CN115033472B - Interrupt driver model detection method based on thread cyclic scheduling serialization - Google Patents
Interrupt driver model detection method based on thread cyclic scheduling serialization Download PDFInfo
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- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3668—Software testing
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- G06F11/3688—Test management for test execution, e.g. scheduling of test suites
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4812—Task transfer initiation or dispatching by interrupt, e.g. masked
Abstract
The invention discloses an interrupt driver model detection method based on thread cyclic scheduling serialization, and belongs to the field of software model detection. Interrupt-related information of the input interrupt driver, such as interrupt type, number, priority, etc., contained in the software is first collected. The preliminary source-to-source conversion process converts the interrupt driver into a standard multithread program, and then uses a critical-step thread-round-robin scheduling serialization process to achieve serialization of random interrupts, periodic interrupts, and event-triggered interrupts. And finally, selecting detection properties, and inputting a sequencing program to a limit model detection tool to obtain a detection result. The program sequencing process of the method realizes the sequencing processing of three types of interrupts and supports the multi-stage nesting of interrupts and the automatic analysis of interrupt disabling. The method can be used for detecting the defects of real space embedded software, such as crossing of a plurality of borders, zero debugging and the like, and has strong practicability.
Description
Technical Field
The invention belongs to the field of software model detection, and particularly relates to an interrupt driver model detection method based on thread cyclic scheduling serialization.
Background
Interrupt drivers are widely used in the aerospace field, and in particular, an interrupt mechanism is a main means for realizing real-time interaction between an interrupt driver and hardware, and is an important part of the realization of real-time performance of an embedded system. In the field of security concerns, software security of interrupt drivers is particularly important.
Some existing model detection methods for interrupt drivers include a method of converting an interrupt driver into a sequencer. The sequencing method is realized by inserting a random interrupt calling function into a program point which is possibly interrupted in an interrupt driver, can only be used for simulating the execution condition of random interrupt, and cannot accurately and semantically model periodic interrupt and event-triggered interrupt. And conventional sequencing methods also do not analyze and model well in terms of interrupt disabling in interrupt drivers and nested execution of interrupts of different priorities. Thus, this coarse sequencing approach leads to a large number of false positives in the resulting test results.
Furthermore, interrupt drivers have similar multi-threaded program concurrency, but there are large differences in the manner of concurrency. The difference in concurrency is mainly represented by the fact that the interrupt drivers are asymmetric in interaction state of similar threads due to the different priorities of different interrupts. It is also because of the concurrent differences that the better model detection methods of current processing multithreaded programs are not applicable to interrupt driven programs.
Disclosure of Invention
The invention aims to design a model detection method of an interrupt driver based on thread cyclic scheduling sequencing to prevent the situation that the interrupt is introduced to cause the embedded system to have harmful concurrency, state complexity and unpredictable, and solve the software defects of malignant data competition, atomic violation and the like which threaten the safety and the stability of the system and exist in the interrupt driven embedded system.
The technical scheme of the invention is as follows:
a method for detecting an interrupt driver model based on thread cyclic scheduling serialization comprises the following specific steps:
1) The user selects and inputs an interrupt driver to be detected;
2) Automatically analyzing the interrupt type contained in the interrupt driving program, and inputting interrupt related information and appointed sequencing parameter values by a user;
3) Calculating the number of threads to be created according to the collected interrupt related information;
4) According to the calculated number of threads to be created and an event of triggering interruption by a trigger event provided by a user, converting an interrupt driver into a standard multithread program by using a source-to-source conversion method;
5) Converting the obtained standard multi-thread program into a sequenced program based on thread cyclic scheduling sequencing by using thread cyclic scheduling sequencing processing;
6) Selecting a detected program property;
7) Inputting the sequenced program into the bounding model detection tool: detecting the obtained sequenced program by using a limit model detection tool according to the selected detected program property and parameter setting;
8) Outputting a result: when the input interrupt driven embedded software has a software defect, outputting a result UNSAFE and a counterexample path of the defect; otherwise, when no defect exists in the software, outputting a result SAFE.
In the step 2), the interrupt driver automatically analyzes the interrupt type, and inputs interrupt related information and specified sequenced parameter values by a user, and the specific process includes:
2-1) resolving interrupts and the number of interrupts contained in the interrupt driver using a syntax analyzer;
2-2) the user fills out interrupt related information for the parsed interrupt, wherein the interrupt related information comprises interrupt type S, interrupt priority P, time constraint C of random interrupt, period T of periodic interrupt pi And Event events that can trigger Event-triggered interrupts;
2-3) designating a sequencing parameter value by a user, wherein the sequencing parameter value refers to a parameter unlock and a parameter round required by a generation sequencing program, the parameter unlock is used for setting the unfolding times of a cycle in an interrupt driver when the sequencing program is converted, and the parameter round is used for converting the times of a cycle scheduling thread in a main function in the obtained sequencing program when the sequencing program is converted;
in step 3), according to the collected interrupt related information, calculating the number of threads to be created, wherein the specific process comprises the following steps:
3-1) for each random interrupt in the interrupt driver, the number of interrupt threads correspondingly created in the sequencing program is at least equal to the value of the parameter round, said interrupt threads representing threads of the same function body as the corresponding interrupt;
3-2) for each periodic interrupt in the interrupt driver, the calculation formula for the number of periodic interrupt threads correspondingly created in the serialization procedure is:
wherein C is pi Representing the number of periodic interrupts that need to be created, T w Representing interrupt driver master tasksThe total code line number contained in the main task after all functions are connected in an inlined way and all loops are unfolded, U represents the value of a parameter unwind, T pi A period representing a period interrupt;
3-3) for each event-triggered interrupt in the interrupt driver, the number of event-triggered interrupt threads correspondingly created in the serialization procedure is at least equal to the value of the parameter round;
in step 4), the interrupt driver is converted into a standard multithreaded program using a source-to-source conversion method, comprising:
4-1) using a main task part in the interrupt driver as one thread in the standard multithreaded program after conversion through a source-to-source conversion method;
4-2) adding corresponding interrupt thread creation functions into the standard multithreading program according to the calculated number of threads to be created;
in step 5), the obtained standard multithread program is converted into a sequencing program of an interrupt driver by using thread cyclic scheduling sequencing processing, and the specific process comprises the following steps:
5-1) converting the standard multithreaded program obtained in step 4) into a corresponding sequenced program using a source-to-source conversion process employing a conversion method in a model detection tool Lazy-CSeq, a context-bounded model detection tool mainly used for verifying concurrent programs written in the C language, based on a sequencing technique that converts concurrent programs into non-deterministic sequenced programs. The sequencing program does not contain priority information, and any threads can interrupt execution mutually.
5-2) three types of interrupt handling procedures are performed. Taking the sequenced program output in the step 5-1) as input, modifying and adding corresponding thread creation functions and constraint conditions for each thread in the sequenced program according to the second-level nested relation of the execution semantics and the priorities of different interrupt types, and outputting the sequenced program containing the priority information; the thread creation function is a function which is provided in the tool Lazy-CSeq and used for creating threads without priority information, and the position of the function inserted into codes is modified according to the type of interrupt, so that different triggering modes for simulating three types of interrupt are realized. The constraint condition ensures that threads with different priorities meet the secondary nested execution condition.
5-3) performing interrupt disable enabling processing. Identifying an interrupt mask function, and adding interrupt mask constraint conditions for corresponding interrupt threads in the sequenced program output in the step 5-2) to obtain a sequenced program based on thread cyclic scheduling sequencing; the interrupt mask constraint ensures that when a mask function corresponding to an interrupt is executed in a program statement, the corresponding interrupt thread cannot be executed.
In step 6), selecting the detected program property, comprising:
the nature of the software defect in the interrupt driven embedded software that is desired to be detected, such as a group out of range, debug, user-defined assertions, etc., is selected.
In step 7), the bounding model detection tool CBMC.
Compared with the prior art, the invention has the advantages that:
1) According to the invention, the program execution semantics of three interrupt types are accurately modeled, so that the problem of false alarm easily caused by the rough modeling interrupt driver execution semantics in the interrupt driver model detection method is solved;
2) The invention can verify software defects such as malignant data competition, atomic violation and the like, improves the accuracy of detection results while avoiding false report, and carries out counterexample path output on verified competition relationship, thereby effectively improving the efficiency of manual inspection;
3) The invention has high automation degree, is provided with the tool UI page, and is convenient and practical.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings and technical schemes.
As shown in fig. 1, the specific implementation steps of the interrupt driver model detection method based on thread loop scheduling serialization according to the present invention are as follows:
step 1: the user inputs the detected interrupt driver source file. The interrupt driving source program generally comprises source codes of a main task formed by a plurality of functions and source codes of interrupt processing programs corresponding to interrupts related to the task.
Step 2: the number of interrupts in the interrupt driver is automatically resolved and the configuration parameters for the test are specified by the user. The parameters configured are the type, priority, random interrupt time constraint and interrupt period of each interrupt in the interrupt driven source program, the round and unbind parameters of the sequenced program, and various properties that the user wishes to verify. The specific process of the step 2 is as follows:
step 21: the interrupts and the number of interrupts contained in the interrupt driver are parsed using a syntax parser.
Step 22: the user inputs the type of interrupt, priority, random interrupt time constraints and interrupt period, the round and unbind parameters of the sequenced program, and the nature of the verification desired. And saving the parameters input by the user into an interrupt operation list, and initializing the interrupt operation list to be empty.
Step 23: the interrupt operation list and the round and unbind parameters entered by the user are passed to the tool as character streams for various properties that it is desired to verify.
Step 3: according to the collected interrupt related information, the number of threads to be created is calculated, and the specific process is as follows:
step 31: for each random interrupt in the interrupt driver, the number of interrupt threads correspondingly created in the sequencing program is at least equal to the value of a parameter round, and the interrupt threads represent threads of the same functional body as the corresponding interrupt;
step 32: calculating the period of each period interrupt in the interrupt driver, and setting the parameter T w U and T pi Inputting a calculation formulaObtaining a period interrupt period C pi 。
Step 33: determining the number of event-triggered interrupt threads to be created according to the number of events which can trigger the event-triggered interrupt and are input by a user, and ensuring that the number of the event-triggered interrupt threads to be created correspondingly in a sequencing program is at least equal to the value of a parameter round;
step 4: and performing source-to-source conversion processing on the detected interrupt driver source file to obtain a standard multithreaded program. The specific process of the step 4 is as follows:
step 41: the initialization multithreading process is null.
Step 42: the interrupt driver source program is opened, source file data is read row by row in function body units, and each time a function body of the source program is read, the type of the function body is judged through grammar analysis to carry out different processing. The function types include an initialization function portion and a polling function portion of a main function of the interrupt driver, and service function volumes of different priority interrupts.
Step 43: if the function is an initialized function part in the main function, converting the function into an original initialized function part and a creation thread part of the multi-thread program; the polling function part in the main function is converted into a polling function body part meeting the detection requirement; the service function of the low priority interrupt is converted into a thread with low priority information; high priority service functions translate into threads with high priority information.
Step 44: the standard multithreaded program converted by the source program is taken as output.
Step 5: and (3) processing the standard multithreaded program output in the step (4) by using a thread-based round robin scheduling mechanism to obtain a sequenced program of the interrupt driver. The specific process of the step 5 is as follows:
step 51: the standard multithread program is converted into a corresponding sequencing program by using a source-to-source conversion processing method, wherein the sequencing program does not contain priority information, and any threads can interrupt execution mutually.
Step 52: three types of interrupt handling procedures are performed. The output sequence program in the step 51 is taken as input, corresponding thread creation functions and constraint conditions are modified and added for each thread in the sequence program according to the two-level nested relation of the execution semantics and the priority of interrupt different types, wherein the thread creation functions are functions of the threads for creating no priority information, which are arranged in a tool Lazy-CSeq, and the positions of the functions inserted into codes are modified according to the interrupt types in the step. If the sequencing program contains random interrupt, the thread creation function corresponding to the random interrupt is not modified; if the sequenced program contains periodic interrupt, a thread creation function corresponding to the periodic interrupt thread is inserted behind each statement of the main task thread, and the main_thread function in the sequenced program is processed according to the interrupt period set by a user, and interrupt period count is added behind each tag; if the sequenced program contains event trigger interrupt, the thread creation function corresponding to the event trigger interrupt will be inserted into the event code of the main task thread for triggering interrupt. The constraint related to priority will be used to determine whether the current interrupt meets the execution condition, and the rule of inserting the constraint ensures that threads with high priority execute atomically, threads with medium priority can be interrupted by interrupt threads with high priority, but not by low priority, and threads with medium and high priority can be interrupted by interrupt threads with low priority. Furthermore, the same priority interrupts may not interrupt execution with each other.
Step 53: interrupt disable enabling processing is performed. The output of step 52 is traversed. When an interrupt disable enabling statement exists in the sequenced program main function, the corresponding interrupt constraint is inserted after the masking statement, and the constraint of the corresponding interrupt is released after the masking statement is released. And adding a condition at a corresponding interrupt thread in the main function, wherein when constraint exists in the interrupt, the masked interrupt thread cannot be scheduled to be executed.
Step 6: the user selects a property to be detected, such as a group crossing, zero debugging, user-defined assertions, etc., the selected property being supported by the bounding model detection tool.
Step 7: and detecting whether the sequenced interrupt driver has a series of user-specified detection problems such as data competition or not by using a limit model detection tool CBMC.
The boundary model detection tool CBMC supports the detection of C89, C99, most C11, and most compiler-extended programs provided by gcc and Visual Studio. CBMC can verify memory security (including array boundary checking and pointer security usage checking), check for anomalies, check for variations of undefined behavior, and user-specified assertions. In addition, it can check consistency of C and C++ with other languages (such as Verilog).
The specific process of the step 8 is as follows:
step 81: the sequenced program that processes interrupts of different priorities and disable operations is input to the CBMC and the counterexample output is set.
Step 82: the CBMC outputs a detection result, returns UNSAFE if violation property assertion exists, and outputs a visualized counterexample path; if there is no false assertion, the SAFE is returned.
Claims (2)
1. An interrupt driver model detection method based on thread cyclic scheduling serialization is characterized by comprising the following steps:
1) The user selects and inputs an interrupt driver to be detected;
2) Automatically analyzing the interrupt type contained in the interrupt driving program, and inputting interrupt related information and appointed sequencing parameter values by a user;
3) Calculating the number of threads to be created according to the collected interrupt related information;
4) According to the calculated number of threads to be created and an event of triggering interruption by a trigger event provided by a user, converting an interrupt driver into a standard multithread program by using a source-to-source conversion method;
5) Converting the obtained standard multi-thread program into a sequenced program based on thread cyclic scheduling sequencing by using thread cyclic scheduling sequencing processing;
6) Selecting a detected program property;
7) Inputting the sequenced program into the bounding model detection tool: detecting the obtained sequenced program by using a limit model detection tool according to the selected detected program property and parameter setting;
8) Outputting a result: when the input interrupt driven embedded software has a software defect, outputting a result UNSAFE and a counterexample path of the defect; otherwise, when no defect exists in the software, outputting a result SAFE; in the step 2), the specific process comprises the following steps:
2-1) resolving interrupts and the number of interrupts contained in the interrupt driver using a syntax analyzer;
2-2) the user fills out interrupt related information for the parsed interrupt, wherein the interrupt related information comprises interrupt type S, interrupt priority P, time constraint C of random interrupt, period T of periodic interrupt pi And an Event triggering an Event-triggered interrupt;
2-3) designating a sequencing parameter value by a user, wherein the sequencing parameter value refers to a parameter unwrand and a parameter round set value required by a generation sequencing program, the parameter unwrand is used for setting the unfolding times of a cycle in an interrupt driver when the sequencing program is converted, and the parameter round is used for setting the times of a cycle scheduling thread in a main function in the obtained sequencing program when the sequencing program is converted;
in the step 3), the specific process comprises the following steps:
3-1) for each random interrupt in the interrupt driver, the number of interrupt threads correspondingly created in the sequencing program is at least equal to the value of the parameter round, the interrupt threads representing threads of the same function body as the corresponding interrupt;
3-2) for each periodic interrupt in the interrupt driver, the calculation formula for the number of periodic interrupt threads correspondingly created in the serialization procedure is:
wherein C is pi Representing the number of periodic interrupts that need to be created, T w Representing the total code line number contained in the main task after all functions in the main task of the interrupt drive program are inlined and all loops are unfolded, U represents the value of a parameter unwind, T pi Representation ofA period of the period interrupt;
3-3) for each event-triggered interrupt in the interrupt driver, the number of event-triggered interrupt threads correspondingly created in the serialization procedure is at least equal to the value of the parameter round;
in step 4), specifically, the method includes:
4-1) using a source-to-source conversion method to take a main task part in an interrupt driver as one thread in a standard multithreading program, wherein the source-to-source conversion method refers to modifying an input interrupt driver according to a standard multithreading program mode;
4-2) adding corresponding interrupt thread creation functions into the standard multithreading program according to the calculated number of threads to be created;
in step 5), the specific process comprises:
5-1) converting the standard multithreaded program obtained in step 4) into a corresponding sequenced program using a source-to-source conversion process; the source-to-source conversion treatment adopts a conversion method in a model detection tool Lazy-CSeq; the sequencing program does not contain priority information;
5-2) performing three types of interrupt handling procedures: taking the sequenced program output in the step 5-1) as input, modifying and adding corresponding thread creation functions and constraint conditions for each thread in the sequenced program according to the second-level nested relation of the execution semantics and the priorities of different interrupt types, and outputting the sequenced program containing the priority information; the thread creation function is a function which is provided in the tool Lazy-CSeq and used for creating threads without priority information, and the position of the function inserted into codes is modified according to the type of interrupt, so that different triggering modes of simulating three types of interrupt are realized; the constraint conditions ensure that threads with different priorities meet the secondary nested execution conditions;
5-3) performing interrupt disabling processing: identifying an interrupt mask function, and adding interrupt mask constraint conditions for corresponding interrupt threads in the sequenced program output in the step 5-2) to obtain a sequenced program based on thread cyclic scheduling sequencing; the interrupt shielding constraint condition ensures that when a shielding function corresponding to the interrupt is executed in a program statement, the corresponding interrupt thread cannot be executed;
in step 6), the nature of the software defect in the interrupt driven embedded software to be detected is selected, including array out-of-range, debug, and user-defined assertions.
2. The method for detecting a model of an interrupt driver based on thread loop scheduling serialization according to claim 1, wherein in step 7), the boundary model detection tool CBMC.
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