CN101281491B - Internal memory module of space robot central processing unit based on VxWorks and management method thereof - Google Patents
Internal memory module of space robot central processing unit based on VxWorks and management method thereof Download PDFInfo
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- CN101281491B CN101281491B CN2008101063430A CN200810106343A CN101281491B CN 101281491 B CN101281491 B CN 101281491B CN 2008101063430 A CN2008101063430 A CN 2008101063430A CN 200810106343 A CN200810106343 A CN 200810106343A CN 101281491 B CN101281491 B CN 101281491B
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Abstract
The invention provides a VxWorks-based memory module of the central processor of a space robot, which is characterized in that the memory module includes a fixed-length memory buffer pool, a variable-length buffer pool and a fixed-length memory allocation queue. The fixed-length memory buffer pool comprises a plurality of fixed-length memory units having fixed length; the fixed-length memory allocation queue stores addresses of the fixed-length memory units in the fixed-length memory buffer pool; the variable-length memory buffer pool is a memory buffer capable of applying a memory having any length. The memory module structure is designed according to the features of space robot, and has high reliability.
Description
Technical field
The present invention relates to a kind of memory modules, particularly, belong to field of space technology at robot for space characteristics designed memory modules with high reliability and management method thereof based on vxworks operating system.
Background technology
Along with the development of spationautics, human activity at space is more and more.Utilize robot for space to assist or substitute the cosmonaut to finish job space, not only can avoid the cosmonaut in abominable space environment, to come to harm during operation, and can also improve the efficient and the quality of finishing the work simultaneously, be to realize human mission safety, the low consumed effective way of exploring space.Along with the increase day by day of the activity of the mankind in space, will play the part of more and more important role in the future space robot, the robot for space technology becomes one of the most attractive research field.
The robot for space control system is a kind of distributed real-time control system that is applied under the space environment, need possess powerful intelligence and capacity of will, adapt to complicated space environment, finish human desired task, this just needs the support of control system software.Thereby the ability of the reliability of Control Software and normal operation seems most important.
Yet it is designed according to usual most of application programs mostly existing operating system is, its system partitioning is easy to generate a large amount of residual fragments.When application chunk data the time, the situation of failing might appear applying for.Allow anything but to occur in this system design to the very high space technology of real-time and reliability requirement.Therefore, be necessary to propose a kind of EMS memory management process targetedly.
Summary of the invention
Goal of the invention of the present invention be to provide a kind of based on vxworks operating system at robot for space characteristics designed memory modules with high reliability and management method thereof.
Goal of the invention of the present invention is achieved by following technical proposals:
The memory modules of robot for space is characterized in that: comprise fixed length memory buffer pond, elongated memory buffer pond, the formation of fixed length Memory Allocation;
The fixed length internal storage location that comprises plurality of fixed length in the described fixed length memory buffer pond;
The address of each fixed length internal storage location in the described fixed length memory buffer of the storage pond in the formation of described fixed length Memory Allocation;
Described elongated memory buffer pond is for applying for the core buffer of random length internal memory.
Described fixed length memory buffer pond is divided into long Buffer Pool of fixed length and the short Buffer Pool of fixed length.
Fixed length internal storage location in the described fixed length memory buffer pond all adopts the annular stationary storage organization.
Also comprise fixed length memory buffer pond administration module, fixed length memory buffer pond record sheet;
Be provided with cycle monitoring timer and anti-deadlock timer in the administration module of described fixed length memory buffer pond; Described cycle monitoring timer is the resource that cyclical signal is used to monitor described fixed length memory buffer pond; Described anti-deadlock timer is used to prevent that for the aperiodicity signal memory modules is locked;
Described fixed length memory buffer pond record sheet is used to write down the task ID of application internal memory and the situation of application internal memory.
The memory allocation method of robot for space is characterized in that:
1) memory modules initialization distributes the interval in fixed length memory buffer pond and elongated memory buffer pond, and fixed length memory buffer pond is divided into some fixed length internal storage locations;
2) create the formation of fixed length Memory Allocation, the address of each fixed length internal storage location in the described fixed length memory buffer pond is stored in the formation of fixed length Memory Allocation;
3) during the message format of task application internal memory,,, simultaneously corresponding address information in the formation of fixed length Memory Allocation is taken out then preferentially in the application of fixed length internal storage location if application length is no more than the regular length of each fixed length internal storage location in the fixed length memory buffer pond;
4) if application length surpasses the regular length or the fixed length internal storage location of fixed length internal storage location all to be assigned with away, then apply for to described elongated memory buffer pond;
5) when the needs releasing memory, give back the formation of fixed length Memory Allocation with the address of d/d fixed length internal storage location.
In the described step 1, the fixed length internal storage location in the fixed length memory buffer pond is divided into long Buffer Pool of fixed length and the short Buffer Pool of fixed length;
Described step 3 is changed to following step:
3i) during the message format of task application internal memory, if when application length is no more than the length of the short Buffer Pool of fixed length, preferentially in the short Buffer Pool application of fixed length; If the short Buffer Pool of fixed length all is assigned with away, then to the long Buffer Pool application of fixed length, if successfully will obtain the fixed length internal storage location of a long Buffer Pool of fixed length;
3ii) if application length greater than the length of the short Buffer Pool of fixed length during less than the length of the long Buffer Pool of fixed length, preferential in the long Buffer Pool of fixed length the fixed length internal storage location of a long Buffer Pool of fixed length of distribution; If at this moment the long Buffer Pool of fixed length all is assigned with away, then apply for to elongated memory buffer pond.
The management method of the internal memory of robot for space is characterized in that:
A1) fixed length memory buffer pond administration module is set up fixed length memory buffer pond management role in system;
A2) will apply for that the task ID of internal memory and the situation of application internal memory are stored in the record sheet of fixed length memory buffer pond, dynamic tracking and record upgrade;
A3) when fixed length memory buffer pond use amount surpassed setting value, described fixed length memory buffer pond administration module was found out the current maximum one or more tasks in fixed length memory buffer pond that take, and monitors the present running status of described task; Back forbidding, start-up period monitor timer and anti-deadlock timer simultaneously keep the scene intact if this task is in active state;
A4) the described cycle monitoring timer clock cycle triggers, and judges current fixed length memory buffer pond ruuning situation, if less than setting value, then discharges all disabled tasks; If greater than setting value, then continue to search current maximum one or more tasks in fixed length memory buffer pond and the forbidding of taking;
A5) repeating said steps 3,4, then discharge all disabled tasks as the stipulated time that surpasses anti-deadlock timer, write down simultaneously that this is unusual;
A6) exhaust as fixed length memory buffer Pooled resources, then directly dynamically apply for resource requirement to elongated memory buffer pond.
The invention has the beneficial effects as follows: memory modules provided by the present invention and management method thereof have high reliability at the robot for space characteristics.
Description of drawings
Fig. 1 is an annular stationary storage node composition;
Fig. 2 is the Memory Allocation synoptic diagram;
Fig. 3 is an inter-task message Memory Allocation synoptic diagram.
Embodiment
Below in conjunction with drawings and Examples the present invention is further described.
The selected vxworks operating system of the present invention is a kind of hard real time embedded system, and it has real-time, reliability cutting, compatible preferably, easily characteristics such as debugging enironment.Vxworks operating system adopts in memory management is matching algorithm simply at first, and it is from the high address of free memory block, just distributes required internal memory when finding first to satisfy to distribute the free block that requires; When Free up Memory, just the memory block that discharges is put into free list, and nonjoinder adjacent memory piece, stringency promptly do not carried out.Application and release along with memory block, in the total system memory partitioning, the Dram memory block is mixing many storage blocks of using or discharging, and these do not use the fritter memory field to form the internal memory external fragmentation, and the memory block of request and the difference of actual size form internal fragmentation.External fragmentation reduces memory usage and system reliability, and it is unstable that system becomes, and may cause system crash.
Characteristics such as because the robot for space control system has the serial operation of upper strata task, external disturbance is less, and inner combined running mode is fixed, and interaction data is more frequent between functional layer operational mode relative fixed and task.Merits and demerits analysis in conjunction with the VxWorks embedded OS, we do not need to continue to use complicated distribution and management algorithm for the Memory Allocation of robot for space control system with management as can be seen, can use relatively stable, reliably, simple strategy makes complicated dynamic approach staticize.
In view of above analysis, comprise in the memory modules of the present invention: fixed length memory buffer pond, elongated memory buffer pond, the formation of fixed length Memory Allocation.
The fixed length internal storage location that comprises plurality of fixed length in the fixed length memory buffer pond, fixed length memory buffer pond can be divided into long Buffer Pool of fixed length (LBuf) and the short Buffer Pool (SBuf) of fixed length according to actual needs.Fixed length internal storage location in the fixed length memory buffer pond all adopts the annular stationary storage organization.As shown in Figure 1, described annular stationary storage organization comprises a free pointer and a recovery pointer.
What store in the formation of fixed length Memory Allocation is the address of each fixed length internal storage location in the fixed length memory buffer pond.The principle of fixed length Memory Allocation formation by message queue realizes the quick distribution to each fixed length internal storage location.
Elongated memory buffer pond can be used as replenishing of fixed length memory buffer pond for applying for the core buffer of random length internal memory.
As Fig. 2, shown in Figure 3, the concrete distribution method of memory modules of the present invention is as follows:
1) Buffer Pool initialization distributes the interval in fixed length memory buffer pond and elongated memory buffer pond, and fixed length memory buffer pond is divided into some fixed length internal storage locations;
2) create the formation of fixed length Memory Allocation, the address of each fixed length internal storage location in the fixed length memory buffer pond is stored in the formation of fixed length Memory Allocation;
3) during the message format of task application internal memory,,, simultaneously corresponding address information in the formation of fixed length Memory Allocation is taken out then preferentially in the application of fixed length internal storage location if application length is no more than the regular length of each fixed length internal storage location in the fixed length memory buffer pond;
4) if application length surpasses the regular length or the fixed length internal storage location of fixed length internal storage location all to be assigned with away, then apply for to elongated memory buffer pond;
5) when the needs releasing memory, only need to give back the formation of fixed length Memory Allocation and get final product the address of d/d fixed length internal storage location.
Be divided into the situation of the short Buffer Pool of the long Buffer Pool of fixed length and fixed length for fixed length memory buffer pond, its distribution method is as follows:
In the step 1, the fixed length internal storage location in the fixed length memory buffer pond is divided into long Buffer Pool of fixed length and the short Buffer Pool of fixed length;
Step 3 is changed to following step:
3i) during the message format of task application internal memory, if when application length is no more than the length of the short Buffer Pool of fixed length, preferentially in the short Buffer Pool application of fixed length; If the short Buffer Pool of fixed length all is assigned with away, then to the long Buffer Pool application of fixed length, if successfully will obtain the fixed length internal storage location of a long Buffer Pool of fixed length;
3ii) if application length greater than the length of the short Buffer Pool of fixed length during less than the length of the long Buffer Pool of fixed length, preferential in the long Buffer Pool of fixed length the fixed length internal storage location of a long Buffer Pool of fixed length of distribution; If at this moment the long Buffer Pool of fixed length all is assigned with away, then apply for to elongated memory buffer pond.
The internal memory in memory modules priority allocation fixed length memory buffer as seen of the present invention pond, and by the principle of message queue each the permanent internal storage location in the fixed length memory buffer pond is managed.Can make internal memory application algorithm simple and fast like this, the time is very short.And, be not prone to the problem that the application chunk data is failed.
When system task when intercoming mutually, if some process application memory source is too much, the situation of fixed length memory buffer Pooled resources scarcity may appear, this is just than being easier to cause system's instability.Therefore, for the resource bid that ensures other process smoothly and system move normally, the present invention has also designed fixed length memory buffer pond administration module, fixed length memory buffer pond record sheet in memory modules.
This fixed length memory buffer pond administration module is used for setting up fixed length memory buffer pond management role in system, and its priority is that all tasks are the highest.Comprise cycle monitoring timer and anti-deadlock timer in this fixed length memory buffer pond administration module.This cycle monitoring timer is the resource that cyclical signal is used to monitor fixed length memory buffer pond.Should be used to prevent for the aperiodicity signal that memory modules was locked by anti-deadlock timer.
This fixed length memory buffer pond record sheet is used for the task ID of dynamic tracking record application internal memory and the situation of application internal memory.
Above-mentioned memory modules is as follows to the management method of Installed System Memory:
1) fixed length memory buffer pond administration module is set up fixed length memory buffer pond management role in system;
2) will apply for that the task ID of internal memory and the situation of application internal memory are stored in the record sheet of fixed length memory buffer pond, dynamic tracking and record upgrade;
3) when fixed length memory buffer pond use amount surpass setting value (as 3/4) time, fixed length memory buffer pond administration module is found out current three the maximum tasks of fixed length memory buffer pond that take, and monitors its present running status; If be in active state then (writing down its current priority and correlation behavior) the back forbidding (reducing its priority) that keeps the scene intact, start-up period monitor timer and anti-deadlock timer simultaneously;
4) the cycle monitoring timer clock cycle triggers, and judges current fixed length memory buffer pond ruuning situation, if less than setting value, then discharges all disabled tasks; Otherwise, then continuing to search current maximum three tasks (except the taboo task) in fixed length memory buffer pond that take, forbidding is in the task of active state;
5) repeating step 3,4, then discharge all disabled tasks as the stipulated time that surpasses anti-deadlock timer, write down simultaneously that this is unusual;
6) exhaust as fixed length memory buffer Pooled resources, then directly dynamically apply for resource requirement to elongated memory buffer pond.
Claims (3)
1. the memory modules of robot for space comprises fixed length memory buffer pond, elongated memory buffer pond, the formation of fixed length Memory Allocation; The fixed length internal storage location that comprises plurality of fixed length in the described fixed length memory buffer pond; The address of each fixed length internal storage location in the described fixed length memory buffer of the storage pond in the formation of described fixed length Memory Allocation; Described elongated memory buffer pond is for applying for the core buffer of random length internal memory; It is characterized in that:
Also comprise fixed length memory buffer pond administration module, fixed length memory buffer pond record sheet;
Be provided with cycle monitoring timer and anti-deadlock timer in the administration module of described fixed length memory buffer pond; Described cycle monitoring timer is the resource that cyclical signal is used to monitor described fixed length memory buffer pond; Described anti-deadlock timer is used to prevent that for the aperiodicity signal memory modules is locked;
Described fixed length memory buffer pond record sheet is used to write down the task ID of application internal memory and the situation of application internal memory.
2. memory modules as claimed in claim 1 is characterized in that: the fixed length internal storage location in the described fixed length memory buffer pond all adopts the annular stationary storage organization; Described annular stationary storage organization comprises a free pointer and a recovery pointer.
3. the management method of the internal memory of robot for space realizes based on the described memory modules of claim 1, it is characterized in that:
A1) fixed length memory buffer pond administration module is set up fixed length memory buffer pond management role in system;
A2) will apply for that the task ID of internal memory and the situation of application internal memory are stored in the record sheet of fixed length memory buffer pond, dynamic tracking and record upgrade;
A3) when fixed length memory buffer pond use amount surpassed setting value, described fixed length memory buffer pond administration module was found out the current maximum one or more tasks in fixed length memory buffer pond that take, and monitors the present running status of described task; Back forbidding, start-up period monitor timer and anti-deadlock timer simultaneously keep the scene intact if this task is in active state;
A4) the described cycle monitoring timer clock cycle triggers, and judges current fixed length memory buffer pond ruuning situation, if current fixed length memory buffer pond use amount then discharges all disabled tasks less than setting value described in the step a3; If greater than setting value described in the step a3, then continue to search current maximum one or more tasks in fixed length memory buffer pond and the forbidding of taking;
A5) repeating said steps a3, a4 then discharge all disabled tasks as the stipulated time that surpasses anti-deadlock timer, write down simultaneously that this is unusual;
A6) exhaust as fixed length memory buffer Pooled resources, then directly dynamically apply for resource requirement to elongated memory buffer pond.
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| CN102377682B (en) * | 2011-12-12 | 2014-07-23 | 西安电子科技大学 | Queue management method and device based on variable-length packets stored in fixed-size location |
| CN103365782A (en) * | 2012-03-30 | 2013-10-23 | 上海申通地铁集团有限公司 | Memory management method |
| CN103810188B (en) * | 2012-11-08 | 2017-05-10 | 腾讯科技（深圳）有限公司 | Microblog user behavior evaluating method and device |
| CN104090848B (en) * | 2014-07-16 | 2017-03-08 | 云南大学 | EMS memory management process and device that a kind of periodicity big data is processed |
| CN108108307A (en) * | 2016-11-24 | 2018-06-01 | 中移（杭州）信息技术有限公司 | A kind of method for processing resource and terminal |
| EP4141671A4 (en) * | 2020-05-22 | 2023-05-24 | Huawei Technologies Co., Ltd. | Dynamical management method and device for shared memory pool |
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| CN1393780A (en) * | 2001-06-28 | 2003-01-29 | 华为技术有限公司 | Adaptive dynamic memory management method |
| CN1417686A (en) * | 2001-11-07 | 2003-05-14 | 华为技术有限公司 | Non-volatile information memory managing method |
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