CN102722402B - Processing system and method for dispatching multiple tasks in real time in non-preemptive mode - Google Patents
Processing system and method for dispatching multiple tasks in real time in non-preemptive mode Download PDFInfo
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Abstract
The invention discloses a processing system and a processing method for dispatching multiple tasks in real time in a non-preemptive mode. The processing system comprises a task execution unit and a task dispatching unit, wherein the task execution unit comprises a I class task module with fixed execution period and execution time, a II class task module with unfixed execution period and execution time and a III class task module with fixed execution period and unfixed execution time; the task dispatching unit comprises a task execution state control module and a priority processing module; and the task execution state control module consists of a task timing module or/and a signal triggering module. By the system and the method, the response time of the system can be shortened, the utilization rate of resources is improved, fixation of the task execution period is ensured, the problem about instantaneity of certain key tasks is effectively solved, and the efficient and low-cost running requirement of an elevator singlechip can be met; and the system and the method have practical value.
Description
Technical field
The present invention relates to a kind of disposal system and method for Real-Time Scheduling multitask, relate in particular to a kind of disposal system of the non-preemptive type Real-Time Scheduling multitask that is applicable to elevator single chip computer system and use the disposal route of the non-preemptive type Real-Time Scheduling of this system multitask, belong to real time operating system technical field.
Background technology
Elevator single chip computer routine package is containing requirement of real-time very high speed control, security control task, in addition the time cycle is required to strict position probing task simultaneously, and a large amount of various logic control tasks not high to time requirement, so elevator single chip computer needs a kind of operating system that can above each generic task of rational management, reaches the requirement of Real-Time Scheduling multitask.
So-called scheduling is exactly to given one group of real-time task and system resource, determines the whole process when and where each task is carried out.The object of scheduling is to guarantee as far as possible that each task meets their time-constrain, in time response is made in outside or internal request.
The advantage of the non-preemptive scheduling system in real time operating system is that context switches less, dispatching algorithm is simple, be applicable to very much the application scenario that comprises large amount of complex logic control, but, traditional non-preemptive type task scheduling system do not allow task the term of execution be interrupted, once task takies processor and just must be finished or abandon voluntarily, cause resource utilization low, response speed is slow, high for requirement of real-time, time response is fast, or the time cycle requires more fixing task effectively to process, cannot meet some mission criticals for the requirement of real-time.
Summary of the invention
The problems referred to above and the deficiency that for prior art, exist, the object of this invention is to provide that a kind of resource utilization is high, the disposal system of the non-preemptive type Real-Time Scheduling multitask of fast response time and use the disposal route of the non-preemptive type Real-Time Scheduling of this system multitask, to meet efficient, the low cost movement requirement of elevator single chip computer.
For achieving the above object, the technical solution used in the present invention is as follows:
The disposal system of a kind of non-preemptive type Real-Time Scheduling multitask, comprise: task executing units and task scheduling unit, described task executing units comprises some task modules, and described task scheduling unit comprises execution status of task control module and processed module; It is characterized in that: described task executing units comprises following 3 generic task modules,, performance period and execution time be fixing I generic task module all, and performance period and execution time be unfixed II generic task module all, and the performance period is fixed but execution time unfixed III generic task module; Described execution status of task control module by task time block or/and signal trigger module form; Described I generic task module is connected into a closed circulation path with task time block A and processed module successively; Described II generic task module is connected into a closed circulation path with signal trigger module A and processed module successively; Described III generic task module is connected into a closed circulation path with the task time block B being in parallel and signal trigger module B and processed module successively, and is also provided with static time block in processed module is returned to the circulation path of III generic task module.
As a kind of preferred version, by long Task modulus division, be several task sheet root modules of mutually connecting, each task sheet root module is in series with respectively the execution status of task control module matching with it.
As further preferred version, the execution status of task control module matching with each task sheet root module by the long Task modulus division of I class is task time block.
As further preferred version, the execution status of task control module matching with each task sheet root module by the long Task modulus division of II class is signal trigger module.
As further preferred version, the execution status of task control module matching with each task sheet root module by the long Task modulus division of III class is task time block and signal trigger module in parallel.
Described task executing units is to be scheduled after unit activating for the task of task module or task fragment, and task or the task fragment activating specified in operation, and after having moved, task executing units is given task scheduling unit by system control.At one time, described task executing units can only be moved a task or task fragment.
Described task scheduling unit is the executing state for monitor task or task fragment, once the task of monitoring or task fragment are ready, carries out priority identification, then activates task or the task fragment that needs priority activation.
Described task time block is for controlling the execution time of described task or task fragment, when the execution time of task or task fragment, expires, and this task or task fragment enter ready state, waits for priority identification and activates.
Described signal trigger module is for controlling described task or task fragment waiting signal, after signal arrives, makes task or task fragment enter ready state, waits for priority identification and activates.Described signal can be outside from system, also can be from internal system.
Described processed module is for identification mission or/and the priority processing rank of task fragment, and each task is endowed a priority, and each task fragment has the priority identical with corresponding task; In ready task, or/and in task fragment, have the task of limit priority or the task fragment unit activating that is scheduled at first, and have task or the task fragment of equal priority, according to the order of task creation, be activated successively.
Described static time block is for controlling performance period of pinned task not execution time, when the performance period of described task, expires, and the operation that is activated of this task.Static time block is not subject to the impact of tasks carrying duration.
The disposal route of using the multitask of the non-preemptive type Real-Time Scheduling of disposal system of the present invention, comprises the steps:
1. by all task division, be following 3 generic tasks: performance period and execution time be fixing I generic task all, and performance period and execution time be unfixed II generic task all, and the performance period is fixed but unfixed III generic task of execution time;
2. when controlling the time block A of I generic task executing state and monitor the execution time of described task, expire, make immediately this task be suspended in ready state, wait for the priority identification of processed module and the activation of scheduling unit; When controlling the signal trigger module A of II generic task executing state, wait until that signal arrives, make immediately this task be suspended in ready state, wait for the priority identification of processed module and the activation of scheduling unit; When controlling the task time block B of III generic task executing state or signal trigger module B, to monitor described tasks carrying complete, makes immediately this task be suspended in ready state, waits for the priority identification of processed module and the activation of scheduling unit;
3. each task is endowed a priority, processed module is carried out priority identification to the ready task receiving, the task of having the limit priority unit activating that is scheduled at first, and have the task of equal priority, is activated successively according to the order of task creation;
4. when static time block monitor the execution time not the performance period of pinned task expire, the operation that is activated of this task.
As a kind of preferred version, the task division that performance period is long is several task fragments of mutually connecting, each task fragment is in series with respectively the execution status of task control module matching with it, and the priority of each task fragment is identical with the priority of corresponding long task; The processing procedure of each task fragment is identical with the processing procedure of corresponding I generic task, II generic task or III generic task, but must etc. just can carry out the execution of fragment two tasks after fragment one tasks carrying, the rest may be inferred, that is, the intersegmental execution sequence of task sheet is series relationship successively.
As further preferred version, the execution status of task control module matching with each task sheet root module by the long Task modulus division of I class is task time block.
As further preferred version, the execution status of task control module matching with each task sheet root module by the long Task modulus division of II class is signal trigger module.
As further preferred version, the execution status of task control module matching with each task sheet root module by the long Task modulus division of III class is task time block and signal trigger module in parallel.
Compared with prior art, the present invention has following beneficial effect: the present invention is by being divided into 3 large classes by the task of comprising multiple different qualities according to the characteristic of performance period and execution time, and scheduling path and priority that the task of different qualities classification is matched, thereby shortened the response time of system, improved resource utilization; In addition, fix but unfixed III generic task of execution time for the performance period, by static time block is set in circulation path, can guarantee that the performance period of this generic task is fixed; Especially, the task division that performance period is long is short task fragments of several execution time, can further improve the response speed of system, effectively solves the real time problems of some mission criticals, can meet efficient, the low cost movement requirement of elevator single chip computer, there is practical value.
Accompanying drawing explanation
Fig. 1 is the structural representation of the disposal system of non-preemptive type Real-Time Scheduling of the present invention multitask;
The structural representation of the disposal system of a kind of non-preemptive type Real-Time Scheduling multitask that Fig. 2 provides for embodiment 1;
The structural representation of the disposal system of a kind of non-preemptive type Real-Time Scheduling multitask that Fig. 3 provides for embodiment 2;
The structural representation of the disposal system of a kind of non-preemptive type Real-Time Scheduling multitask that Fig. 4 provides for embodiment 3.
Embodiment
Below in conjunction with specific embodiments and the drawings, the present invention is described in further detail.
As shown in Figure 1: the disposal system of a kind of non-preemptive type Real-Time Scheduling provided by the invention multitask, comprising: task executing units 1 and task scheduling unit 2; Described task executing units 1 comprises: performance period and execution time be fixing I generic task module 11 all, and performance period and execution time be unfixed II generic task module 12 all, and the performance period is fixed but execution time unfixed III generic task module 13; Described task scheduling unit 2 comprises execution status of task control module and processed module 22; Described execution status of task control module by task time block or/and signal trigger module form; 11 of described I generic task moulds are connected into a closed circulation path with task time block A 211 and processed module 22 successively; Described II generic task module 12 is connected into a closed circulation path with signal trigger module A 212 and processed module 22 successively; Described III generic task module 13 is connected into a closed circulation path with the task time block B 213 being in parallel and signal trigger module B 214 and processed module 22 successively, and is also provided with static time block 23 in processed module 22 is returned to the circulation path of III generic task module 13.
Described task executing units is to be scheduled after unit activating for the task of task module or task fragment, and task or the task fragment activating specified in operation, and after having moved, task executing units is given task scheduling unit by system control.At one time, described task executing units can only be moved a task or task fragment.
Described task scheduling unit is the executing state for monitor task or task fragment, once the task of monitoring or task fragment are ready, carries out priority identification, then activates task or the task fragment that needs priority activation.
Described task time block is for controlling the execution time of described task or task fragment, when the execution time of task or task fragment, expires, and this task or task fragment enter ready state, waits for priority identification and activates.
Described signal trigger module is for controlling described task or task fragment waiting signal, after signal arrives, makes task or task fragment enter ready state, waits for priority identification and activates.Described signal can be outside from system, also can be from internal system.
Described processed module is for identification mission or/and the priority processing rank of task fragment, and each task is endowed a priority, and each task fragment has the priority identical with corresponding task; In ready task, or/and in task fragment, have the task of limit priority or the task fragment unit activating that is scheduled at first, and have task or the task fragment of equal priority, according to the order of task creation, be activated successively.
Described static time block is for controlling performance period of pinned task not execution time, when the performance period of described task, expires, and the operation that is activated of this task.Static time block is not subject to the impact of tasks carrying duration.
The disposal route of using the multitask of the non-preemptive type Real-Time Scheduling of disposal system of the present invention, comprises the steps:
1. by all task division, be following 3 generic tasks: performance period and execution time be fixing I generic task 11 all, and performance period and execution time be unfixed II generic task 12 all, and the performance period is fixed but unfixed III generic task 13 of execution time;
2. when controlling the execution time of the described task of time block A 211 monitoring of I generic task executing state, expire, make immediately this task be suspended in ready state, wait for the priority identification of processed module 22 and the activation of scheduling unit; When controlling the signal trigger module A 212 signal arrival by the time of II generic task executing state, make immediately this task be suspended in ready state, wait for the priority identification of processed module 22 and the activation of scheduling unit; When controlling the task time block B 213 of III generic task executing state or signal trigger module B 214, to monitor described tasks carrying complete, make immediately this task be suspended in ready state, wait for the priority identification of processed module 22 and the activation of scheduling unit;
3. each task is endowed a priority, processed module is carried out priority identification to the ready task receiving, the task of having the limit priority unit activating that is scheduled at first, and have the task of equal priority, is activated successively according to the order of task creation;
4. when static time block 23 monitor the execution time not the performance period of pinned task expire, the operation that is activated of this task.
For example: if task 1 comes before task 2, when task 1 and task 2 is simultaneously ready, according to traditional non-preemptive type task scheduling system, must be after task 1 be finished, just can go to execute the task 2, so just extend the response time of task 2, may cause signal to have little time to process; And adopt system of the present invention, and priority that can be by task 2 is set is higher than task 1, and when task 1 and task 2 are when simultaneously ready, processed module can priority activation task 2 be gone to carry out, and so just can shorten the response time of system, raising resource utilization.
Especially, fix but unfixed III generic task of execution time for the performance period, because the execution time cannot be fixed, in order to ensure fixing of performance period, the present invention by arranging static time block in circulation path, because static time block is not subject to the impact of tasks carrying duration, thereby guaranteed the fixing of such tasks carrying cycle.
For further safeguards system response is fast, meet short task requirement of real-time of execution time, long task division of performance period can be become to enough task sheet root module of short mutual series connection of several performance periods, each task sheet root module is in series with respectively the execution status of task control module matching with it; And the priority of each task fragment is identical with the priority of corresponding long task; The operating process of each task fragment is identical with the operating process of corresponding I generic task, II generic task or III generic task, but must etc. just can carry out the execution of fragment two tasks after fragment one tasks carrying, the rest may be inferred, that is, the intersegmental execution sequence of task sheet is series relationship successively.
Embodiment 1
Suppose that current what carrying out is I generic task 11 to task executing units 1, and this task is long task of performance period, at this time the signal of II generic task 12 is triggered, need to carry out immediately, according to traditional non-preemptive type task scheduling system, must after I generic task 11 is finished, just can remove to carry out II generic task 12, so just can not realize the requirement of real-time processing II generic task 12; And the disposal system shown in employing Fig. 2, by I generic task module 11 being divided into 3 mutually task fragment one module 111, task fragment two modules 112 and task fragment three modules 113 of series connection, and task fragment one module 111 is in series with, and task time block A12111, task fragment two modules 112 are in series with task time block A22112, task fragment three modules 113 are in series with task time block A32113; The priority of task fragment one, task fragment two and task fragment three is identical with the priority of corresponding I generic task; When task time block A12111 monitors one performance period of task fragment, expire, will make immediately task fragment one be suspended in ready state, allow the high ready task of priority first carry out.If the execution duration of I generic task is 15ms, when not dividing fragment, response time of II generic task is the longest is 15ms, and I generic task is divided into 3 fragments, it is respectively 5ms that each fragment is carried out duration, and like this, the response time of II generic task is the longest is 5ms, the visible response time that can greatly shorten system, meet the requirement of real-time of mission critical.
Embodiment 2
Suppose that current what carrying out is II generic task 12 to task executing units 1, and this task is long task of performance period, the I generic task 11 that at this time priority is high need to be carried out immediately, according to traditional non-preemptive type task scheduling system, must be after II generic task 12 be finished, just can remove to carry out I generic task 11, so just can not realize the requirement of real-time processing I generic task 11; And the disposal system shown in employing Fig. 3, by II generic task module 12 being divided into 3 mutually task fragment one module 121, task fragment two modules 122 and task fragment three modules 123 of series connection, and task fragment one module 121 is in series with, and signal trigger module A12121, task fragment two modules 122 are in series with signal trigger module A22122, task fragment three modules 123 are in series with signal trigger module A32123; The priority of task fragment one, task fragment two and task fragment three is identical with the priority of corresponding II generic task; When signal trigger module A12121 receives signal, trigger, will make immediately task fragment one be suspended in ready state, allow the high ready task of priority first carry out.If the execution duration of II generic task is 15ms, when not dividing fragment, response time of I generic task is the longest is 15ms, and II generic task is divided into 3 fragments, it is respectively 5ms that each fragment is carried out duration, and like this, the response time of I generic task is the longest is 5ms, the visible response time that also can greatly shorten system, meet the requirement of real-time of mission critical.
Embodiment 3
Suppose that current what carrying out is III generic task 13 to task executing units 1, and this task is long task of performance period, the I generic task 11 that at this time priority is high need to be carried out immediately, according to traditional non-preemptive type task scheduling system, must be after III generic task 13 be finished, just can remove to carry out I generic task 11, so just can not realize the requirement of real-time processing I generic task 11; And the disposal system shown in employing Fig. 4, by III generic task module 13 being divided into 3 task fragment one module 131, task fragment two modules 132 and task fragment three modules 133 of series connection mutually, and task fragment one module 131 is in series with the task time block B12131 and the signal trigger module B12141 that are in parallel, task fragment two modules 132 are in series with the task time block B22132 and the signal trigger module B22142 that are in parallel, task fragment three modules 133 are in series with the task time block B32133 and the signal trigger module B32143 that are in parallel; The priority of task fragment one, task fragment two and task fragment three is identical with the priority of corresponding III generic task; When task time block B12131 or signal trigger module B1 monitor task fragment one, be finished, will make immediately task fragment one be suspended in ready state, allow the high ready task of priority first carry out.If the execution duration of III generic task is 15ms, when not dividing fragment, response time of I generic task is the longest is 15ms, and III generic task is divided into 3 fragments, it is respectively 5ms that each fragment is carried out duration, and like this, the response time of I generic task is the longest is 5ms, the visible response time that also can greatly shorten system, meet the requirement of real-time of mission critical.
Visible in sum: the present invention is by being divided into 3 large classes by the task of comprising multiple different qualities according to the characteristic of performance period and execution time, and scheduling path and priority that the task of different qualities classification is matched, thereby shortened the response time of system, improved resource utilization; In addition, fix but unfixed III generic task of execution time for the performance period, by static time block is set in circulation path, can guarantee that the performance period of this generic task is fixed; Especially, the task division that performance period is long is short task fragments of several execution time, can further improve the response speed of system, effectively solves the real time problems of some mission criticals, can meet efficient, the low cost movement requirement of elevator single chip computer, there is practical value.
Finally be necessary described herein: above embodiment is only for being described in further detail technical scheme of the present invention; can not be interpreted as limiting the scope of the invention, some nonessential improvement that those skilled in the art's foregoing according to the present invention is made and adjustment all belong to protection scope of the present invention.
Claims (10)
1. the disposal system of non-preemptive type Real-Time Scheduling multitask, comprise: task executing units and task scheduling unit, described task executing units comprises some task modules, and described task scheduling unit comprises execution status of task control module and processed module; It is characterized in that: described task executing units comprises following 3 generic task modules,, performance period and execution time be fixing I generic task module all, and performance period and execution time be unfixed II generic task module all, and the performance period is fixed but execution time unfixed III generic task module; Described execution status of task control module by task time block or/and signal trigger module form; Described I generic task module is connected into a closed circulation path with task time block A and processed module successively; Described II generic task module is connected into a closed circulation path with signal trigger module A and processed module successively; Described III generic task module is connected into a closed circulation path with the task time block B being in parallel and signal trigger module B and processed module successively, and is also provided with static time block in processed module is returned to the circulation path of III generic task module.
2. disposal system according to claim 1, is characterized in that: by long Task modulus division, be several task sheet root modules of mutually connecting, each task sheet root module is in series with respectively the execution status of task control module matching with it.
3. disposal system according to claim 2, is characterized in that: the execution status of task control module matching with each task sheet root module by the long Task modulus division of I class is task time block.
4. disposal system according to claim 2, is characterized in that: the execution status of task control module matching with each task sheet root module by the long Task modulus division of II class is signal trigger module.
5. disposal system according to claim 2, is characterized in that: the execution status of task control module matching with each task sheet root module by the long Task modulus division of III class is task time block and signal trigger module in parallel.
6. right to use requires a disposal route for the non-preemptive type Real-Time Scheduling of the disposal system multitask described in 1, it is characterized in that, comprises the steps:
1. by all task division, be following 3 generic tasks: performance period and execution time be fixing I generic task all, and performance period and execution time be unfixed II generic task all, and the performance period is fixed but unfixed III generic task of execution time;
2. when controlling the task time block A of I generic task executing state and monitor the execution time of described task, expire, make immediately this task be suspended in ready state, wait for the priority identification of processed module and the activation of scheduling unit; When controlling the signal trigger module A of II generic task executing state, wait until that signal arrives, make immediately this task be suspended in ready state, wait for the priority identification of processed module and the activation of scheduling unit; When controlling the task time block B of III generic task executing state or signal trigger module B, to monitor described tasks carrying complete, makes immediately this task be suspended in ready state, waits for the priority identification of processed module and the activation of scheduling unit;
3. each task is endowed a priority, processed module is carried out priority identification to the ready task receiving, the task of having limit priority is activated by priority identification and scheduling unit at first, and have the task of equal priority, according to the order of task creation, be activated successively;
4. when static time block monitor the execution time not the performance period of pinned task expire, the operation that is activated of this task.
7. disposal route according to claim 6, it is characterized in that: the task division that the performance period is long is several task fragments of mutually connecting, each task fragment is in series with respectively the execution status of task control module matching with it, and the priority of each task fragment is identical with the priority of corresponding long task; The processing procedure of each task fragment is identical with the processing procedure of corresponding I generic task, II generic task or III generic task, but must etc. just can carry out the execution of fragment two tasks after fragment one tasks carrying, the rest may be inferred, that is, the intersegmental execution sequence of task sheet is series relationship successively.
8. disposal route according to claim 7, is characterized in that: the execution status of task control module matching with each task sheet root module by the long Task modulus division of I class is task time block.
9. disposal route according to claim 7, is characterized in that: the execution status of task control module matching with each task sheet root module by the long Task modulus division of II class is signal trigger module.
10. disposal route according to claim 7, is characterized in that: the execution status of task control module matching with each task sheet root module by the long Task modulus division of III class is task time block and signal trigger module in parallel.
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| CN103592871A (en) * | 2013-05-20 | 2014-02-19 | 赛龙通信技术（深圳）有限公司 | Multitask timing control system and interruption response method thereof |
| CN103324525B (en) * | 2013-07-03 | 2016-01-13 | 东南大学 | Method for scheduling task under a kind of cloud computing environment |
| CN103677991A (en) * | 2013-12-16 | 2014-03-26 | 重庆川仪自动化股份有限公司 | Task execution method based on single chip microcomputer system framework and single chip microcomputer system framework |
| CN104102491B (en) * | 2014-07-28 | 2017-07-14 | 深圳航天工业技术研究院有限公司 | The method and system that single-chip microcomputer real-time task is performed parallel with consuming task |
| CN104401859A (en) * | 2014-10-08 | 2015-03-11 | 张家港赛安斯自动化科技有限公司 | Elevator door motor controller software based on micro C/OS-II real-time operation system |
| CN107291724A (en) * | 2016-03-30 | 2017-10-24 | 阿里巴巴集团控股有限公司 | Company-data clone method, priority determine method and device |
| CN107098229B (en) * | 2017-04-21 | 2018-10-02 | 广东环境保护工程职业学院 | A kind of stop priority dispatching method based on elevator outer calling system |
| CN107577528B (en) * | 2017-09-01 | 2020-09-08 | 长沙小卡机器人科技有限公司 | Method for parallel running of multitask sequences |
| CN110879707B (en) * | 2018-09-06 | 2022-10-14 | 迈普通信技术股份有限公司 | Compiling task execution method and device |
| CN109684060B (en) * | 2018-12-21 | 2023-05-23 | 中国航空工业集团公司西安航空计算技术研究所 | Mixed scheduling method for multiple types of time-critical tasks |
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