Updating the Linux TAPRIO Scheduler in Deterministic Time

In flexible production systems with distributed control systems which communicate with each other via a real time network, changes in the requirements for real time communication during operation must not lead to a temporary failure of the deterministic communication. Rather, the changes of the network configuration must become active at exactly predictable times in order to guarantee the functionality of the deterministic communication all the time. This paper shows a realization of how the configuration of a real time network schedule under Linux can be adjusted at predetermined times without interrupting the communication. For this purpose, the real time scheduler TAPRIO is integrated into the library libnl, and the performance of this extension is evaluated in a test case. It is shown that the modification of the network configuration is reliably possible in several successive communication cycles.