CN103699455A - Method for acquiring accurate latest deadline in multi-core realtime fault-tolerant system - Google Patents
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Abstract
The invention provides a method for acquiring an accurate latest deadline in a multi-core realtime fault-tolerant system. The method includes the following steps: according to given task scheduling and on the basis that original data dependence is maintained, increasing scheduling sequence dependence for adjacent tasks scheduled on a same core; increasing two virtual task nodes with execution time to be zero, and enabling one of the virtual task nodes to be executed before all other tasks and the other virtual task node to be executed after all other tasks; supposing that at most X soft errors appear in the process of task execution and on the basis of original scheduling, realizing fault tolerance by immediately re-executing erroneous tasks on the same core, determining key tasks of a task set, and acquiring the accurate latest deadline of the task set. By the method, if N tasks is contained in the task set and at most X soft errors appear in the process of execution, the accurate latest deadline of the task set can be determined within O(n^2) to guarantee fault tolerance, and high efficiency and quickness are realized.
Description
Technical field
The present invention relates to field, be specifically related to obtain accurately the method for closing time the latest in a kind of multinuclear real-time fault tolerance system.
Background technology
The real-time application of multinuclear real-time system is comprised of a lot of tasks conventionally, and requires these tasks before closing time, to complete.For example, in a multinuclear real-time system, between task, there is dependence, generally with directed acyclic graph, represent these tasks.
Fig. 1 (a) is a task scheduling figure, has expressed the scheduled for executing order of task in figure, and which core is task be assigned on and carry out, and Starting Executing Time.Likely there is soft error in task, in order to guarantee to obtain correct result, must provide fault-tolerant on some core in implementation.A kind of simple and common method is to allow this task re-execute immediately on same core, and as shown in Fig. 1 (b), in figure, shade is making a mistake of task.
In existing method, in multinuclear real-time fault tolerance system the computing method of in real time application closing time be allow the task on each core with maximum execution time occur wrong in to obtain the closing time the latest of task on each core, if there is no dependence between task, this computing method are accurately.For example, in Fig. 1 (b), there are two mistakes in the task on each core respectively with maximum execution time, there is Shi19Ge chronomere closing time of twice mistake in task T4, there is Shi15Ge chronomere closing time of twice mistake in task T2, there is Shi14Ge chronomere closing time of twice mistake in task T3, so optimum closing time of the Shi19Ge chronomere of this multinuclear real time system application operation.But if there is dependence between task, this method is just inaccurate.For example, in Fig. 1 (a), 6 tasks are distributed on three cores.Arrow in figure represents the data dependence relation between task, and the communication delay between the task on same core and in different IPs is assumed that respectively 0 and 1.In the situation that Fig. 1 (c) shows, there is fault twice in T4, closing time Shi19Ge chronomere.And in Fig. 1 (d), there is fault twice in the task T2 that processor P 0 is carried out, closing time Shi20Ge chronomere.Clearly, worse off cake shown in Fig. 1 (d).Therefore, the computing method of existing closing time may have been underestimated truth.
In addition, because the number that each task makes a mistake is uncertain, existing method is exhaustive all possible situation, compares, then the selective cut-off time.The shortcoming of this method is: after determining that how many mistakes occur each task, the time complexity that obtains the closing time the latest of set of tasks is O (N
2), but because needs are considered all situations: there is X wrong having in N task
the situation of kind, therefore total time complexity is
lose time very much.
Summary of the invention
In order to overcome the defect existing in above-mentioned prior art, the object of this invention is to provide in a kind of multinuclear real-time fault tolerance system and obtain accurately the method for closing time the latest, the present invention can efficiently obtain the closing time the latest of set of tasks rapidly.
In order to realize above-mentioned purpose of the present invention, the invention provides in a kind of multinuclear real-time fault tolerance system and obtain accurately the method for closing time the latest, it comprises the steps:
S1, according to the task scheduling of multiple nucleus system, on the basis that keeps legacy data to rely on, the adjacent task of carrying out on same core for scheduling increases dispatching sequence's dependence, and sets up new directed acyclic graph;
S2, on the basis of new directed acyclic graph, increase by two virtual task nodes, the execution time of described virtual task is 0, take in the task scheduling that this directed acyclic graph is model, one of them virtual task node is carried out at first, and another one virtual task node is finally carried out, because its execution time is 0, do not increase closing time the latest;
S3, suppose to occur at most X soft error in task implementation, on the basis of original scheduling, by task the re-executing immediately on same core of makeing mistakes, realize fault-tolerant, guarantee the correct execution of set of tasks, and the mission critical of the set that sets the tasks, obtain set of tasks closing time the latest accurately;
S4, whether meet the work requirements in current multinuclear real-time fault tolerance system the closing time the latest of weighing set of tasks, if met, exits, if do not met, adjusts scheduling strategy, returns to step S1.
In a kind of preferred implementation of the present invention, described step S1 specifically comprises the steps:
S11, obtains the number N of task in set of tasks, and the number X of contingent maximum soft error in set of tasks implementation
S12, represents the data dependence between task with directed acyclic graph;
S13, according to given task scheduling, if two tasks on same core, be scheduled carry out and dispatching sequence adjacent, the dispatching sequence who increases between these two tasks relies on, and on the basis of original directed acyclic graph, increase the limit that represents that dispatching sequence relies on, obtain new directed acyclic graph;
S14, the execution time of obtaining each task node deposits in the data structure of task node, and the weight of obtaining limit deposits in array.
In another kind of preferred implementation of the present invention, described step S2 concrete steps are:
On new directed acyclic graph basis, increase by two nodes, source node and aggregation node, and the execution time of establishing these two nodes be 0; For all task nodes that there is no father node, increase a limit from source node to this node; For all task nodes that there is no child node, increase a limit from this node to aggregation node.The weight on the limit being connected with aggregation node with source node is made as to 0 simultaneously.
In a kind of preferred implementation of the present invention, described step S3 specifically comprises the steps:
S31, be the deadline of all tasks this task while not making a mistake the closing time the earliest of each task of initialization; Be 0 the closing time the latest of each task of initialization;
S32, usings a task node I as input, and this task can be any one node; If be greater than 0 the closing time the latest of this task node I, illustrate that this task node was calculated, directly return to its closing time and mission critical thereof the latest; If the father node set-inclusion source node of this task node, the mission critical of this task is itself, by allow this task occur the wrong closing time the latest that obtains this task; Otherwise enter next step;
S33, the traversal of recurrence solves closing time the latest and the corresponding mission critical of all father nodes of this task node I;
S34, supposes that task I has m father node, and is respectively F (I) their closing time the latest
1, F (I)
2..., F (I)
m.Respectively at F (I)
1, F (I)
2..., F (I)
mbasis on deadline of calculation task I, obtain I
1, I
2..., I
m.Calculate other tasks does not make a mistake and only has task I that the deadline I of all X soft error occurs simultaneously
0and and I
1, I
2..., I
mcompare, choose maximal value as the closing time the latest of task I, the mission critical of simultaneously determining this task node I is the mission critical of trying to achieve in itself or S33.
The invention has the beneficial effects as follows:
Whether meet the work requirements in current multinuclear real-time system the optimum closing time that the present invention can weigh set of tasks fast.
Be accurately the closing time the latest that the present invention obtains.If the closing time of default is less than this time, have be greater than that 0 probability causes within closing time can not fault-tolerant all X mistake; If the closing time of default is larger than this time, can cause temporal waste.
The present invention can set the tasks in the time and gather accurately closing time the latest at O (n^2), efficiently quick than prior art.
Additional aspect of the present invention and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage accompanying drawing below combination obviously and is easily understood becoming the description of embodiment, wherein:
Fig. 1 is task scheduling figure of the prior art, wherein, and task scheduling figure when Fig. 1 (a) does not make a mistake for all tasks; There is respectively fault-tolerant task scheduling figure when wrong twice in the task on each core of Fig. 1 (b) with maximum execution time, there is no data dependence relation between task; Fig. 1 (c) has the longest execution time for T4(in set of tasks) there is fault-tolerant task scheduling figure when wrong twice; Fig. 1 (d) is fault-tolerant task scheduling figure when twice mistake occurs T2 in set of tasks;
Fig. 2 is task scheduling figure and the directed acyclic graph thereof to step S1 and S2 explanation in a kind of preferred implementation of the present invention, and wherein, Fig. 2 (a) represents the directed acyclic graph of original data dependence in set of tasks; Fig. 2 (b) is task scheduling figure; Fig. 2 (c) is that the present invention is the directed acyclic graph after the adjacent task increase dispatching sequence dependence of scheduling on same core on the basis of Fig. 2 (a); Fig. 2 (d) increases the directed acyclic graph after source node Tsr and aggregation node Tsk for the present invention on the basis of Fig. 2 (c);
Fig. 3 is the directed acyclic graph of in the another kind of preferred implementation of the present invention, step S3 being explained.
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Below by the embodiment being described with reference to the drawings, be exemplary, only for explaining the present invention, and can not be interpreted as limitation of the present invention.
The invention provides in a kind of multinuclear real-time fault tolerance system and obtain accurately the method for closing time the latest, it comprises the steps:
The first step: represent the data dependence between task with directed acyclic graph, as shown in Figure 2 (a) shows;
In Fig. 2 (b), expressed task scheduling figure, the execution time of task T1, T2, T3, T4, T5, T6 is respectively 4,10,3,4,5,3 chronomeres.
According to the task scheduling of the multiple nucleus system shown in Fig. 2 (b), on the basis that keeps legacy data to rely on, for increasing dispatching sequence, the adjacent task of scheduling on same core rely on, set up new directed acyclic graph, as shown in dotted line in Fig. 2 (c), the dispatching sequence who increases between the upper task T2 of core P2 and task T5 relies on, and the dispatching sequence who increases between the upper task T3 of core P3 and task T6 relies on, and sets up new directed acyclic graph.In the present embodiment, specifically can adopt following steps:
A, sorts and forms Task-list task according to the Starting Executing Time of each task, from chained list head, scans, and carrying out of the task that is scheduled at first from this core scans, and establishes index and is designated as i, makes i=1;
B, makes j=i+1, if j>N stops, if otherwise task Ti and task Tj be assigned on same core, on the basis relying at legacy data, increase by one and from node Ti to node Tj, represent to make i=i+1 in dispatching sequence's limit, return to step B.
Finally, obtain the execution time C of each task node Ti
tideposit in the data structure of task node, the weight of obtaining limit deposits in array.
Second step increases by two nodes on new directed acyclic graph basis, source node Tsr and aggregation node Tsr, as shown in Figure 2 (d) shows, and the execution time of establishing these two nodes be 0; For all task nodes that there is no father node, increase a limit from source node to this node, in present embodiment, increase the limit from source node Tsr to task node T1, T2 and T3; For all task nodes that there is no child node, increase a limit from this node to aggregation node, in the present embodiment, increase the limit from task node T5 to aggregation node Tsk.The weight of simultaneously setting all limits of this step increase is 0.
The 3rd step, the mission critical of the set that sets the tasks, obtains optimum closing time.Specifically comprise the steps:
S31, the deadline of this task when BCFT closing time the earliest (Ti) of each task Ti of initialization does not make a mistake for all tasks; WCFT closing time the latest (Ti) of each task Ti of initialization is 0; The mission critical of each task Ti of initialization is CT (Ti)=T
null; The maximum soft error number X that initialization is possible.In the present embodiment, i=1,2 ..., N.
S32, usings a task node Ti as input, and this task can be any one node; If be greater than 0 the closing time the latest of this task node Ti, illustrate that this task node was calculated, directly return to its closing time and mission critical thereof the latest; If the father node set-inclusion source node of this task node, the mission critical of this task is itself, by allow this task occur the wrong closing time the latest that can obtain this task; Otherwise enter next step S33;
S33, the traversal of recurrence solves closing time the latest and the corresponding mission critical of all father nodes of this task node Ti;
S34, supposes that task Ti has m father node, and is respectively F (Ti) their optimum closing time
1, F (Ti)
2..., F (Ti)
m.Respectively at F (Ti)
1, F (Ti)
2..., F (Ti)
mbasis on deadline of calculation task Ti, obtain I
1, I
2..., I
m.There are all X wrong deadline I in calculation task Ti simultaneously
0and and I
1, I
2..., I
mcompare, choose maximal value as the closing time the latest of task Ti, the mission critical of simultaneously determining this task node Ti is the mission critical of trying to achieve in itself or S33.
In the present embodiment, as shown in Figure 3, be the deadline of all tasks this task while not making a mistake, i.e. BCFT (T the closing time the earliest of each task of initialization
1)=C
t1, BCFT (T
2)=C
t2, BCFT (T
3)=max{C
t1+ C
t3+ W (T
1+ T
3), C
t2+ C
t3+ W (T
2+ T
3), C wherein
tifor the execution time of task Ti; Be 0 the closing time the latest of each task of initialization, i.e. WCFT (T
1)=WCFT (T
2)=WCFT (T
3)=0; Mission critical CT (the T of each task of initialization
1)=CT (T
2)=CT (T
3)=T
null; The maximum soft error number X that initialization is possible.
Make task node Ti as input, this task can be any one node, in the present embodiment, preferably makes i=1; If be greater than 0 the closing time the latest of this task node Ti, illustrate that this task node was calculated, directly return to its closing time and mission critical thereof the latest; If the father node set-inclusion source node of this task node, the mission critical of this task is itself, for example, for task node T
1and T
2, by allow this task occur the wrong closing time the latest that can obtain this task,
WCFT(T
1)=C
T1+X*C
T1 CT(T
1)=T
1
WCFT(T
2)=C
T2+X*C
T2 CT(T
2)=T
2
If the father node set of this task node does not comprise source node, enter next step S33;
S33, incoming task node Ti, recurrence traversal solves the optimum closing time of all father nodes of this task node, gets and in father node, has the maximum father node of closing time the latest and corresponding mission critical, and record this father node to the weight on the limit of this task node.For example,, for task node T
3, recurrence traversal solves the father node T of this task node
1and T
2closing time the latest, add respectively task node T
1and T
2to T
3the weights W (T on limit
1, T
3), W (T
2, T
3) and T
3execution time C
t3, be respectively:
WCFT(T
1)+W(T
1,T
3)+C
T3
WCFT(T
2)+W(T
2,T
3)+C
T3
In the present embodiment, weight table is shown the propagation delay time of data dependence, for example W (T
1, T
3) refer to task T
1execution finishes to task T
3start the time delay of carrying out.
Allow this task T
3there is wrong resulting deadline BCFT (T
3)+X*C
t3with the WCFT (T obtaining above
1)+W (T
1, T
3)+C
t3, WCFT (T
2)+W (T
2, T
3)+C
t3compare, that maximum is task T
3closing time the latest, can determine the mission critical of this task simultaneously.For example,, if max{WCFT is (T
1)+W (T
1, T
3)+C
t3, WCFT (T
2)+W (T
2, T
3)+C
t3, BCFT (T
3)+X*C
t3}=WCFT (T
1)+W (T
1, T
3), task T
3closing time be the latest WCFT (T
1)+W (T
1, T
3)+C
t3, task T
3mission critical be CT (T
3)=T
1.
After the closing time the latest of set that sets the tasks, the present invention also comprises the steps: to weigh the work requirements that whether meets multinuclear real-time fault tolerance system closing time the latest of set of tasks, if met, exit, if do not met, adjust the scheduling strategy to this set of tasks, return to the first step.The adjustment mode of specific tasks scheduling can be determined according to actual conditions, is not key protection point of the present invention, does not do too much and repeats herein.
It should be noted that, in the present embodiment, for different multiple nucleus systems, the maximum soft error quantity X that can occur can be different, and concrete numerical value can obtain according to experiment measuring.
In the description of this instructions, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or example in conjunction with specific features, structure, material or the feature of this embodiment or example description.In this manual, the schematic statement of above-mentioned term is not necessarily referred to identical embodiment or example.And the specific features of description, structure, material or feature can be with suitable mode combinations in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, those having ordinary skill in the art will appreciate that: in the situation that not departing from principle of the present invention and aim, can carry out multiple variation, modification, replacement and modification to these embodiment, scope of the present invention is limited by claim and equivalent thereof.
Claims (4)
1. in multinuclear real-time fault tolerance system, obtain accurately the method for closing time the latest, it is characterized in that, comprise the steps:
S1, according to the task scheduling of multiple nucleus system, on the basis that keeps legacy data to rely on, relies on for the adjacent task of carrying out on same core increases dispatching sequence, sets up new directed acyclic graph;
S2, on the basis of new directed acyclic graph, increases by two virtual task nodes, the execution time of described virtual task is 0, take in the task scheduling that this directed acyclic graph is model, one of them virtual task node is carried out at first, and another one virtual task node is finally carried out;
S3, suppose to occur at most X soft error in task implementation, on the basis of original scheduling, by task the re-executing immediately on same core of makeing mistakes, realize fault-tolerant, guarantee the correct execution of set of tasks, and the mission critical of the set that sets the tasks, closing time the latest accurately of obtaining set of tasks;
S4, whether that weighs set of tasks meets the work timing demand in current multinuclear real-time fault tolerance system accurately the latest closing time, if met, exits, if do not met, adjusts scheduling strategy, returns to step S1.
2. in multinuclear real-time fault tolerance system as claimed in claim 1, obtain accurately the method for closing time the latest, it is characterized in that, described step S1 specifically comprises the steps:
S11, obtains the number N of task in set of tasks, and the number X of contingent maximum soft error in set of tasks implementation;
S12, represents the data dependence between task with directed acyclic graph;
S13, according to given task scheduling, if two tasks on same core, be scheduled carry out and dispatching sequence adjacent, the dispatching sequence who increases between these two tasks relies on, and on the basis of original directed acyclic graph, increase the limit that represents that dispatching sequence relies on, obtain new directed acyclic graph;
S14, the execution time of obtaining each task node deposits in the data structure of task node, and the weight of obtaining limit deposits in array.
3. in multinuclear real-time fault tolerance system as claimed in claim 1, obtain accurately the method for closing time the latest, it is characterized in that, described step S2 concrete steps are:
On new directed acyclic graph basis, increase by two nodes, source node and aggregation node, and the execution time of establishing these two nodes be 0; For all task nodes that there is no father node, increase a limit from source node to this node; For all task nodes that there is no child node, increase a limit from this node to aggregation node, the weight on all limits that are connected with aggregation node with source node is made as to 0 simultaneously.
4. in multinuclear real-time fault tolerance system as claimed in claim 1, obtain accurately the method for closing time the latest, it is characterized in that, described step S3 specifically comprises the steps:
S31, be the deadline of all tasks this task while not making a mistake the closing time the earliest of each task of initialization; Be 0 the closing time the latest of each task of initialization;
S32, usings a task node I as input, and this task can be any one node; If be greater than 0 the closing time the latest of this task node I, illustrate that this task node was calculated, directly return to its closing time and mission critical thereof the latest; If the father node set-inclusion source node of this task node, the mission critical of this task is itself, by allow this task occur the wrong closing time the latest that obtains this task; Otherwise enter next step;
The traversal of S33, recurrence solves closing time the latest and the corresponding mission critical of all father nodes of this task node I;
S34, suppose that task I has m father node, and be respectively F (I) their closing time the latest
1, F (I)
2..., F (I)
m, respectively at F (I)
1, F (I)
2..., F (I)
mbasis on deadline of calculation task I, be respectively I
1, I
2..., I
m, calculate other tasks simultaneously and do not make a mistake and only have task I that the deadline I of all X soft error occurs
0, by I
0with I
1, I
2..., I
mcompare, choose the maximum closing time the latest as task I, the mission critical of simultaneously determining this task node I is the mission critical of trying to achieve in itself or S33.
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