CN101923487A - Comprehensive embedded type real-time period task scheduling method - Google Patents
Comprehensive embedded type real-time period task scheduling method Download PDFInfo
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Abstract
The invention discloses a comprehensive embedded type real-time period task scheduling method. A task ready queue is divided into a hard real-time task ready queue, a soft real-time task ready queue, a non-real-time task ready queue. The scheduling rules for the three task ready queues are as follows: firstly scheduling and executing the tasks in the hard real-time task ready queue, then scheduling and executing the tasks in the soft real-time task ready queue, and lastly scheduling and executing the tasks in the non-real-time task ready queue. When the tasks are scheduled, a scheduling for the tasks in the next ready queue is executed after no task exists in the prior ready queue. By classifying the tasks and using multi-stage ready queue and different scheduling methods based on different real-time tasks, the method of the invention has high sensitivity and is suitable for most of embedded type real-time systems. When the loading of the system is too high, the hard real-time tasks do not exceed the deadline, the deadline fault ratio of key soft real-time tasks is decreased and the use ratio of the processor is greatly promoted.
Description
Technical field
The present invention relates generally to computing machine embedded real time system field, particularly a kind of suitable embedded type real-time period task scheduling method.
Background technology
Embedded real time system is present computer realm most important applications and research direction, how reasonably to carry out the key that task scheduling is whole built-in applied system.Good method for scheduling task both can guarantee that mission critical was in time moved, and was unlikely to allow other tasks blind etc. again.
Moving in the embedded real time system of task, the general all corresponding time bar that must finish, this time bar are called and are deadline.From causing severity of consequence to missing deadline, embedded real-time task can be divided into hard real-time task and soft real-time task again.The hard real-time task is missed deadline may cause the serious or fatal consequence of system, as some mission criticals in the embedded real time system of applications such as relevant Aero-Space, military affairs, nuclear industry; Soft real-time task is missed deadline then may only can cause the decline of system performance or successively decreasing of task result meaning to a certain extent, embeds moving in the real-time system of task as consumer electronics.
Because a lot of embedded real time systems are in unattended environment, operational system mainly is made up of periodic duty, and promptly task restarts at set intervals or be ready.Periodic duty τ with deadline
iCan be briefly described as follows:
τ
i＝(S
i，R
i，C
i，D
i，T
i)，0＜C
i≤D
i，0＜T
i，0≤S
i
Wherein, S
iBe the time of arrival of task; R
iParticipate in the competition for task the is qualified initial ready time of computer processor, generally speaking, S
i=R
iC
iBe the task executions time, replace with the estimation execution time under the worst-case usually; D
iRelative deadline for task; T
iBe the cycle of task.
For periodic duty τ
iCarry out (k 〉=1) the k time, its ready again time is R
i+ (k-1) * T
i, deadline is R
i+ (k-1) * T
i+ D
iThe once execution of periodic duty is called an example of this periodic duty or once carries out request.
One-period task handling device utilization factor is defined as U
i=C
i/ T
i, all task handling device utilization factor sums are the processor utilization of this periodic duty collection in the one-period task-set.
Do not miss deadline, the mode that the task scheduling of embedded real time system generally adopts priority to drive in order to guarantee vital task as much as possible.The all corresponding only dispatching priority rank of the task of each qualified participation scheduling when scheduling takes place, is always chosen the highest task of dispatching priority rank and is put into operation.Therefore, how to determine rationally that the priority of each task in the embedded real time system becomes the key of the whole embedded real time system performance of influence.
For hard real-time periodic duty collection, generally adopt the rate monotonic dispatching method.This method is specified a fixed priority for each hard real-time periodic duty, and the length of this priority and duty cycle is closely related, and the cycle is short more, and priority is high more, always dispatches the shortest task of the cycle of operation at first.If task satisfies following ideal conditions in the embedded real time system:
1) all tasks with hard real-time are periodic duty, and the cycle equals its deadline;
2) all hard real-time tasks must finish before being limited at that time;
3) all be that independently the request of each task does not rely on the beginning of other task requests or finishes between the task;
4) all have the task in hard time limit and all have constant working time, suppose that promptly task run is not having under the situation of interrupting;
5) time of scheduling and task switching ignores.
Then this dispatching method has the following character:
1) the rate monotonic dispatching method is optimum.Promptly under similarity condition, as long as other fixed priority dispatching method can make all tasks not miss deadline, then use the rate monotonic dispatching method also can dispatch success certainly to a certain periodic duty collection.
2) using the least upper bound that has of the schedulable processor utilization of periodic duty collection of this dispatching method is 0.693, and promptly as long as periodic duty set processor utilization factor is worth less than this, then this task-set necessarily can be dispatched.
For soft real-time task collection, minimum free time is preferably traditional dynamic priority scheduling method commonly used.This dispatching method is to give a kind of dynamic dispatching method of Task Distribution priority in conjunction with the emergency degree that task is carried out.The free time of a task is defined as time gap from current time to its deadline and its residue difference between the execution time not as yet.In scheduling constantly, the priority of task is according to the free time dynamic assignment of task.Free time is short more, and the priority of task is high more.Use this dispatching method can make full use of processor, under ideal conditions, the processor utilization that needs only task-set is less than 1, and these tasks all can obtain scheduling smoothly, can not miss deadline.
Because in the embedded real time system of a reality, hard real-time task, soft real-time task and un-real time job are often and deposit, the single dispatching method of traditional use can't effectively be finished the scheduling of all types task, therefore needs a kind of comprehensive dispatching method of design.
Summary of the invention
The present invention has proposed a kind of comprehensive embedded type real-time period task scheduling method that adopts the many scheduling modes of many formations for solving the problems of the technologies described above, and this method guarantees that preferentially the deadline of the hard real-time task in the system is met on the one hand; The soft real-time task that as far as possible guarantees key is not missed deadline on the other hand; Simultaneously, under the situation of resource grant, also be unlikely to make the task of low priority to wait as long for, thereby improve the utilization factor of entire process device.
Technical scheme of the present invention is as follows:
A kind of comprehensive embedded type real-time period task scheduling method, it is characterized in that: task ready queue is divided into three one-level ready queues: hard real-time task ready queue, soft real-time task ready queue and un-real time job ready queue, priority rule for three one-level ready queues scheduling is: the task in the scheduled for executing hard real-time task ready queue at first, task in next soft real-time ready queue of scheduled for executing, the task in the last scheduled for executing non real-time ready task formation; When task scheduling, when not having ready task in the one-level ready queue of front, just carry out the scheduling of task in the one-level ready queue of back.
Hard real-time task ready queue is orderly according to the cycle length of ready task, and the cycle is short more forward more in formation, and identical task of cycle estimates that then according to estimating that the execution time is orderly short more task of execution time is forward more; The head of the queue task is chosen in scheduling to ready task in the hard real-time task ready queue, and the cycle of head of the queue task is the shortest, promptly in fact the scheduling of this task queue has been adopted the rate monotonic dispatching method.
The rate monotonic dispatching method is a kind of static priority dispatching algorithm that is applicable to the hard real-time periodic task, when using this method to dispatch, for each periodic duty is specified a fixed priority, the length of this priority and duty cycle is closely related, cycle is short more, priority is high more, always dispatches the shortest task of the cycle of operation at first.Under ideal conditions, this dispatching method has following two characteristics:
1) if but there is the dispatching method under the static priority in task-set, then the rate monotonic method is optimum.So-called optimum is meant under similarity condition, as long as method for distinguishing can be dispatched successfully, then uses the rate monotonic method also can dispatch success certainly to a certain task-set.
2) least upper bound with schedulable processor utilization of periodic duty collection of fixed priority is: L (n)=n (2
1/n-1).
Promptly the processor utilization that needs only this task-set is smaller or equal to dividing value on this, and then this task-set use rate monotonic method is schedulable.Least upper bound L (n) is irrelevant with the cycle and the worst execution time of task.L (n) is with the n monotone decreasing.When n → ∞, L (n)=ln2 ≈ 0.693.
Soft real-time task ready queue is divided into three ready subqueues of secondary according to the criticality of ready task: the ready subqueue of crucial soft real task, the ready subqueue of general soft real-time task and the ready subqueue of non-key soft real-time task; The criticality of each soft real-time task is specified when task produces, and takes definite or fuzzy mode to carry out assignment or classification.The ready subqueue of each secondary is orderly by free time, and task free time is defined as:
SL
i＝S
i+(k-1)*T
i+D
i-(t+C
i-e
i)
Wherein: t is the current time in system, S
iBe task
iReach or first ready time (if all tasks are all simultaneously ready when initial in system, this value is 0) and currently be periodic duty τ
iCarry out C the k time
iBe task
iThe estimation execution time, e
iBe task
iThe actual executed time, D
iBe task
iRelative time off period, T
iBe task
iCycle.
Task scheduling for soft real-time task ready queue is:
A, at first to dispatch task free time in the ready subqueue of crucial soft real-time task secondary be 0 task, is 0 task if there is not free time, then forwards step B to;
B, free time is arranged in the ready subqueue of general soft real-time task secondary is 0 task, then selects this task to dispatch, otherwise forwards step C to;
C, free time is arranged in the ready subqueue of non-key soft real-time task secondary is 0 task, then selects this task to dispatch, otherwise forwards step D to;
D, choose the highest ready task of criticality and carry out scheduled for executing, promptly the head of the queue task of choosing the corresponding ready subqueue of non-NULL secondary with the priority of the ready subqueue of the soft real-time task secondary of key, the ready subqueue of general soft real-time task secondary, the ready subqueue of non-key soft real-time task secondary puts into operation.
This dispatching method is actually a kind of scheduling mode that free time preferentially combines with the task key degree.When the free time of task is 0, must dispatches certainly, otherwise can miss deadline.When the task of a plurality of different criticalities all may be missed deadline, ensure that at first the task of most critical is not missed deadline as far as possible.When the free time that does not have ready task is 0, the task that the priority scheduling criticality is the highest.Therefore, this scheduling mode had both been considered the free time of task, had also considered the criticality of task.
All un-real time jobs all enter in the un-real time job ready queue, adopt the Time Slice Circular Scheduling mode during scheduling.The realization thought of described Time Slice Circular Scheduling method is: give identical (certainly also can be different) processor execution time (this duration is called timeslice) of each Task Distribution in the ready queue, getting a ready queue team task during scheduling puts into operation, the task of current operation use up oneself timeslice but whole task finish as yet, then the afterbody that this task is reentered into ready queue is waited for the arrival of next timeslice, and system continues to select a ready queue team task to occupy the processor operation.
Beneficial effect of the present invention is as follows:
The present invention is mainly by being divided into the hard real-time periodic duty to the task in the embedded real time system, soft real-time period task and un-real time job three classes, difference according to the task real-time adopts multistage ready queue and different dispatching methods respectively, compare good dirigibility with traditional single task role dispatching method, be applicable to most embedded real time systems field; When system load was higher, this method can guarantee that the hard real-time task reduces miss rate closing time of crucial soft real-time task when not missing deadline, also improved processor utilization greatly.
Description of drawings
Fig. 1 is ready queue of the present invention and scheduling flow synoptic diagram
Embodiment
As shown in Figure 1, a kind of comprehensive embedded type real-time period task scheduling method, real-time property according to ready task is divided into three one-level ready queues with task ready queue: hard real-time task ready queue, soft real-time task ready queue and un-real time job ready queue, priority rule for three one-level ready queues scheduling is: the task in the scheduled for executing hard real-time task ready queue at first, task in next soft real-time ready queue of scheduled for executing, the task in the last scheduled for executing non real-time ready task formation; When task scheduling, when not having ready task in the one-level ready queue of front, just carry out the scheduling of task in the one-level ready queue of back.
Hard real-time task ready queue is orderly according to the cycle length of ready task, and the cycle is short more forward more in formation, and identical task of cycle estimates that then according to estimating that the execution time is orderly short more task of execution time is forward more; The head of the queue task is chosen in scheduling to ready task in the hard real-time task ready queue, and the cycle of head of the queue task is the shortest, promptly in fact the scheduling of this task queue has been adopted the rate monotonic dispatching method.
Soft real-time task ready queue is divided into three ready subqueues of secondary according to the criticality of ready task: the ready subqueue of crucial soft real task, the ready subqueue of general soft real-time task and the ready subqueue of non-key soft real-time task; The criticality of each soft real-time task is specified when task produces, and takes definite or fuzzy mode to carry out assignment or classification.The ready subqueue of each secondary is orderly by free time, and task free time is defined as:
SL
i＝S
i+(k-1)*T
i+D
i-(t+C
i-e
i)
Wherein: t is the current time in system, S
iBe task
iReach or first ready time (if all tasks are all simultaneously ready when initial in system, this value is 0) and currently be periodic duty τ
iCarry out C the k time
iBe task
iThe estimation execution time, e
iBe task
iThe actual executed time, D
iBe task
iRelative time off period, T
iBe task
iCycle.
Task scheduling for soft real-time task ready queue is:
A, at first to dispatch task free time in the ready subqueue of crucial soft real-time task secondary be 0 task, is 0 task if there is not free time, then forwards step B to;
B, free time is arranged in the ready subqueue of general soft real-time task secondary is 0 task, then selects this task to dispatch, otherwise forwards step C to;
C, free time is arranged in the ready subqueue of non-key soft real-time task secondary is 0 task, then selects this task to dispatch, otherwise forwards step D to;
D, choose the highest ready task of criticality and carry out scheduled for executing, promptly the head of the queue task of choosing the corresponding ready subqueue of non-NULL secondary with the priority of the ready subqueue of the soft real-time task secondary of key, the ready subqueue of general soft real-time task secondary, the ready subqueue of non-key soft real-time task secondary puts into operation.
This dispatching method is actually a kind of scheduling mode that free time preferentially combines with the task key degree.When the free time of task is 0, must dispatches certainly, otherwise can miss deadline.When the task of a plurality of different criticalities all may be missed deadline, ensure that at first the task of most critical is not missed deadline as far as possible.When the free time that does not have ready task is 0, the task that the priority scheduling criticality is the highest.Therefore, this scheduling mode had both been considered the free time of task, had also considered the criticality of task.
All un-real time jobs all enter in the un-real time job ready queue, adopt the Time Slice Circular Scheduling mode during scheduling; Give identical timeslice of each Task Distribution during scheduling, if do not execute in this timeslice, task enters the ready queue afterbody, waits for the arrival of next timeslice.
The concrete process of implementing of this method is as follows:
In order to adapt to the scheduling of embedded type real-time period task, identify the data structure of task--task control block (TCB) (Task Control Block, TCB) the middle the following information field of interpolation that needs:
The task current state: mainly contain ready, block, carry out three kinds of states;
The classification of task: mainly be divided into hard real-time, soft real-time and non real-time three classes;
The significance level of task: this attribute is divided into key to soft useful in real time, general and non-key three classes;
The cycle of task: the time interval that task instances is ready again;
The task executions time: the execution time under the task worst-case of estimation is a unit with the clock ticktack;
The task executed time: for real-time task, refer to a certain moment in system, this task has been used the time of processor in certain cycle; For un-real time job, refer to the executed time statistics in the timeslice, when timeslice uses up, return 0 again;
The free time of task: be used to add up free time in a certain moment task of system;
The relative deadline of task: the time point that task instances must be finished in certain request;
Task queuing message of living in: comprise the previous task of task in current queue and back one task control block (TCB) link information;
The timeslice information of task: distribute to the task executions timeslice, be mainly used in un-real time job.
One, system initialization
1, create hard real-time, soft in real time and the ready one-level formation of three tasks of non real-time, soft real-time task ready queue comprises and is used to deposit key, the ready subqueue of secondarys general and non-key three generic tasks.
2, the hard real-time task to creating is judged schedulability according to task handling device utilization factor, guarantees that the hard real-time task of being created can use the rate monotonic method successfully to obtain scheduling, can not miss deadline.
Two, task creation initialization
The classification of the cycle of need appointed task, estimation execution time, relative deadline, task during task creation.If be soft real-time task, also need specify its criticality.System is the corresponding codomain of specified message initialization task controll block during according to the establishment of task.
Current state in task control block (TCB) during task creation is initialized as ready, and the executed time of task is initialized as 0, and the free time of task is initialized as:
Initial ready time+relative deadline-estimation execution time
Classification according to task enters different one-level ready queues, if be soft real-time task, then also needs to enter the ready subqueue of different secondarys and orderly by free time according to different criticalities.
When creating of task was un-real time job, according to the timeslice information codomain in the timeslice parameter initialization task control block (TCB) of default, task entered the ready one-level subqueue of un-real time job by the sequencing of creating.
Three, method for scheduling task
When task scheduling arrived opportunity, the dispatching method of employing can be described below:
Step 1:, select this task to occupy processor if there is task to exist in the ready queue of hard real-time task one-level; Otherwise change step 2;
Step 2: if the ready queue of soft real-time task one-level is not idle running step 3; Otherwise change step 7;
Step 3: if free time is arranged in the ready subqueue of crucial soft real-time task secondary is 0 task, then selects this task to dispatch; Otherwise, change step 4;
Step 4: if free time is arranged in the ready subqueue of general soft real-time task secondary is 0 task, then selects this task to dispatch; Otherwise, change step 5;
Step 5: if free time is arranged in the ready subqueue of non-key soft real-time task secondary is 0 task, then selects this task to dispatch; Otherwise, change step 6;
Step 6: choose the highest ready task of criticality and carry out scheduled for executing.Promptly choose the head of the queue task input management and running of corresponding non-NULL secondary subqueue with the priority of the ready subqueue of the soft real-time task secondary of key, the ready subqueue of general soft real-time task secondary, the ready subqueue of non-key soft real-time task secondary;
Step 7: have task to exist in the ready one-level formation if un-real time job is listed as, select the head of the queue task to occupy processor.
Four, real-time clock disposal route
In embedded real time system, real-time clock is the pulsation of total system, and all timing all are benchmark with the real-time clock, and real-time clock interrupts being called a clock ticktack each time.The work that will do when real-time clock takes place is mainly as follows:
If 1 current operation task is soft real-time task, the executed time of this task adds 1; If task run is finished the new cycle and is not arrived then block oneself;
2, the free time of recomputating task in all ready subqueues of soft real-time task is that 0 task occurs if idle time domain value is arranged also, causes scheduling again; If there is free time less than 0, then block this task, wait for that following one-period is ready again; Adjust this ready queue and make it orderly by free time.
If the task of 3 current operations is a un-real time job, the executed time of this task adds 1, if reach the timeslice value of this task, this task is put into corresponding ready queue afterbody, causes scheduling again;
If 4 have the new cycle of task to arrive, wake this task up and make it ready, reschedule.
Claims (5)
1. comprehensive embedded type real-time period task scheduling method, it is characterized in that: task ready queue is divided into three one-level ready queues: hard real-time task ready queue, soft real-time task ready queue and un-real time job ready queue, priority rule for three one-level ready queues scheduling is: the task in the scheduled for executing hard real-time task ready queue at first, task in next soft real-time ready queue of scheduled for executing, the task in the last scheduled for executing non real-time ready task formation; When task scheduling, when not having ready task in the one-level ready queue of front, just carry out the scheduling of task in the one-level ready queue of back.
2. a kind of comprehensive embedded type real-time period task scheduling method according to claim 1, it is characterized in that: hard real-time task ready queue is orderly according to the cycle length of ready task, cycle is short more forward more in formation, identical task of cycle estimates that then according to estimating that the execution time is orderly short more task of execution time is forward more; The head of the queue task is chosen in scheduling to ready task in the hard real-time task ready queue, and the cycle of head of the queue task is the shortest, promptly in fact the scheduling of this task queue has been adopted the rate monotonic dispatching method.
3. a kind of comprehensive embedded type real-time period task scheduling method according to claim 1 and 2 is characterized in that: soft real-time task ready queue is divided into three ready subqueues of secondary according to the criticality of ready task: the ready subqueue of crucial soft real task, the ready subqueue of general soft real-time task and the ready subqueue of non-key soft real-time task; The criticality of each soft real-time task is specified when task produces, and takes definite or fuzzy mode to carry out assignment or classification.The ready subqueue of each secondary is orderly by free time, and task free time is defined as:
SL
i＝S
i+(k-1)*T
i+D
i-(t+C
i-e
i)
Wherein: t is the current time in system, S
iBe task
iReach or first ready time (if all tasks are all simultaneously ready when initial in system, this value is 0) and currently be periodic duty τ
iCarry out C the k time
iBe task
iThe estimation execution time, e
iBe task
iThe actual executed time, D
iBe task
iRelative time off period, T
iBe task
iCycle.
4. a kind of comprehensive embedded type real-time period task scheduling method according to claim 3 is characterized in that: the task scheduling for soft real-time task ready queue is:
A, at first to dispatch task free time in the ready subqueue of crucial soft real-time task secondary be 0 task, is 0 task if there is not free time, then forwards step B to;
B, free time is arranged in the ready subqueue of general soft real-time task secondary is 0 task, then selects this task to dispatch, otherwise forwards step C to;
C, free time is arranged in the ready subqueue of non-key soft real-time task secondary is 0 task, then selects this task to dispatch, otherwise forwards step D to;
D, choose the highest ready task of criticality and carry out scheduled for executing, promptly the head of the queue task of choosing the corresponding ready subqueue of non-NULL secondary with the priority of the ready subqueue of the soft real-time task secondary of key, the ready subqueue of general soft real-time task secondary, the ready subqueue of non-key soft real-time task secondary puts into operation.
5. according to claim 1 or 2 or 4 described a kind of comprehensive embedded type real-time period task scheduling methods, it is characterized in that: all un-real time jobs are all entered in the un-real time job ready queue, adopt the Time Slice Circular Scheduling mode during scheduling; Give identical timeslice of each Task Distribution during scheduling, if do not execute in this timeslice, task enters the ready queue afterbody, waits for the arrival of next timeslice.
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