CN103885847A - Dog feeding method and device based on embedded system - Google Patents
Dog feeding method and device based on embedded system Download PDFInfo
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- CN103885847A CN103885847A CN201410045951.0A CN201410045951A CN103885847A CN 103885847 A CN103885847 A CN 103885847A CN 201410045951 A CN201410045951 A CN 201410045951A CN 103885847 A CN103885847 A CN 103885847A
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Abstract
The invention relates to the technical field of computers, in particular to a dog feeding method and device based on an embedded system, and aims to solve the problem that a watchdog overflows to generate a reset signal during the starting and loading process of the embedded system, and the system cannot be started normally. The method includes: monitoring a current task stage during operation system starting; periodically executing a dog feeding operation when the time span occupied by the current task stage is larger than the reset time interval of the hardware watchdog; wherein the executing cycle of the dog feeding operation is smaller than the reset time interval of the watchdog. The dog feeding method has the advantages that periodically dog feeding can be performed during starting and loading of the embedded system to avoid watchdog overflow; meanwhile, dog feeding cannot be performed if abnormity occurs during the starting stage of an operation system, and the watchdog is allowed to generate the reset signal so as to guide the operation system to reboot.
Description
Technical field
The present invention relates to field of computer technology, relate in particular to a kind of dog-feeding method and device based on embedded system.
Background technology
In embedded system, for system can automatically be recovered under abnormal conditions, generally all can introduce watchdog circuit; Watchdog circuit is exactly a counter in fact, after house dog starts, counter starts Auto-counting, will produce a reset enable signal system to microprocessor through certain hour counter overflow restarts, in the time that system is normally moved, in the time interval that need to allow house dog, to house dog counter O reset, also feed dog, do not allow reset signal produce.
House dog is divided into hardware watchdog and software watchdog, hardware watchdog be adopt one independently timer circuit as watchdog circuit, application program is every at regular intervals by universal input/output (General Purpose Input Output of microprocessor in the process of implementation, GPIO) pin carries out dog feeding operation to this timer, house dog is not overflowed, but, if there is abnormal race and fly in program, just can not feed dog to house dog in time, this will cause house dog to be overflowed, produce reset signal, microprocessor is resetted, as shown in Figure 1, generally can adopt TPS3823 chip composition hardware watchdog circuit, for software watchdog, it is the watchdog function of realizing at microprocessor internal, also replace external hardware timer with internal clocking, the shortcoming of this implementation is: in the time that microprocessor itself is abnormal, internal clocking produces abnormal, and house dog cannot normally be worked, thereby cause system cannot recover under abnormality, therefore, in actual applications, the generally hardware watchdogs that adopt more.
For the embedded system of introducing (SuSE) Linux OS; the introducing of house dog has ensured the stable operation of (SuSE) Linux OS preferably; but some problems that need to solve are also brought simultaneously: the target of watchdog circuit monitoring is the application program after the normal startup of system; but before the normal work of application program; embedded system has a guiding to load the process of bottom software; this process can take the time of twenties seconds conventionally; the general time interval that all exceedes house dog; cause operating system to reset in loading procedure, forever cannot load successfully.
Overflow in order to solve house dog in embedded system electrifying startup loading procedure, produce reset signal, the problem that causes system normally to start, more conventional method is at present, retouching operation system kernel, it is invalid that house dog is set as in operating system nucleus start-up course, opens house dog after os starting completes again; But, adopt in this way, if occur extremely, cannot automatically recovering in the os starting stage, reduce the reliability of system.
Summary of the invention
The embodiment of the present invention provides a kind of dog-feeding method and device based on embedded system, overflows in order to solve house dog in embedded system electrifying startup loading procedure, produces reset signal, the problem that causes system normally to start.
The embodiment of the present invention provides a kind of dog-feeding method based on embedded system, and the method comprises:
In os starting process, monitor current task phase;
When the time span taking in current task phase is greater than hardware watchdog reset time interval, periodically carry out dog feeding operation; Wherein, the performance period of described dog feeding operation is less than the described watchdog reset time interval.
Alternatively, described operating system is linux operating system; Described task phase is any one task phase guiding in the subordinate phase that loads Bootloader.
Alternatively, each task phase in the subordinate phase of described Bootloader comprises: flash memory Flash read-write stage, cyclic redundancy check (CRC) code (Cyclic Redundancy Check, CRC) verification stage, circular wait stage.
Alternatively, described operating system is linux operating system; Described task phase is any one task phase in the operating system nucleus operation phase.
Alternatively, each task phase in the described operating system nucleus operation phase comprises: universal input/output (General Purpose Input Output, GPIO) kernel decompression phase, real-time clock (the Real-Time Clock before drive load success, RTC) drive load stage, the GPIO drive load stage, the Watchdog drive load stage before successful to house dog Watchdog drive load after the success of GPIO drive load, kernel loads root file system stage, initial phase after the success of Watchdog drive load.
Alternatively, described method also comprises:
After the normal operation of operating system, periodically carry out dog feeding operation by the Mission Monitor thread creating, and monitor the operation conditions of multiple mission threads;
After determining that by described Mission Monitor thread at least one mission thread breaks down, stop carrying out dog feeding operation, so that house dog produces reset signal.
Alternatively, the operation conditions of the multiple mission threads of described monitoring, comprising:
Periodically detect the value of the counter arranging in each mission thread by described Mission Monitor thread; Wherein, each mission thread, the in the situation that of normal operation, adds 1 by the value of counter by setting-up time interval, and described setting-up time interval is less than described Mission Monitor thread detects the sense cycle of the value of the counter arranging in each mission thread;
If detect, the value of the counter arranging at least one mission thread is 0, determines that fault has appearred in described at least one mission thread; If detect, the value of the counter arranging in each mission thread is greater than 0, determines that each mission thread is all normal, meanwhile, and by the value zero clearing of the counter arranging in each mission thread.
A kind of hello dog device based on embedded system of the embodiment of the present invention, this device comprises:
Monitoring module, in os starting process, monitors current task phase;
Execution module, while being greater than hardware watchdog reset time interval, periodically carries out dog feeding operation for the time span taking in current task phase; Wherein, the performance period of described dog feeding operation is less than the described watchdog reset time interval.
The embodiment of the present invention is by os starting process, monitor current task phase, when the time span taking in current task phase is greater than the watchdog reset time interval, periodically carry out dog feeding operation, thereby can in embedded system electrifying startup loading procedure, periodically feed dog, overflow to avoid house dog, produce reset signal, simultaneously, adopt the embodiment of the present invention, if occur abnormal in the os starting stage, will carry out dog feeding operation, thereby can make house dog produce reset signal, guiding operating system is restarted, finally make operating system normally start,
Further, the embodiment of the present invention can also, after the normal operation of operating system, periodically be carried out dog feeding operation by the Mission Monitor thread creating, and monitor the operation conditions of multiple mission threads; After determining that by described Mission Monitor thread at least one mission thread breaks down, stop carrying out dog feeding operation, so that house dog produces reset signal; Adopt the embodiment of the present invention can take into account monitoring thread and other lower mission thread of priority that priority is higher, no matter be that monitoring thread or other mission thread break down, can make house dog produce reset signal, reboot operation system.
Brief description of the drawings
Fig. 1 is hardware watchdog circuit structural representation;
The dog-feeding method process flow diagram based on embedded system that Fig. 2 provides for the embodiment of the present invention;
Hello dog schematic flow sheet after the operating system that Fig. 3 provides for the embodiment of the present invention normally starts;
Hello the dog apparatus structure schematic diagram based on embedded system that Fig. 4 provides for the embodiment of the present invention.
Embodiment
The embodiment of the present invention is by os starting process, monitor current task phase, when the time span taking in current task phase is greater than the watchdog reset time interval, periodically carry out dog feeding operation, thereby can in embedded system electrifying startup loading procedure, periodically feed dog, overflow to avoid house dog, produce reset signal, simultaneously, adopt the embodiment of the present invention, if occur abnormal in the os starting stage, will carry out dog feeding operation, thereby can make house dog produce reset signal, guiding operating system is restarted, finally make operating system normally start,
Further, the embodiment of the present invention can also, after the normal operation of operating system, periodically be carried out dog feeding operation by the Mission Monitor thread creating, and monitor the operation conditions of multiple mission threads; After determining that by described Mission Monitor thread at least one mission thread breaks down, stop carrying out dog feeding operation, so that house dog produces reset signal; Adopt the embodiment of the present invention can take into account monitoring thread and other lower mission thread of priority that priority is higher, no matter be that monitoring thread or other mission thread break down, can make house dog produce reset signal, reboot operation system.
Below in conjunction with Figure of description, the embodiment of the present invention is described in further detail.
As shown in Figure 2, be the dog-feeding method process flow diagram based on embedded system that the embodiment of the present invention provides, comprise the following steps:
S201: in os starting process, monitor current task phase;
S202: when the time span taking in current task phase is greater than hardware watchdog reset time interval, periodically carry out dog feeding operation; Wherein, the performance period of described dog feeding operation is less than the described watchdog reset time interval.
The executive agent of the embodiment of the present invention can be processor; In the embodiment of the present invention, power on, guide the time span taking in the os starting process such as loading, operating system nucleus loading to be greater than each task phase in the watchdog reset time interval in system and all carry out the dog feeding operation to outside hardware watchdog, and the performance period of dog feeding operation is less than the reset time interval of hardware watchdog, such as, the watchdog reset time interval is generally 1.6s, in the embodiment of the present invention, the performance period of dog feeding operation can be made as to 1s; Adopt the embodiment of the present invention, if system is normally worked, can in the time span that is less than the watchdog reset time interval, constantly carry out dog feeding operation, now, the continuous zero clearing of the counter of hardware watchdog, can not produce reset signal, if system occurs abnormal, dog feeding operation lost efficacy, and the counter of hardware watchdog overflows after 1.6s, processor is produced to reset enable signal system and restart, the reliability of safeguards system start-up course;
In specific implementation process, the loading start-up course of embedded Linux system generally comprises: operation processor chip internal initialization guiding (boot) program after powering on, then start guiding and load (Bootloader) program, guiding operating system, control is transferred to linux kernel; Linux kernel start-up loading, operation kernel program; Kernel is opened first initialization (init) process, carries out system initialization work; Finally, application program launching operation; The time span that the embodiment of the present invention takies according to each task phase of the loading start-up course of embedded Linux system, is greater than in the task phase in the watchdog reset time interval in each holding time length, carries out respectively dog feeding operation;
Known based on foregoing description, hello the dog strategy of the embodiment of the present invention is to be greater than each different task phase in the watchdog reset time interval in holding time length to start respectively dog feeding operation; Because the Boot1oader stage in os starting process and linux kernel operation phase comprise respectively multiple task phase, the embodiment of the present invention is by analyzing the time span that in these multiple task phase, each task phase takies, and the task phase of selecting holding time length to be greater than the watchdog reset time interval is carried out dog feeding operation.In concrete enforcement, can in program corresponding to each task phase that need to carry out dog feeding operation, insert and feed dog code, like this, in the time moving program corresponding to this task phase, can carry out dog feeding operation.
Alternatively, described operating system is linux operating system; Described task phase is any one task phase guiding in the subordinate phase that loads Bootloader;
Alternatively, each task phase in the subordinate phase of described Bootloader comprises: flash memory Flash read-write stage, cyclic redundancy check (CRC) code (Cyclic Redundancy Check, CRC) verification stage, circular wait stage;
In specific implementation process, because the Bootloader first stage is the initialization operation of realizing self, holding time length can not exceed 1.6s, therefore, this stage without carry out dog feeding operation, and being mainly operating system nucleus object code to being stored in flash memory (Flash), the subordinate phase of Bootloader carries out verification, copy and control is transferred to operating system nucleus, the time span that each task phase takies is longer, therefore, carrying out Flash read-write, cyclic redundancy check (CRC) code (Cyclic Redundancy Check, CRC) verification, the task phase that circular wait equal travel time is grown increases feeds the operation of external hardware house dog.
Alternatively, described operating system is linux operating system; Described task phase is any one task phase in the operating system nucleus operation phase.
Alternatively, each task phase in the described operating system nucleus operation phase comprises: universal input/output (General Purpose Input Output, GPIO) kernel decompression phase, real-time clock (the Real-Time Clock before drive load success, RTC) drive load stage, the GPIO drive load stage, the Watchdog drive load stage before successful to house dog Watchdog drive load after the success of GPIO drive load, kernel loads root file system stage, initial phase after the success of Watchdog drive load.
In specific implementation process, due in the linux kernel operation phase, the time span that each task phase takies is grown (being generally greater than the watchdog reset time interval), and the embodiment of the present invention is carried out dog feeding operation in the different task stage of linux kernel operation; Particularly, first increase respectively and feed the operation of external hardware house dog in kernel gunzip, RTC drive load program, the GPIO drive load program operation phase of (SuSE) Linux OS kernel operation phase 1; Increase and feed the operation of external hardware house dog in the Watchdog of the linux kernel operation phase 2 drive load stage; Increase respectively and feed the operation of external hardware house dog in kernel loads root file system program, the init program phase in linux kernel stage 3; The division of above-mentioned kernel operation phase is the mark that is loaded as driving with GPIO and Watchdog, particularly, before GPIO drive load, it it is the kernel operation phase 1, after GPIO drive load, to Watchdog drive load, being the kernel operation phase 2, is the kernel operation phase 3 after Watchdog drive load.
After the normal startup of operating system, just can carry out dog feeding operation according to old process, but, in existing old process, just carry out dog feeding operation based on high-priority task, can safeguards system program can not run and fly on the whole like this, and for some low priority task, if break down, can not affect the dog feeding operation of system, like this, if low priority task occurs abnormal, system can not be found, also just can not carrying out resets the recovery operation such as restarts, but, there is can affecting extremely equally execution result in low priority task, existing method obviously likely can cause execution result mistake, affecting user experiences,
Based on this, the embodiment of the present invention also provides the following methods flow process of knowing clearly, to realize the operation conditions of taking into account the monitoring thread of high priority and the mission thread of other low priority;
Alternatively, described method also comprises:
After the normal operation of operating system, periodically carry out dog feeding operation by the Mission Monitor thread creating, and monitor the operation conditions of multiple mission threads;
After determining that by described Mission Monitor thread at least one mission thread breaks down, stop carrying out dog feeding operation, so that house dog produces reset signal.
In the embodiment of the present invention, the operation conditions of the multiple mission threads of Mission Monitor thread monitor by high priority, if the Mission Monitor thread of this high priority self breaks down, can stop carrying out dog feeding operation, thereby make house dog produce reset signal, cause that operating system restarts, if this Mission Monitor thread monitor breaks down to other mission thread, initiatively stop carrying out dog feeding operation, so that house dog produces reset signal, reboot operation system.
Alternatively, the operation conditions of the multiple mission threads of described monitoring, comprising:
Periodically detect the value of the counter arranging in each mission thread by described Mission Monitor thread; Wherein, each mission thread, the in the situation that of normal operation, adds 1 by the value of counter by setting-up time interval, and described setting-up time interval is less than described Mission Monitor thread detects the sense cycle of the value of the counter arranging in each mission thread;
If detect, the value of the counter in any one mission thread is 0, determines that fault has appearred in described any one mission thread; If detect, the value of the counter arranging in each mission thread is greater than 0, determines that each mission thread is all normal, meanwhile, and by the value zero clearing of the counter arranging in each mission thread.
In specific implementation process, in main thread, first create a Mission Monitor thread, its priority is higher than other threads, monitoring thread is in the case of the normal work of other monitored threads, feed dog according to setting cycle to house dog, dog feeding operation can drive by calling Watch-dog, if certain mission thread breaks down, monitoring thread just stops carrying out dog feeding operation, so that system autoboot, if self breaks down monitoring thread, can not carry out in time dog feeding operation, house dog also automatically resets and restarts.
As shown in Figure 3, after normal startup of operating system providing for the embodiment of the present invention, feed dog schematic flow sheet, particularly, first main thread starts monitoring thread, then starts successively N monitored thread, i.e. mission thread, one counter is set in each mission thread, first each mission thread is initialized as 0 to the counter arranging, and in each mission thread major cycle, counter is separately carried out and is added 1 operation; Monitoring thread starts house dog, feeds dog (the watchdog reset time interval is 1.6s) every 1s to house dog; Every M second (M>1), monitoring thread is tested to the counter in each mission thread, whether the value of N counter of inquiry is all greater than 0, if be all greater than 0, illustrate that each mission thread normally moves, monitoring thread continues to feed dog according to setting cycle to house dog, and by the value zero clearing of N counter; If inquiring the value of at least one counter is 0, determine that at least one mission thread corresponding to this at least one counter breaks down, at this moment, monitoring thread is no longer fed dog to house dog, restarts so that operating system resets; Adopt the embodiment of the present invention, not only can guarantee that whole system can not run and fly, the each task in can also guarantee system is normally moved.
Based on same inventive concept, hello the dog device based on embedded system that dog-feeding method a kind of and based on embedded system is corresponding is also provided in the embodiment of the present invention, because the principle that this device is dealt with problems is similar to the dog-feeding method of the embodiment of the present invention based on embedded system, therefore the enforcement of this device can be referring to the enforcement of method, repeats part and repeat no more.
As shown in Figure 4, be hello the dog apparatus structure schematic diagram based on embedded system that the embodiment of the present invention provides, comprising:
Alternatively, described operating system is linux operating system; Described task phase is any one task phase guiding in the subordinate phase that loads Bootloader.
Alternatively, each task phase in the subordinate phase of described Bootloader comprises: flash memory Flash read-write stage, cyclic redundancy check (CRC) code (Cyclic Redundancy Check, CRC) verification stage, circular wait stage.
Alternatively, described operating system is linux operating system; Described task phase is any one task phase in the operating system nucleus operation phase.
Alternatively, each task phase in the described operating system nucleus operation phase comprises: universal input/output (General Purpose Input Output, GPIO) kernel decompression phase, real-time clock (the Real-Time Clock before drive load success, RTC) drive load stage, the GPIO drive load stage, the Watchdog drive load stage before successful to house dog Watchdog drive load after the success of GPIO drive load, kernel loads root file system stage, initial phase after the success of Watchdog drive load.
Alternatively, described execution module 42 also for: after the normal operation of operating system, periodically carry out dog feeding operation by the Mission Monitor thread creating, and monitor the operation conditions of multiple mission threads; After determining that by described Mission Monitor thread at least one mission thread breaks down, stop carrying out dog feeding operation, so that house dog produces reset signal.
Alternatively, described execution module 42 is specifically for the value that periodically detects the counter arranging in each mission thread by described Mission Monitor thread; Wherein, each mission thread, the in the situation that of normal operation, adds 1 by the value of counter by setting-up time interval, and described setting-up time interval is less than described Mission Monitor thread detects the sense cycle of the value of the counter arranging in each mission thread; If detect, the value of the counter arranging at least one mission thread is 0, determines that fault has appearred in described at least one mission thread; If detect, the value of the counter arranging in each mission thread is greater than 0, determines that each mission thread is all normal, meanwhile, and by the value zero clearing of the counter arranging in each mission thread.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt complete hardware implementation example, completely implement software example or the form in conjunction with the embodiment of software and hardware aspect.And the present invention can adopt the form at one or more upper computer programs of implementing of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) that wherein include computer usable program code.
The present invention is with reference to describing according to process flow diagram and/or the block scheme of the method for the embodiment of the present invention, device (system) and computer program.Should understand can be by the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or the combination of square frame.Can provide these computer program instructions to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, the instruction that makes to carry out by the processor of computing machine or other programmable data processing device produces the device for realizing the function of specifying at flow process of process flow diagram or multiple flow process and/or square frame of block scheme or multiple square frame.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, the instruction that makes to be stored in this computer-readable memory produces the manufacture that comprises command device, and this command device is realized the function of specifying in flow process of process flow diagram or multiple flow process and/or square frame of block scheme or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make to carry out sequence of operations step to produce computer implemented processing on computing machine or other programmable devices, thereby the instruction of carrying out is provided for realizing the step of the function of specifying in flow process of process flow diagram or multiple flow process and/or square frame of block scheme or multiple square frame on computing machine or other programmable devices.
Although described the preferred embodiments of the present invention, once those skilled in the art obtain the basic creative concept of cicada, can make other change and amendment to these embodiment.So claims are intended to be interpreted as comprising preferred embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if these amendments of the present invention and within modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (14)
1. the dog-feeding method based on embedded system, is characterized in that, the method comprises:
In os starting process, monitor current task phase;
When the time span taking in current task phase is greater than hardware watchdog reset time interval, periodically carry out dog feeding operation; Wherein, the performance period of described dog feeding operation is less than the described watchdog reset time interval.
2. the method for claim 1, is characterized in that, described operating system is linux operating system; Described task phase is any one task phase guiding in the subordinate phase that loads Bootloader.
3. method as claimed in claim 2, is characterized in that, each task phase in the subordinate phase of described Bootloader comprises: flash memory Flash read-write stage, cyclic redundancy check (CRC) code CRC check stage, circular wait stage.
4. the method for claim 1, is characterized in that, described operating system is linux operating system; Described task phase is any one task phase in the operating system nucleus operation phase.
5. method as claimed in claim 4, it is characterized in that, each task phase in the described operating system nucleus operation phase comprises: kernel decompression phase, real-time clock RTC drive load stage, GPIO drive load stage before the success of universal input/output GPIO drive load, the Watchdog drive load stage before successful to house dog Watchdog drive load after the success of GPIO drive load, kernel loads root file system stage, initial phase after the success of Watchdog drive load.
6. the method for claim 1, is characterized in that, described method also comprises:
After the normal operation of operating system, periodically carry out dog feeding operation by the Mission Monitor thread creating, and monitor the operation conditions of multiple mission threads;
After determining that by described Mission Monitor thread at least one mission thread breaks down, stop carrying out dog feeding operation, so that house dog produces reset signal.
7. method as claimed in claim 6, is characterized in that, the operation conditions of the multiple mission threads of described monitoring, comprising:
Periodically detect the value of the counter arranging in each mission thread by described Mission Monitor thread; Wherein, each mission thread, the in the situation that of normal operation, adds 1 by the value of counter by setting-up time interval, and described setting-up time interval is less than described Mission Monitor thread detects the sense cycle of the value of the counter arranging in each mission thread;
If detect, the value of the counter arranging at least one mission thread is 0, determines that fault has appearred in described at least one mission thread; If detect, the value of the counter arranging in each mission thread is greater than 0, determines that each mission thread is all normal, meanwhile, and by the value zero clearing of the counter arranging in each mission thread.
8. hello the dog device based on embedded system, is characterized in that, this device comprises:
Monitoring module, in os starting process, monitors current task phase;
Execution module, while being greater than hardware watchdog reset time interval, periodically carries out dog feeding operation for the time span taking in current task phase; Wherein, the performance period of described dog feeding operation is less than the described watchdog reset time interval.
9. device as claimed in claim 8, is characterized in that, described operating system is linux operating system; Described task phase is any one task phase guiding in the subordinate phase that loads Bootloader.
10. device as claimed in claim 9, is characterized in that, each task phase in the subordinate phase of described Bootloader comprises: flash memory Flash read-write stage, cyclic redundancy check (CRC) code CRC check stage, circular wait stage.
11. devices as claimed in claim 8, is characterized in that, described operating system is linux operating system; Described task phase is any one task phase in the operating system nucleus operation phase.
12. devices as claimed in claim 11, it is characterized in that, each task phase in the described operating system nucleus operation phase comprises: kernel decompression phase, real-time clock RTC drive load stage, GPIO drive load stage before the success of universal input/output GPIO drive load, the Watchdog drive load stage before successful to house dog Watchdog drive load after the success of GPIO drive load, kernel loads root file system stage, initial phase after the success of Watchdog drive load.
13. devices as claimed in claim 8, is characterized in that, described execution module also for: after the normal operation of operating system, periodically carry out dog feeding operation by the Mission Monitor thread creating, and monitor the operation conditions of multiple mission threads; After determining that by described Mission Monitor thread at least one mission thread breaks down, stop carrying out dog feeding operation, so that house dog produces reset signal.
14. devices as claimed in claim 13, is characterized in that, described execution module is specifically for the value that periodically detects the counter arranging in each mission thread by described Mission Monitor thread; Wherein, each mission thread, the in the situation that of normal operation, adds 1 by the value of counter by setting-up time interval, and described setting-up time interval is less than described Mission Monitor thread detects the sense cycle of the value of the counter arranging in each mission thread; If detect, the value of the counter arranging at least one mission thread is 0, determines that fault has appearred in described at least one mission thread; If detect, the value of the counter arranging in each mission thread is greater than 0, determines that each mission thread is all normal, meanwhile, and by the value zero clearing of the counter arranging in each mission thread.
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2014
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