Modern embedded computing systems tend to be heterogeneous in the sense of being composed of subsystems with very different characteristics, which communicate and interact in a variety of ways-synchronous or asynchronous, buffered or unbuffered, etc. Obviously, when designing such systems, a modeling language needs to reflect this heterogeneity. Today's modeling environments usually offer a variant of what we call amorphous heterogeneity to address this problem. This paper argues that modeling systems in this manner leads to unexpected and hard-to-analyze interactions between the communication mechanisms and proposes a more structured approach to heterogeneity, called hierarchical heterogeneity, to solve this problem. It proposes a model structure and semantic framework that support this form of heterogeneity, and discusses the issues arising from heterogeneous component interaction and the desire for component reuse. It introduces the notion of domain polymorphism as a way to address these issues.

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Taming heterogeneity - the Ptolemy approach

We review a model of computation used in industrial practice in signal processing software environments and experimentally and other contexts. We give this model the name "dataflow process networks," and study its formal properties as well as its utility as a basis for programming language design. Variants of this model are used in commercial visual programming systems such as SPW from the Alta Group of Cadence (formerly Comdisco Systems), COSSAP from Synopsys (formerly Cadis), the DSP Station from Mentor Graphics, and Hypersignal from Hyperception. They are also used in research software such as Khoros from the University of New Mexico and Ptolemy from the University of California at Berkeley, among many others. Dataflow process networks are shown to be a special case of Kahn process networks, a model of computation where a number of concurrent processes communicate through unidirectional FIFO channels, where writes to the channel are nonblocking, and reads are blocking. In dataflow process networks, each process consists of repeated "firings" of a dataflow "actor." An actor defines a (often functional) quantum of computation. By dividing processes into actor firings, the considerable overhead of context switching incurred in most implementations of Kahn process networks is avoided. We relate dataflow process networks to other dataflow models, including those used in dataflow machines, such as static dataflow and the tagged-token model. We also relate dataflow process networks to functional languages such as Haskell, and show that modern language concepts such as higher-order functions and polymorphism can be used effectively in dataflow process networks. A number of programming examples using a visual syntax are given. >

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Dataflow process networks

This paper addresses the design of reactive real-time embedded systems. Such systems are often heterogeneous in implementation technologies and design styles, for example by combining hardware application-specific integrated circuits (ASICs) with embedded software. The concurrent design process for such embedded systems involves solving the specification, validation, and synthesis problems. We review the variety of approaches to these problems that have been taken.

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Design of embedded systems: formal models, validation, and synthesis

We present cycle-static dataflow (CSDF), which is a new model for the specification and implementation of digital signal processing algorithms. The CSDF paradigm is an extension of synchronous dataflow that still allows for static scheduling and, thus, a very efficient implementation of an application. In comparison with synchronous dataflow, it is more versatile because it also supports algorithms with a cyclically changing, but predefined, behavior. Our examples show that this capability results in a higher degree of parallelism and, hence, a higher throughput, shorter delays, and less buffer memory. Moreover, they indicate that CSDF is essential for modelling prescheduled components, like application-specific integrated circuits. Besides introducing the CSDF paradigm, we also derive necessary and sufficient conditions for the schedulability of a CSDF graph. We present and compare two methods for checking the liveness of a graph. The first one checks the liveness of loops, and the second one constructs a single-processor schedule for one iteration of the graph. Once the schedulability is tested, a makespan optimal schedule on a multiprocessor can be constructed. We also introduce the heuristic scheduling method of our graphical rapid prototyping environment (GRAPE).

Cycle-static dataflow

We present a programming interface called YAPI to model signal processing applications as process networks. The purpose of YAPI is to enable the reuse of signal processing applications and the mapping of signal processing applications onto heterogeneous systems that contain hardware and software components. To this end, YAPI separates the concerns of the application programmer, who determines the functionality of the system, and the system designer, who determines the implementation of the functionality. The proposed model of computation extends the existing model of Kahn process networks with channel selection to support non-deterministic events. We provide an efficient implementation of YAPI in the form of a C++ run-time library to execute the applications on a workstation. Subsequently, the applications are used by the system designer as input for mapping and performance analysis in the design of complex signal processing systems. We evaluate this methodology on the design of a digital video broadcast system-on-chip.

YAPI: application modeling for signal processing systems

The high sample-rates involved in many DSP-applications, require the use of static schedulers wherever possible. The construction of static schedules however is classically limited to applications that fit in the synchronous data flow model. In this paper we present cyclo-static data flow as a model to describe applications with a cyclically changing behaviour. We give both a necessary and sufficient condition for the existence of a static schedule for a cyclo-static data flow graph and show how such a schedule can be constructed. The example of a video encoder is used to illustrate the importance of cyclo-static data flow for real-life DSP-systems.

Cyclo-static data flow

The high sample-rates involved in many DSP-applications, require the use of static schedulers wherever possible. The construction of static schedules however is classically limited to applications that fit in the synchronous data flow model. In this paper we present cyclo-static data flow as a model to describe applications with a cyclically changing behaviour and build a static schedule for them as well. We also propose a new scheduling method for both multi-rate and cyclo-static applications. Characteristic for this method is that the graph does not need to be transformed into a single-rate equivalent. The new scheduling technique has been implemented in GRAPE-II (Graphical RApid Prototyping Environment).

Static scheduling of multi-rate and cyclo-static DSP-applications

In the graphical programming environment GRAPE-II intended for rapid prototyping of DSP ASICs on a multi-processor, a load balancing tool is required to map the different jobs of the DSP application on the multi-processor. Since most of the existing load balancing algorithms perform less well when they have to handle large or complex applications, the authors develop a tool that is better suited for such problems. This tool is based on three main techniques. (1) By exploiting the hierarchy that exists in the application graph, the complexity for each of the tools can be reduced. (2) Splitting the load balancing in sub tasks leads to three smaller search spaces instead of one big space. (3) Each of the smaller search spaces on its turn is reduced by using appropriate heuristic rules. As an example of this approach the scheduling tool and the basics of the assignment tool are presented. >

Development of a load balancing tool for the GRAPE rapid prototyping environment

Most tasks in DSP-applications require multiple execution. If only CPU-usage is considered while constructing a static schedule, the actual run-time performance of the application can differ a lot from the predicted one. We present a scheduling method that takes non-CPU resource requirements into account as well while constructing the static schedule. >

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G. Bilsen

Papers

Cycle-static dataflow

Cyclo-static data flow

Static scheduling of multi-rate and cyclo-static DSP-applications

Development of a load balancing tool for the GRAPE rapid prototyping environment

Compile-time scheduling with resource-constraints