CN111708670A - Method and device for determining task time parameters in real-time operating system and vehicle - Google Patents
Method and device for determining task time parameters in real-time operating system and vehicle Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for determining a task time parameter in a real-time operating system and a vehicle. Wherein, the method comprises the following steps: establishing a calling relation between a real-time operating system to be tested and a set task entering monitoring function and a task exiting monitoring function through an external calling interface, wherein each task deployed in the real-time operating system to be tested correspondingly has a preset task identifier; acquiring a task timestamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs; and determining the task time parameter information of the task to be analyzed according to the task timestamp record table and the task identifier of the selected task to be analyzed. According to the technical scheme provided by the embodiment of the invention, various tasks are not required to be monitored by a third-party monitoring tool, and the task time parameters with nested tasks or interrupted tasks can be accurately calculated only by two calling functions.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobile control, in particular to a method and a device for determining a task time parameter in a real-time operating system and a vehicle.
Background
An Electronic Control Unit (ECU) is a core Control component in an automobile Control technology, an automobile includes a plurality of ECUs for implementing different Control functions, and the ECUs implement execution of corresponding Control functions mainly through a real-time operating system embedded therein. For a real-time operating system, the characteristics can be described as follows: when the real-time operating system is initially embedded in the ECU, a programmer has written various tasks for executing corresponding control functions, the tasks may include events, periods, interrupts, and the like, the execution time and the execution sequence of each task are already fixed in the programming stage, and in practical application, the execution of the corresponding functions can be controlled only by powering on and starting the ECU.
Since the operation performance of the real-time operating system directly affects the use performance of the vehicle, technicians often need to test the control performance of the ECUs after the real-time operating system is embedded into each corresponding ECU in the vehicle, and the performance test of the real-time operating system is one of the links. Specifically, in the testing process, the determination of the task time parameter of the real-time operating system is an important task, because the determined task time parameter can reflect the running state of the real-time operating system and can be used as a main judgment index of the stability and reliability of the real-time operating system.
The existing method for determining the task time parameter mainly includes the steps of directly reading a register through a debugger to obtain the task time parameter, or marking the starting time and the ending time of a task in a real-time operating system in a mode of marking high and low levels, and monitoring and calculating the task time parameter of the executed task through an oscilloscope. The two modes are usually only suitable for determining the task time parameter of one task without nested tasks or interrupted tasks, and if the nested tasks or the interrupted tasks exist, the determined task time parameter can not reflect the real execution time of the marked task. When technicians optimize the real-time operating system, the reference significance of the task time parameters is not large.
In addition, a third-party monitoring tool can be used for monitoring various tasks so as to determine relatively accurate task time parameters. However, this kind of mode that adopts third party monitoring tool needs to do the customization integration to the chip platform, and the degree of coupling is higher, is difficult for transplanting, leads to the input cost higher, and third party monitoring tool can occupy more system resource in service, has increased the load capacity of system self, carries out the influence to the stability of whole test.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining task time parameters in a real-time operating system and a vehicle, wherein various tasks are not monitored by a third-party monitoring tool, and the task time parameters with nested tasks or interrupted tasks can be accurately calculated only by two calling functions.
In a first aspect, an embodiment of the present invention provides a method for determining a task time parameter in a real-time operating system, where the method includes:
establishing a calling relation between a real-time operating system to be tested and a set task entering monitoring function and a task exiting monitoring function through an external calling interface, wherein each task deployed in the real-time operating system to be tested correspondingly has a preset task identifier;
acquiring a task timestamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
and determining the task time parameter information of the task to be analyzed according to the task timestamp record table and the task identifier of the selected task to be analyzed.
In a second aspect, an embodiment of the present invention provides an apparatus for determining a task time parameter in a real-time operating system, where the apparatus includes:
the system comprises a calling relation establishing module, a task exit monitoring module and a task execution module, wherein the calling relation establishing module is used for establishing a calling relation between a real-time operating system to be tested and a set task entry monitoring function and a set task exit monitoring function through an external calling interface, and each task deployed in the real-time operating system to be tested is correspondingly provided with a preset task identifier;
the record table acquisition module is used for acquiring a task time stamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
and the parameter information determining module is used for determining the task time parameter information of the task to be analyzed according to the task timestamp record table and the task identifier of the selected task to be analyzed.
In a third aspect, an embodiment of the present invention provides a vehicle including:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the task time parameter in the real-time operating system according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for determining a task time parameter in a real-time operating system according to any embodiment of the present invention.
The embodiment of the invention provides a method, a device and a vehicle for determining task time parameters in a real-time operating system, which are characterized in that a calling relationship between a real-time operating system to be tested and a set task entering monitoring function and a set task exiting monitoring function is established through an external calling interface, a preset task identifier is correspondingly arranged in each task arranged in the real-time operating system to be tested, then a task time stamp recording table formed by the task entering monitoring function and the task exiting monitoring function when the real-time operating system to be tested runs is obtained, and finally task time parameter information of the task to be analyzed is determined according to the task time stamp recording table and the task identifier of the selected task to be analyzed, so that a third-party monitoring tool is not needed to monitor various tasks, and accurate calculation of the task time parameters with nested tasks or interrupted tasks can be realized only through two calling functions, therefore, the real execution time of the selected task to be analyzed can be reflected, and more system resources are prevented from being occupied.
Drawings
Fig. 1 is a flowchart illustrating a method for determining a task time parameter in a real-time operating system according to an embodiment of the present invention;
fig. 2A is a flowchart of a method for determining a task time parameter in a real-time operating system according to a second embodiment of the present invention;
fig. 2B is a schematic diagram of a process of preempting a task in a method according to a second embodiment of the present invention;
fig. 2C is a flowchart illustrating an implementation of a step of determining time parameter information of a task to be analyzed in the method according to the second embodiment of the present invention;
fig. 3 is a flowchart of a device for determining a task time parameter in a real-time operating system according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for determining a task time parameter in a real-time operating system according to an embodiment of the present invention, where this embodiment is applicable to a case where a task time parameter in any real-time operating system is determined, and the method for determining a task time parameter in a real-time operating system according to this embodiment may be implemented by a device for determining a task time parameter in a real-time operating system according to an embodiment of the present invention, where the device may be implemented in a software and/or hardware manner and integrated into a vehicle that executes the method.
Specifically, referring to fig. 1, the method specifically includes the following steps:
s101, establishing a calling relation between a real-time operating system to be tested and a set task entering monitoring function and a set task exiting monitoring function through an external calling interface, wherein each task deployed in the real-time operating system to be tested correspondingly has a preset task identifier.
The external call interface is an interface provided by software or services, corresponding functions can be realized by calling the interface, the real-time operating system to be tested is a real-time operating system embedded in the vehicle ECU and required to be tested, the task entry monitoring function and the task exit monitoring function are functions for monitoring tasks preset in the real-time operating system at an entry time and functions for monitoring tasks preset in the real-time operating system at an exit time, and since the real-time operating system is designed in advance which tasks should be executed, which tasks can be inserted into the executed tasks, and the real-time operating system contains a plurality of tasks, the tasks can be periodic tasks, event tasks or interrupt tasks, and the embodiment is not limited specifically. In order to quickly distinguish which task is currently executed from a plurality of tasks, task identifiers are preset for each task in a to-be-tested real-time operating system, each task corresponds to one task identifier, and the task corresponding to the task identifier can be quickly locked through the task identifiers.
Optionally, the task entry monitoring function and the task exit monitoring function may be respectively executed at a start point and an end point of a task in the real-time operating system to be tested, the task entry monitoring function may be PreHook, and the task exit monitoring function may be PostHook, and unified management of the task in the real-time operating system to be tested may be implemented through the two functions.
Specifically, in this embodiment, the recording of the entry time and the exit time of the task in the real-time operating system is realized through the task entry monitoring function and the task exit monitoring function set in the external call interface, so that the call relationship between the real-time operating system to be tested and the set task entry monitoring function and the set task exit monitoring function is established, and the subsequent recording process of the task timestamp can be smoothly performed through the call relationship.
And S102, acquiring a task time stamp recording table formed by the task entering monitoring function and the task exiting monitoring function when the real-time operating system to be tested runs.
The task time stamp recording table may be a table for recording relevant time stamps in the task execution process.
Specifically, the task in the real-time operating system to be tested is monitored by calling the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs, so that relevant timestamps at the task entry time and the task exit time in the task execution process can be recorded, and the relevant timestamps are associated with the executed task, so that a task timestamp recording table is obtained. The subsequent determination of the task time parameter information can be facilitated through the timestamp information in the task timestamp recording table.
And S103, determining task time parameter information of the task to be analyzed according to the task timestamp recording table and the task identifier of the selected task to be analyzed.
Specifically, as there are many tasks in the real-time operating system to be analyzed, the task to be analyzed is selected first, and after the task to be analyzed is selected, the identifier of the task to be analyzed is determined, so that the task to be analyzed can be identified through the task identifier of the selected task to be analyzed, the relevant timestamp of the selected task to be analyzed is searched in the task timestamp recording table, and the task time parameter information of the selected task to be analyzed can be determined by counting and calculating the relevant timestamp of the selected task to be analyzed. The time parameter is used as an index for measuring the performance test of the real-time operating system, and the acquired time parameter information is convenient for subsequent analysis or optimization of the real-time operating system.
Optionally, the task to be analyzed may specifically include a system task written in advance in the real-time operating system to be detected, and a temporary task formed by two time points selected in advance in the real-time operating system to be detected.
Specifically, since many tasks to be executed by the operating system are pre-programmed in the real-time operating system to be tested, the pre-programmed system tasks in the real-time operating system to be tested can be used as the tasks to be analyzed when the tasks to be analyzed are selected; any two time points can be preselected in the real-time operating system to be tested, the tasks contained between the two time points constitute a temporary task, the temporary task can be used as a task to be analyzed, the two time points can be specified by a user or can be set by technical personnel, and the embodiment does not specifically limit the task. The task to be analyzed can be a task to be analyzed selected this time from the tasks of the real-time operating system to be analyzed, and the task time parameter information of the task in the execution process can be obtained by analyzing the task to be analyzed.
The technical solution provided in this embodiment is to establish a call relationship between a real-time operating system to be tested and a set task entry monitoring function and a set task exit monitoring function through an external call interface, to correspondingly store a preset task identifier for each task disposed in the real-time operating system to be tested, to obtain a task timestamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested is running, and to determine task time parameter information of the task to be analyzed according to the task timestamp record table and the selected task identifier of the task to be analyzed, so that a third-party monitoring tool is not required to be used to monitor each task, and accurate calculation of task time parameters of nested tasks or interrupted tasks can be realized only by two call functions, therefore, the real execution time of the selected task to be analyzed can be reflected, and more system resources are prevented from being occupied.
Example two
Fig. 2A is a flowchart of a method for determining a task time parameter in a real-time operating system according to a second embodiment of the present invention, where the second embodiment of the present invention is optimized based on the first embodiment. Optionally, this embodiment explains the execution process of the task entry monitoring function and the execution process of the task exit monitoring function in detail.
Specifically, referring to fig. 2A, the method of this embodiment may specifically include:
s201, establishing a calling relation between the real-time operating system to be tested and the set task entering monitoring function and the task exiting monitoring function through an external calling interface.
S202, the starting time stamp of each task is preset to be a default value.
The start time stamp of the task may be data capable of representing the running state of the task at a specific time point.
Optionally, the start time stamp of each task in the real-time operating system is preset to a default value, so that the start time stamp of each task can be conveniently recorded and updated subsequently. The default value may be set manually, for example, the start timestamp may be set to 0xFFFFFFFF, or may be set to another value, which is not limited in this embodiment.
S203, recording the task which is monitored to enter currently as the current task, acquiring the task identifier of the current task as the task identifier, and acquiring the previous starting timestamp of the previous task.
Specifically, since there are many tasks in the real-time operating system, in order to distinguish the tasks, the task that is monitored to enter currently may be recorded as the current task, and a task identifier is preset for each task in the real-time operating system to be detected, so that the task identifier of the current task that enters may be obtained, and the task identifier of the current task that enters may be recorded as the task identifier, which is advantageous in distinguishing from other tasks. Since the start timestamp of the task can indicate the running state of the task at a specific time point, a previous start timestamp of a previous entering task is also acquired in order to judge the running state of the current task.
S204, judging whether the previous starting time stamp is a default value.
If yes, executing steps S205-S206; if not, steps S207-S209 are performed.
S205, determining that the current entering task is the normal entering of the task, and controlling the preset identification state to be in a default state.
Specifically, after the previous start timestamp of the previous entering task is obtained, if the previous start timestamp is a default value, it represents that the current entering task does not preempt the previous entering task, and the current entering task is a normal entry of the task, and at this time, the preset identification state of the current entering task is set to be a default state. The identification state is data for recording the state of the identification of the task in the real-time operating system, and the current state of the task can be clearly known through the identification state. The identification state may be set by the technician in advance, with two options, a default state and a preemption state.
S206, updating the current entering time to be the starting time stamp of the current entering task and the entering time stamp of the current entering task, and recording the entering task identification, the corresponding starting time stamp and the entering time stamp, and the identification state association in the task time stamp recording table.
Specifically, after it is determined that the current entering task is the normal entering of the task, the current entering time of the current entering task is updated to the starting timestamp of the current entering task, and the current entering time of the current entering task is used as the entering timestamp of the current entering task. Since there is more than one time stamp of a task in the real-time operating system, there may be more than one time stamp, such as a start time stamp of the task, an entry time stamp of the task, and an exit time stamp of the task. Therefore, when recording the task timestamp of the current entering task, the current entering task identifier, the starting timestamp of the current entering task, the entering timestamp of the current entering task, and the identifier state of the current entering task are recorded in the task timestamp recording table in an associated manner, so that a technician can quickly find the starting timestamp of the current entering task, the entering timestamp of the current entering task, and the identifier state of the current entering task in the task timestamp recording table according to the current entering task identifier through the associated records.
And S207, determining that the current entering task is preempted by the previous entering task, and controlling the identification state to be in a preempted state.
Specifically, if the previous start timestamp of the previous entering task is not a default value, which indicates that the current task is not the normal entry of the task, but preempts the previous entering task, that is, the current entering task is the preempt task of the previous task, the current entering task identifier is set to be in a preempt state.
And S208, determining the task identifier of the previous task as the preempted task identifier, and updating the current entering moment to be the starting timestamp of the current entering task and serving as the entering timestamp of the current entering task.
Specifically, after it is determined that the current entering task is the preemption task of the previous task, which means that the previous task is preempted by the current entering task, and the previous task is not executed, the task identifier of the previous task is determined as the preempted task identifier, and meanwhile, the current entering time of the current entering task is updated to the starting timestamp of the current entering task, and the current entering time of the current entering task is used as the entering timestamp of the current entering task.
S209, the entering task identification, the corresponding starting timestamp and entering timestamp, the preempted task identification and the identification state are recorded in a task timestamp recording table in an associated manner.
Specifically, after the current entry time is updated to the start timestamp of the current entry task and used as the entry timestamp of the current entry task, in order to distinguish the timestamps of the tasks in the real-time operating system, the current entry task identifier, the start timestamp of the current entry task, the entry timestamp of the current entry task, the preempted task identifier of the previous task and the preempted state of the current entry task are recorded in a task timestamp record table in an associated manner, so that a technician can know that the current entry task is the preempted task, the previous task is preempted and the previous task is preempted by the current task according to the preempted state of the current entry task and the preempted task identifier of the previous task, and can quickly find the start timestamp, the entry timestamp, and the entry timestamp of the current entry task in the task timestamp record table, An entry timestamp of the current entry task.
The present embodiment explains the execution process of the task entry monitoring function by S203 to S209.
S210, recording the task for monitoring the current exit as a current exit task, acquiring the task identifier of the current exit task as an exit task identifier, taking the current moment as the exit timestamp of the current exit task, and restoring the start timestamp of the current exit task to a default value.
Specifically, in the real-time operating system, there is a currently entering task and correspondingly there is a currently exiting task, in order to better distinguish the tasks, the task for monitoring the current exiting can be recorded as the currently exiting task, and task identifiers are preset for the tasks in the real-time operating system to be tested, so that the task identifier for the currently exiting task can be obtained, and the task identifier for the currently exiting task can be recorded as the exiting task identifier. Since the exit timestamp of the task can indicate that the running state of the task at a certain specific time point is exit, the current time of the currently exiting task is taken as the exit timestamp of the currently exiting task. Meanwhile, since the current quit task represents that the current task is executed and completed, the starting time stamp of the current quit task is restored to the default value. On one hand, the current task is executed and completed, and on the other hand, the starting time stamp of the task can be updated and judged conveniently when the next task is executed.
S211, the exiting task identification, the exiting time stamp and the updated initial time stamp are stored in a task time stamp recording table in an associated mode.
Specifically, since there is more than one time stamp of a task in the real-time operating system, there may be a plurality of time stamps, such as a start time stamp of the task, an entry time stamp of the task, and an exit time stamp of the task. Therefore, when recording the task timestamp of the current quitting task, the current quitting task identifier, the starting timestamp of the current quitting task and the quitting timestamp of the current quitting task are recorded in the task timestamp recording table in an associated manner, and through the associated record, a technician can quickly find the quitting timestamp of the current quitting task and the starting timestamp of the current quitting task in the task timestamp recording table according to the current quitting task identifier.
S212, a target entry task identifier which is the same as the exit task identifier in the task timestamp record table is searched, and an identifier state corresponding to the target entry task identifier is obtained.
Specifically, task identifiers are preset for each task in the real-time operating system to be tested, the task corresponding to the task identifier can be directly locked through the task identifier, and a task exit identifier and a task entry identifier of a certain task may be recorded in a task timestamp recording table, so that a target entry task identifier which is the same as the task exit identifier in the task timestamp recording table needs to be searched, and thus, the existing entry process and exit process of the task can be determined, and the entry process and exit process are the execution process of the task. At this time, in order to determine the state of the target entering task, an identification state corresponding to the identification of the target entering task needs to be acquired.
S213, if the identification state is in the preemption state, acquiring a target preempted task identification corresponding to the target entering task identification, updating the starting timestamp of the preempted task corresponding to the target preempted task identification to the current time, and controlling the identification state to be in the default state.
Specifically, if the identification state corresponding to the target entry task identifier is the preemption state, it represents that the previous task is preempted by the current target entry task, because the current task has already been executed, the target preempted task identifier corresponding to the target entry task identifier is acquired at this time, the task identifier of the previous task can be determined by the target preempted task identifier, and the previous task can be locked, and then the start timestamp of the preempted task corresponding to the target preempted task identifier, that is, the task identifier of the previous task, is updated to the current time of the current exit task, and meanwhile, because the current exit task is executed, the corresponding target entry task can be executed, and therefore, the task identifier state of the target entry task is controlled to be the default state.
For example, fig. 2B is a schematic diagram of a Task preempted process in the method provided by the second embodiment of the present invention, as shown in fig. 2B, in an Environment (Environment, ENV for short), assuming that a current exiting Task is Task _1ms, a PostHook (1) is called to record an exit timestamp of Task _1ms, i.e. T3, a preset Task identifier of Task _1ms is 0002, a target entering Task identical to the exit Task _1ms identifier is an entering Task _1ms, when Task _1ms enters, a PreHook (1) is called to record an entry timestamp of Task _1ms, i.e. T2, if an identifier corresponding to the entering Task _1ms identifier is in a preempted state, representing that Task _1ms is a previous Task to Task _1ms, then an entry port of Task _1ms is preempted, and when Task _1ms finishes executing the corresponding exit identifier of Task is assumed to be an exit port identifier of Task _1ms, which is obtained as a preempted target Task _1ms, 0001, the previous Task of Task _1ms can be locked by Task identifier 0001 as Task _10ms, that is, during the execution of Task _10ms, Task _1ms is preempted, which results in the interrupted execution of Task _10ms, since Task _10ms calls PreHook (0) at the entrance to record the entry timestamp of Task _10ms, that is, T1, at this time, the start timestamp of Task _10ms is updated to the exit time of Task _1ms, and the identification state of Task _10ms is controlled to be the default state, then Task _10ms starts execution, and after the execution is completed, when Task _10ms exits, that is, PostHook (0) is called at the exit to record the exit timestamp of Task _10ms, that is, T4.
And S214, recording the target preempted task identifier and the updated start timestamp in a task timestamp recording table in association with the identifier state.
Specifically, when recording the task timestamp of the target preempted task, the target preempted task identifier, the start timestamp after the corresponding target preempted task is updated, and the identifier state of the target preempted task are recorded in the task timestamp recording table in an associated manner, so that a technician can quickly find the start timestamp after the corresponding target preempted task is updated and the identifier state of the target preempted task in the task timestamp recording table according to the target preempted task identifier through the associated recording.
The embodiment explains the execution process of the task exit monitoring function through S210 to S214.
S215, determining the task time parameter information of the task to be analyzed according to the task timestamp recording table and the task identifier of the selected task to be analyzed.
The technical solution provided by this embodiment is to establish a call relationship between the real-time os to be tested and the set task entry monitoring function and the set task exit monitoring function through an external call interface, then to preset the start time stamp of each task as a default value, then a task time stamp record table is formed by executing the task entering monitoring function and the task exiting monitoring function, finally the task time parameter information of the task to be analyzed is determined according to the task time stamp record table and the task identification of the selected task to be analyzed, therefore, the accurate calculation of the task time parameters with nested tasks or interrupted tasks can be realized only by two calling functions without adopting a third-party monitoring tool to monitor various tasks, therefore, the real execution time of the selected task to be analyzed can be reflected, and more system resources are prevented from being occupied.
Further, fig. 2C is an implementation flowchart of the step of determining the time parameter information of the task to be analyzed in the method provided by the second embodiment of the present invention, and the implementation process of the step of determining the task time parameter information of the task to be analyzed is explained in detail below.
Specifically, referring to fig. 2C, the implementation process of the step of determining task time parameter information of the task to be analyzed may specifically include:
s2151, recording the task identifier of the currently selected task to be analyzed as the task identifier to be analyzed.
Specifically, because there are many tasks in the real-time operating system, when analyzing a task, a task to be analyzed is first selected, the currently selected task to be analyzed is used as the task to be analyzed, and the task identifier of the currently selected task to be analyzed is recorded as the task identifier to be analyzed.
S2152, traversing the task timestamp recording table, searching all matched entry task identifiers and all matched exit task identifiers which are the same as the to-be-analyzed task identifiers, and forming at least one group of task operation segments.
Specifically, since the start timestamp, the entry timestamp, the exit timestamp, the task identifier and the task state of each task are recorded in the task timestamp record table, when a certain task is analyzed, all matched entry task identifiers and all matched exit task identifiers which are the same as the task identifier to be analyzed can be searched in the task timestamp record table according to the task identifier to be analyzed, all matched entry tasks and matched exit tasks which are the same as the task identifier to be analyzed can be searched according to all matched entry task identifiers and all matched exit task identifiers, and at least one group of task operation segments can be formed by combining the matched entry tasks and the matched exit tasks. The task running segments may be one group or even multiple groups, because some tasks in the real-time operating system may be periodic tasks, and the periodic tasks are executed periodically and thus may be executed many times, the obtained task running segments may be multiple groups of task running segments.
And S2153, acquiring matching entry timestamps and matching exit timestamps associated with the matching entry task identifiers and the matching exit task identifiers in the task running segments respectively for each group of task running segments.
Specifically, after the task running segments are obtained, for each group of task running segments, according to the matching entry task identifiers and the matching exit task identifiers in the task running segments, the matching entry timestamps and the matching exit timestamps respectively associated with the matching entry task identifiers and the matching exit task identifiers in the task running segments can be found in the task timestamp record table, so that the single net running time of the tasks can be calculated conveniently in the following process.
S2154, according to the matching entry timestamp, the matching exit timestamp and the local timestamp information between the matching entry timestamp and the matching exit timestamp, single net running time of the task to be analyzed is determined, and the single net running time is used as one parameter item in corresponding task time parameter information.
The local timestamp information refers to timestamp information recorded in the execution process of a matching entering task and a preemptive task in the execution process of a matching exiting task of the task to be analyzed.
Specifically, according to the matching entry timestamp and the matching exit timestamp, the matching entry time and the matching exit time of the task to be analyzed can be known, further the matching execution time can be calculated, then according to the local timestamp information between the matching entry timestamp and the matching exit timestamp, the execution time of the task to be preempted can be calculated, finally, the single net operation time of the task to be analyzed can be obtained according to the matching execution time and the execution time of the task to be preempted, at the moment, the single net operation time can be used as a parameter item in the corresponding task time parameter information, accurate calculation of the single net operation time is achieved, the determined single net operation time can reflect the operation state of the real-time operation system, and further the stability and the reliability of the real-time operation system can be judged.
Further, the process of using the average execution time as one parameter item in the corresponding task time parameter information may specifically include:
counting all single net running time of the task to be analyzed to obtain the accumulated running time of the task to be analyzed; and determining the average execution time of the task to be analyzed by combining the accumulated operation time according to the total number of the task operation segments corresponding to the task to be analyzed, and taking the average execution time as a parameter item in the corresponding task time parameter information.
Specifically, as the task to be analyzed may be a periodic task, the task to be analyzed may be executed for multiple times in the execution process, a single net running time may be obtained every time the task to be analyzed is executed, and the accumulated running time of the task to be analyzed may be obtained by counting all the single net running times of the task to be analyzed; when the task to be analyzed may be executed for multiple times, the number of sets of the task running segments corresponding to the task to be analyzed may be multiple sets, the number of sets of the task running segments corresponding to the task to be analyzed is counted, the total number of the task running segments corresponding to the task to be analyzed may be obtained, the average execution time of the task to be analyzed may be calculated by combining the accumulated execution time of the task to be analyzed, the average execution time may be used as one parameter item in the parameter information of the corresponding task time, and the running state of the real-time operating system may also be reflected by the average execution time, so that the stability and reliability of the real-time operating system may be determined.
Optionally, the single minimum net running time and the single maximum net running time can be obtained by counting all the single net running times of the tasks to be analyzed; the method can also be used for recording the exiting timestamp of the task to be analyzed when the execution of a certain single time of the task to be analyzed is finished, recording the exiting timestamp of the task to be analyzed when the execution of the next single task of the same task to be analyzed is finished, calculating the time interval of the two exiting timestamps, obtaining the execution period of the task to be analyzed, obtaining the minimum execution period of the task to be analyzed and the maximum execution period of the task to be analyzed by comparing the exiting timestamp intervals within a period of time, counting the total running time of the task to be analyzed and the total execution times of the task to be analyzed, and calculating the average execution period of the task to be analyzed according to the total running time of the task to be analyzed and the total execution times of the task to be analyzed. The single minimum net running time, the single maximum net running time, the minimum execution period, the maximum execution period and the average execution period can be used as performance indexes of the real-time operating system, the running state of the real-time operating system can be reflected, and the performance of the real-time operating system can be determined by judging the performance indexes.
Furthermore, after the step of determining the time parameter information of the task to be analyzed, an exception recording process can be included. The exception recording process may specifically include:
when abnormal interruption is monitored, searching the task timestamp record table according to the task identifier of each task in the real-time operating system to be tested through an abnormal interruption service program, and determining whether the initial timestamp of the task after the last update is a default value; if not, determining that the task runs abnormally, determining a specific timestamp corresponding to the last time when the starting timestamp is updated, determining abnormal net running time according to the specific timestamp and the entry timestamp of the task, and storing a task identifier of the task in association with the abnormal net running time to serve as an abnormal record for problem positioning.
Specifically, after each task is finally executed, the start timestamp of the task is set to be a default value, when abnormal interruption is monitored, a task timestamp recording table is searched for each task in the real-time operating system to be tested according to a task identifier of a certain task through an abnormal interruption service program, the last updated start timestamp value of the task can be obtained, and if the last updated start timestamp of the task is the default value, the task runs normally; if the initial timestamp of the task after the last update is not the default value, the task is represented to be abnormal in operation, after the task is determined to be abnormal in operation, the specific timestamp corresponding to the initial timestamp of the task when the task is updated last is determined, then the abnormal net operation time of the task can be obtained according to the specific timestamp of the task and the entry timestamp of the task, the task identifier of the task and the abnormal net operation time of the task are stored in a task timestamp recording table in a correlated mode and serve as abnormal recording information, the technical staff can check the abnormal recording information in the task timestamp recording table conveniently at any time, the abnormal recording information can be used for quickly positioning the abnormality and saving time.
EXAMPLE III
Fig. 3 is a flowchart of a device for determining a task time parameter in a real-time operating system according to a third embodiment of the present invention, as shown in fig. 3, the device may include:
a calling relationship establishing module 301, configured to establish, through an external calling interface, a calling relationship between a real-time operating system to be tested and a set task entering monitoring function and a set task exiting monitoring function, where each task deployed in the real-time operating system to be tested has a preset task identifier correspondingly;
a record table obtaining module 302, configured to obtain a task timestamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
and the parameter information determining module 303 is configured to determine task time parameter information of the task to be analyzed according to the task timestamp record table in combination with the task identifier of the selected task to be analyzed.
The technical solution provided in this embodiment is to establish a call relationship between a real-time operating system to be tested and a set task entry monitoring function and a set task exit monitoring function through an external call interface, to correspondingly store a preset task identifier for each task disposed in the real-time operating system to be tested, to obtain a task timestamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested is running, and to determine task time parameter information of the task to be analyzed according to the task timestamp record table and the selected task identifier of the task to be analyzed, so that a third-party monitoring tool is not required to be used to monitor each task, and accurate calculation of task time parameters of nested tasks or interrupted tasks can be realized only by two call functions, therefore, the real execution time of the selected task to be analyzed can be reflected, and more system resources are prevented from being occupied.
Further, the apparatus for determining a task time parameter in the real-time operating system may further include:
entering a monitoring function execution module, wherein the starting time stamp of each task is preset as a default value; recording a task which is monitored to enter currently as a current entering task, acquiring a task identifier of the current entering task as an entering task identifier, and acquiring a previous starting timestamp of a previous entering task; if the previous starting timestamp is a default value, determining that the current entering task is normal entering of the task, and controlling a preset identification state to be in a default state; updating the current entering time to be the starting timestamp of the current entering task and to be the entering timestamp of the current entering task, and recording an entering task identifier, the corresponding starting timestamp and entering timestamp, and the identifier state association in the task timestamp recording table; otherwise, determining that the current entering task is the preemption of the previous entering task, and controlling the identification state to be in a preemption state; determining the task identifier of the previous task as a preempted task identifier, and updating the current entry moment to be the initial timestamp of the current entry task and serving as the entry timestamp of the current entry task; and recording the entry task identifier, the corresponding start timestamp and entry timestamp, the preempted task identifier and the identifier state association in a task timestamp recording table.
Further, the apparatus for determining a task time parameter in the real-time operating system may further include:
the exit monitoring function execution module is used for recording a task which is monitored to exit at present as a current exit task, acquiring a task identifier of the current exit task as an exit task identifier, taking the current moment as an exit timestamp of the current exit task and restoring the start timestamp of the current exit task to a default value; storing the exiting task identification, the exiting timestamp and the updated starting timestamp in a task timestamp record table in an associated manner; searching a target entry task identifier which is the same as the exit task identifier in the task timestamp record table, and acquiring an identifier state corresponding to the target entry task identifier; if the identification state is in a preemptive state, acquiring a target preempted task identification corresponding to a target entering task identification, updating a starting timestamp of a preempted task corresponding to the target preempted task identification to be a current time, and controlling the identification state to be in a default state; and recording the target preempted task identifier and the updated starting timestamp in a task timestamp recording table in association with the identifier state.
Further, the parameter information determining module 303 may be specifically configured to:
recording the task identifier of the currently selected task to be analyzed as the task identifier to be analyzed; traversing the task timestamp recording table, and searching all matched entry task identifiers and all matched exit task identifiers which are the same as the to-be-analyzed task identifiers to form at least one group of task operation segments; aiming at each group of task running segments, acquiring matching entry timestamps and matching exit timestamps which are respectively associated with matching entry task identifiers and matching exit task identifiers in the task running segments; and determining the single net running time of the task to be analyzed according to the matching entry timestamp, the matching exit timestamp and the local timestamp information between the matching entry timestamp and the matching exit timestamp, and taking the single net running time as a parameter item in the corresponding task time parameter information.
Further, the apparatus for determining a task time parameter in the real-time operating system may further include:
the execution time determining module is used for counting all single net operation times of the tasks to be analyzed to obtain the accumulated operation time of the tasks to be analyzed; and determining the average execution time of the task to be analyzed by combining the accumulated operation time according to the total number of the task operation segments corresponding to the task to be analyzed, and taking the average execution time as a parameter item in the corresponding task time parameter information.
Further, the apparatus for determining a task time parameter in the real-time operating system may further include:
the abnormal recording module is used for searching the task timestamp recording table according to the task identifier of each task in the real-time operating system to be tested through an abnormal interrupt service program when abnormal interrupt is monitored, and determining whether the initial timestamp of the task after the last update is a default value; if not, determining that the task runs abnormally, determining a specific timestamp corresponding to the last time when the starting timestamp is updated, determining abnormal net running time according to the specific timestamp and the entry timestamp of the task, and storing a task identifier of the task in association with the abnormal net running time to serve as an abnormal record for problem positioning.
Further, the tasks to be analyzed include a system task pre-programmed in the real-time operating system to be detected, and a temporary task formed by pre-selecting any two time points in the real-time operating system to be detected.
The device for determining the task time parameter in the real-time operating system provided by the embodiment of the invention can be applied to the method for determining the task time parameter in the real-time operating system provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 4, the vehicle includes a processor 401, a storage device 402, and a communication device 403; the number of the processors 401 in the vehicle may be one or more, and one processor 401 is taken as an example in fig. 4; the processor 401, the storage device 402 and the communication device 403 in the vehicle may be connected by a bus or other means, and fig. 4 illustrates an example of a connection by a bus.
The storage device 402, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the method for determining the task time parameter in the real-time operating system in the embodiment of the present invention (for example, the call relation establishing module 301, the record table obtaining module 302, and the parameter information determining module 303). The processor 401 executes various functional applications and data processing of the vehicle by running software programs, instructions and modules stored in the storage device 402, namely, implements the method for determining the task time parameter in the real-time operating system.
The storage device 402 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage device 402 may further include memory located remotely from the processor 401, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Communication means 403 for implementing a network connection or a mobile data connection between servers.
The vehicle provided by the embodiment can be used for executing the method for determining the task time parameter in the real-time operating system provided by any embodiment, and has corresponding functions and beneficial effects.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a method for determining a task time parameter in a real-time operating system, and the method includes:
establishing a calling relation between a real-time operating system to be tested and a set task entering monitoring function and a task exiting monitoring function through an external calling interface, wherein each task deployed in the real-time operating system to be tested correspondingly has a preset task identifier;
acquiring a task timestamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
and determining the task time parameter information of the task to be analyzed according to the task timestamp record table and the task identifier of the selected task to be analyzed.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the method for determining the task time parameter in the real-time operating system provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the device for determining a task time parameter in a real-time operating system, each included unit and module are only divided according to functional logic, but are not limited to the above division as long as corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for determining a task time parameter in a real-time operating system is characterized by comprising the following steps:
establishing a calling relation between a real-time operating system to be tested and a set task entering monitoring function and a task exiting monitoring function through an external calling interface, wherein each task deployed in the real-time operating system to be tested correspondingly has a preset task identifier;
acquiring a task timestamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
and determining the task time parameter information of the task to be analyzed according to the task timestamp record table and the task identifier of the selected task to be analyzed.
2. The method of claim 1, wherein a start timestamp of each of the tasks is preset to a default value;
the execution step of the task entry monitoring function comprises the following steps:
recording a task which is monitored to enter currently as a current entering task, acquiring a task identifier of the current entering task as an entering task identifier, and acquiring a previous starting timestamp of a previous entering task;
if the previous start timestamp is a default value, then
Determining that the current entering task is the normal entering of the task, and controlling a preset identification state to be in a default state;
updating the current entry time to the start time stamp of the current entry task and to serve as the entry time stamp of the current entry task,
recording an entering task identifier, a corresponding starting timestamp and an entering timestamp, and the identifier state association in the task timestamp recording table; if not, then,
determining that the current entering task is the preemption of the previous entering task, and controlling the identification state to be in a preemption state;
determining the task identifier of the previous task as a preempted task identifier, and updating the current entry moment to be the initial timestamp of the current entry task and serving as the entry timestamp of the current entry task;
and recording the entry task identifier, the corresponding start timestamp and entry timestamp, the preempted task identifier and the identifier state association in a task timestamp recording table.
3. The method of claim 2, wherein the step of executing the task exit monitoring function comprises:
recording the task for monitoring the current quit as the current quit task, acquiring the task identifier of the current quit task as the quit task identifier,
taking the current time as an exit timestamp of the current exit task and restoring the start timestamp of the current exit task to a default value;
storing the exiting task identification, the exiting timestamp and the updated starting timestamp in a task timestamp record table in an associated manner;
searching a target entry task identifier which is the same as the exit task identifier in the task timestamp record table, and acquiring an identifier state corresponding to the target entry task identifier;
if the identification state is in a preemptive state, then
Acquiring a target preempted task identifier corresponding to a target entering task identifier, updating a starting timestamp of a preempted task corresponding to the target preempted task identifier to be a current time, and controlling the identifier state to be in a default state;
and recording the target preempted task identifier and the updated starting timestamp in a task timestamp recording table in association with the identifier state.
4. The method according to claim 3, wherein the determining task time parameter information of the task to be analyzed according to the task timestamp record table and the task identifier of the selected task to be analyzed comprises:
recording the task identifier of the currently selected task to be analyzed as the task identifier to be analyzed;
traversing the task timestamp recording table, and searching all matched entry task identifiers and all matched exit task identifiers which are the same as the to-be-analyzed task identifiers to form at least one group of task operation segments;
aiming at each group of task running segments, acquiring matching entry timestamps and matching exit timestamps which are respectively associated with matching entry task identifiers and matching exit task identifiers in the task running segments;
and determining the single net running time of the task to be analyzed according to the matching entry timestamp, the matching exit timestamp and the local timestamp information between the matching entry timestamp and the matching exit timestamp, and taking the single net running time as a parameter item in the corresponding task time parameter information.
5. The method of claim 4, further comprising:
counting all single net running time of the task to be analyzed to obtain the accumulated running time of the task to be analyzed;
and determining the average execution time of the task to be analyzed by combining the accumulated operation time according to the total number of the task operation segments corresponding to the task to be analyzed, and taking the average execution time as a parameter item in the corresponding task time parameter information.
6. The method of claim 1, further comprising:
when abnormal interruption is monitored, searching the task timestamp record table according to the task identifier of each task in the real-time operating system to be tested through an abnormal interruption service program, and determining whether the initial timestamp of the task after the last update is a default value;
if not, determining that the task runs abnormally, determining a specific timestamp corresponding to the last time when the starting timestamp is updated, determining abnormal net running time according to the specific timestamp and the entry timestamp of the task, and storing a task identifier of the task in association with the abnormal net running time to serve as an abnormal record for problem positioning.
7. The method according to any one of claims 1 to 6, wherein the tasks to be analyzed comprise pre-programmed system tasks in the real-time operating system to be tested and temporary tasks consisting of any two pre-selected time points in the real-time operating system to be tested.
8. An apparatus for determining a task time parameter in a real-time operating system, comprising:
the system comprises a calling relation establishing module, a task exit monitoring module and a task execution module, wherein the calling relation establishing module is used for establishing a calling relation between a real-time operating system to be tested and a set task entry monitoring function and a set task exit monitoring function through an external calling interface, and each task deployed in the real-time operating system to be tested is correspondingly provided with a preset task identifier;
the record table acquisition module is used for acquiring a task time stamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
and the parameter information determining module is used for determining the task time parameter information of the task to be analyzed according to the task timestamp record table and the task identifier of the selected task to be analyzed.
9. The apparatus of claim 8, further comprising:
the abnormal recording module is used for searching the task timestamp recording table according to the task identifier of each task in the real-time operating system to be tested through an abnormal interrupt service program when abnormal interrupt is monitored, and determining whether the initial timestamp of the task after the last update is a default value;
if not, determining that the task runs abnormally, determining a specific timestamp corresponding to the last time when the starting timestamp is updated, determining abnormal net running time according to the specific timestamp and the entry timestamp of the task, and storing a task identifier of the task in association with the abnormal net running time to serve as an abnormal record for problem positioning.
10. A vehicle, characterized in that the vehicle comprises:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method for determining a task time parameter in a real-time operating system as claimed in any one of claims 1-7.
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