system.
Therefore, we are developing a high-performance, real-time ORB called TAO (The ACE ORB) that is explicitly targeted to meet the requirements of high-performance, real-time ORBs described above. TAO's ORB endsystem architecture is summarized in Figure 2:
Figure 2. TAO: An ORB Endsystem Architecture for High-Performance, Real-Time CORBA
TAO contains the following policies and mechanisms that span the following network adapter, operating system, communication protocol, and CORBA middleware layers in an ORB endsystem:
Real-time scheduling of OS and network resources;
A high-performance ATM Port Interface Controller (APIC);
Efficient zero-copy buffer management that shares client request buffers across OS protection domains;
Customized real-time implementations of GIOP-compliant transport protocols;
A set of Real-time IDL (RIDL) schemas that allows applications to specify QoS attributes for their object's operations using a small number of parameters (such as computation time, execution period, bandwidth and delay requirements);
A real-time Object Adapter that supports various real-time dispatching mechanisms and de-layered demultiplexing;
An off-line Scheduling Service that determines the priority and scheduling characteristics of client requests with hard real-time deadlines;
An optimized presentation layer that uses innovative compiler techniques and efficient buffer management schemes to reduce data copying overhead in ORB endsystems;
Real-time Event Channels that use the RT ORB to support customized scheduling, concurrency, and filtering policies for user-defined events.
Our architectural overview of TAO describes these components in detail.
The Future of CORBA and CORBA Research
We believe the future of CORBA is very promising, particularly for real-time systems. Real-time system development strategies will migrate towards those used for ``mainstream'' systems to achieve lower development cost and faster time to market. We have seen real-time software development projects that have lagged in terms of design and development methodologies (and languages) by decades. These projects are extremely costly to evolve and maintain. They are so specialized that they cannot be adapted to meet new market opportunities.
The flexibility and adaptability offered by CORBA make it very attractive for use in RT systems. If the real-time challenges can be overcome, and our progress so far shows that they can, then the use of Real-time CORBA is compelling. Moreover, the solutions to these challenges will be sufficiently complex, yet general, that it will be well worth re-applying them to other projects.
In addition, CORBA can be adapted to ``niche'' markets, e.g., the RTOS market, that aren't well covered by more traditional major players, e.g., Sun, Microsoft, IBM. In this sense, CORBA has an advantage over other DOC technologies (such as DCOM and Java RMI) since it can be integrated into a wider range of platforms, i.e., it's open!
Back to my CORBA Research page.
Last modified 11:34:34 CDT 28 September 2006
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