CN108304257A - Hard real time hybrid tasks scheduling method based on Delay Service device - Google Patents

Hard real time hybrid tasks scheduling method based on Delay Service device Download PDF

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Publication number
CN108304257A
CN108304257A CN201810134199.5A CN201810134199A CN108304257A CN 108304257 A CN108304257 A CN 108304257A CN 201810134199 A CN201810134199 A CN 201810134199A CN 108304257 A CN108304257 A CN 108304257A
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task
service device
delay service
time
periodic duty
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殷进勇
杨阳
沈浩
杨智
张鹏
徐振朋
王伟强
曾玮妮
孙忠义
张望远
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716th Research Institute of CSIC
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/48—Program initiating; Program switching, e.g. by interrupt
    • G06F9/4806—Task transfer initiation or dispatching
    • G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
    • G06F9/485—Task life-cycle, e.g. stopping, restarting, resuming execution
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
    • G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
    • G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals

Abstract

The hard real time hybrid tasks scheduling method based on Delay Service device that the invention discloses a kind of, specifically includes following steps：(1) judge the schedulability of periodic duty；(2) Delay Service device number and maximum execution time are determined；(3) according to DM algorithmic dispatchings periodic duty and Delay Service device；(4) if the task that step (3) is chosen is Delay Service device and there are ready aperiodic tasks, aperiodic task is dispatched on Delay Service device；(5) if the task that step (3) is chosen is periodic duty, periodic duty is executed；(6) if ready aperiodic task is not present in step (4), execution periodic duty is dispatched.This method reserves certain execution time under the premise of ensureing periodic duty schedulable for aperiodic task, can ensure that the aperiodic task of each periodic duty and reception can meet its deadline.

Description

Hard real time hybrid tasks scheduling method based on Delay Service device
Technical field
The present invention relates to a kind of real-time task scheduling method, especially a kind of hard real time mixing based on Delay Service device is appointed Business dispatching method.
Background technology
It is deposited in the periodic duty of hard real time in some key real-time domains, and there are the aperiodic tasks of hard real time, such as What and aperiodic mixing hard real-time task are a urgent problems dispatching cycle.
The algorithm of current mixed scheduling period/aperiodic real-time task mainly has DS (deferrable server) algorithm (《The deferrable server algorithm for enhanced aperiodic responsiveness in hard real-time environments》), RB (Reservation-Based) algorithm (《A reservation-based algorithm for scheduling both periodic and aperiodic real-time tasks》), SSA calculate Method (Slack Stealing Algorithm) algorithm (《An optimal algorithm for scheduling soft aperiodic tasks in fixed priority preemptive systems》) and its their extended version.DS is calculated The periodic duty server of a high priority is arranged in system for method, and aperiodic task is dispatched within the time of server reserves, The response time of aperiodic task is reduced while meeting real-time periodic tasks；The design philosophy of RB algorithms and DS algorithm phases Seemingly, when reserving certain processing in each unit period (greatest common divisors in all periodic duty periods) for aperiodic task Between, unit period corresponds to the server period of DS algorithms, reduces the miss rate of aperiodic real-time task deadline；And SSA The algorithm off-line calculation periodic duty unappropriated time, aperiodic task is dispatched on the unappropriated time, needs record all Vacant timeslice in the least common multiple time in periodic duty period, wastes a large amount of memory space.
From the foregoing, it will be observed that existing DS algorithms, RB algorithms and SSA algorithms be only capable of scheduling real-time periodic tasks and it is non real-time or Soft real-time aperiodic task.
Invention content
The hard real time hybrid tasks scheduling method based on Delay Service device that the purpose of the present invention is to provide a kind of.
Realize that the technical solution of the object of the invention is：A kind of hard real time hybrid tasks scheduling side based on Delay Service device Method includes the following steps：
Step 1, the schedulability that periodic duty is judged according to the load of periodic duty, if schedulable thens follow the steps 2, Otherwise end operation；It is according to formula used in the schedulability of the load judgement periodic duty of periodic duty：
Wherein q is the processor core calculation that periodic duty needs, if q is more than system processor core number m, the period appoints Business non-scheduling, otherwise, periodic duty schedulable；N indicates periodic duty number；βiExpression task TiTo task TkLoad, βi It calculates as follows：
Wherein λ=Ck/Pk；Work as i<When k, δi=Ci, as i=k, δi=Di；Ci、Di、PiAnd Ck、Dk、PkIt indicates to appoint respectively Be engaged in TiWith task TkThe execution time, opposite deadline and period.
Step 2 determines Delay Service device number, under the premise of not influencing periodic duty schedulable, determines each delay Server maximum execution time；
The Delay Service device number h=m, m are processor core calculation, the execution time and period of each Delay Service device It is identical with other servers to beWithIt indicates respectively Delay Service device SiAnd SjThe execution time, the period；
Determine that the formula of each Delay Service device maximum execution time is：
Wherein,Indicate server SiThe execution time；Indicate server SiPeriod；DkExpression task TkIt is opposite Deadline；For Delay Service device SiTo task TkLoad,Computational methods are as follows：
Wherein, m indicates processor core calculation, CkAnd DkTask T is indicated respectivelykThe execution time and opposite deadline；βj Expression task TjTo task TkLoad.
Step 3, using DM dispatching algorithm tasks dispatching cycle and Delay Service device；
Whether the task that step 4, determination step 3 are chosen is Delay Service device, if Delay Service device, thens follow the steps 5, Otherwise periodic duty is executed, later return to step 3；
Step 5 judges whether ready aperiodic task, if there are ready aperiodic task, is taken in delay It is engaged in dispatching execution aperiodic task on device, return to step 3, no to then follow the steps 6 later；Scheduling executes non-on Delay Service device Periodic duty specifically includes following steps：
Step 5-1, the release time of aperiodic task, aperiodic task J are determinedkIn Delay Service device SiIn j-th of period Release time calculation formula it is as follows：
Wherein,Indicate server SiThe remaining execution time within j-th of period；Indicate server SiPeriod； dkIndicate aperiodic task JkThe absolute cutoff time limit；
Step 5-2, judge new arrival aperiodic task JkSchedulability, formula used is：
Wherein, SUiIndicate Delay Service device SiComprehensive utilization ratio,Before S (t) is indicated in the busy phase All aperiodic tasks that deadline has not expired；
Step 5-3, the Delay Service device residue execution time is handled, specific method is：In scheduling aperiodic task When, if the execution temporal summation of ready aperiodic task is more than the remaining of Delay Service device and executes the time, create delay clothes The business device time exhausts event, the triggered time be add at current time it is remaining execute the time, otherwise slow server residue executes the time and subtracts Aperiodic task is gone to execute temporal summation；
Step 5-4, using the aperiodic task on each Delay Service device of EDF algorithmic dispatchings.
Step 6 judges whether ready periodic duty, if there are ready periodic duty, uses DM algorithm tune Degree executes periodic duty, later return to step 3, otherwise direct return to step 3.
Compared with prior art, remarkable advantage of the invention is：(1) method of the invention can dispatch hard real time mixing and appoint Business ensures the deadline for meeting all period real-time tasks and the aperiodic real-time task of reception；(2) aperiodic task is adjustable It is low to spend sex determination method time complexity, time complexity is O (1)；(3) Delay Service is arranged in each processor core Device improves the concurrency of aperiodic task execution.
Description of the drawings
Fig. 1 is period/aperiodic mixed real-time application scheduling flow figure.
Fig. 2 is Delay Service device schematic diagram.
Fig. 3 is improved EDF algorithmic dispatchings result figure, wherein figure (a) is scheduling result figure, figure (b) is Delay Service device Residue executes time diagram.
Fig. 4 is period aperiodic task ready queue figure, wherein figure (a) is the ready sequence chart of periodic duty, figure (b) is non- The ready sequence chart of periodic duty.
Specific implementation mode
In real-time system, periodic duty is predetermined, and aperiodic task reaches at random, the dispatching method Under the premise of ensureing periodic duty schedulable, CPU processing times are reserved for aperiodic task to the maximum extent, what is reserved Scheduling executes aperiodic task on CPU processing times.
The present invention provides a kind of dispatching method of hard real time hybrid task, scheduling flow as shown in Figure 1, this method first from Line judges periodic duty schedulability, the number of Delay Service device is arranged and the execution time of computing relay server, secondly exists Line scheduling executes periodic duty and Delay Service device, and aperiodic real-time task is dispatched on Delay Service device, and specific steps are retouched It states as follows：
1. judging the schedulability of periodic duty
Assuming that there is n periodic duty in system, periodic duty being ranked sequentially from small to large by the period, with T={ T1, T2..., TnIndicate；Each periodic duty Ti3 tuple { C of ∈ Ti, Di, PiIndicate, wherein CiExpression task TiThe execution time； DiExpression task TiThe opposite off period；PiIndicate TiPeriod.Periodic duty collection T meets with lower inequality, then task-set T can Scheduling：
Wherein m is processor core calculation；βiExpression task TiTo task TkLoad, βiIt calculates as follows：
Wherein λ=Ck/Pk, work as i<When k, δi=Ci, as i=k, δi=Di。
2. the number of Delay Service device is arranged and calculates the execution time of each Delay Service device
Delay Service device is one group of specific highest priority periodic duty, with S={ S1, S3..., ShIndicate h delay Server, each server Si2 tuples of ∈ SIt indicates, whereinWithServer S is indicated respectivelyiExecution when Between and the period；As long as the execution time of Delay Service device does not exhaust, residue executes any moment that the time can be within this period It executes, as shown in Figure 2.
In order to improve the concurrency of aperiodic task execution, which is arranged h=m Delay Service device, Mei Geyan The execution time and period of slow server are identical with other servers i.e.
The maximum execution time of Delay Service deviceComputational methods it is as follows：
Wherein,Indicate server SiPeriod；DkExpression task TkOpposite deadline；For Delay Service device Si To task TkLoad,Computational methods are as follows：
3. task dispatching cycle and Delay Service device
Using DM dispatching algorithm tasks dispatching cycle and Delay Service device, if being dispatched to for task is Delay Service device When, then use the aperiodic task on improved EDF algorithmic dispatchings server.
4. dispatching aperiodic task on Delay Service device
With J={ J1, J2... aperiodic task present in expression system, each aperiodic task Ji4 tuples of ∈ J {Ai, Ci, Di, diIndicate, wherein Ai, Ci, DiAnd diAperiodic task J is indicated respectivelyiArrival time, execute the time, be opposite Deadline and absolute cutoff time limit.
4.1 work as aperiodic task JkWhen arrival, the Delay Service device that can receive this task is searched, condition of acceptance is：
Wherein, SUiIndicate Delay Service device SiComprehensive utilization ratio,Before S (t) is indicated in the busy phase All aperiodic tasks that deadline has not expired.
If 4.2 server SsiAperiodic task J can be receivedk, then task JkIt is inserted into the aperiodic task etc. of book server It waits for sequence and changes comprehensive utilization ratio and aperiodic task collection S (t)：
SUi=SUi+Ck/Dk；
S (t)=S (t) ∪ { Jk}；
4.3 dispatch aperiodic task using improved EDF algorithms on each Delay Service device, improved EDF algorithms with Standard EDF algorithms are distinguished as：Under the premise of ensureing that aperiodic task meets deadline, postpones aperiodic task as possible and exist Release time in Delay Service device each period, to receive the aperiodic task of higher priority, scheduling schematic diagram such as Fig. 3 It is shown.Now with Delay Service device SiFor illustrate aperiodic task scheduling steps.
4.3.1 determining aperiodic task JkIn server SiJ-th of period in release time, computational methods are as follows：
WhereinFor server SiThe remaining execution time within j-th of period.
4.3.2 if the task of arrival JkRelease time, then task JkIt is transferred to non-week from aperiodic task waiting list Phase task ready queue.
4.3.3 if aperiodic task ready queue is not empty, the aperiodic task of absolute cutoff time limit minimum is executed；It is no It then dispatches and executes periodic duty and corresponding processing is done to comprehensive utilization ratio and set S (t)：
SUi=0；
S (t)=φ；
4.4 in aperiodic task JkAbsolute cutoff time limit dkMoment does corresponding place to comprehensive utilization ratio and set S (t) Reason：
SUi=SUi-Ck/Dk；
S (t)=S (t)-{ Jk}；
The method of the present invention can dispatch hard real time hybrid task, ensure to meet the non-of all period real-time tasks and reception The deadline of period real-time task.
With reference to embodiment, present invention is further described in detail.
Embodiment
A kind of period based on Delay Service device/aperiodic mixed real-time application dispatching method of the present invention be divided into it is static and Dynamic two parts：The judgement of static part execution cycle task schedulability, the number of setting Delay Service device and calculating are each prolonged The execution time of slow server, implement offline before system operation, result of calculation no longer changes in system operation；Dynamic part The scheduling of execution cycle task and Delay Service device and the aperiodic task scheduling on each Delay Service device.Specific implementation Include the following steps：
1. judging the schedulability of periodic duty
Wherein q is the processor core calculation that periodic duty needs, if q is more than processor core calculation m, periodic duty is not Schedulable；βiExpression task TiTo task TkLoad, βiIt calculates as follows：
Wherein λ=Ck/Pk, work as i<When k, δi=Ci, as i=k, δi=Di。
2. Delay Service device number is arranged and calculates the execution time of each Delay Service device
To improve the concurrency of aperiodic task, h=m Delay Service device is set, when the execution of each Delay Service device Between and the period it is identical with other servers i.e.
The maximum execution time of Delay Service deviceComputational methods it is as follows：
Wherein,Indicate server SiPeriod；DkExpression task TkOpposite deadline；For Delay Service device Si To task TkLoad,Computational methods are as follows：
3. task dispatching cycle and Delay Service device
System be arranged a cycle task ready queue PRdyQueue, a cycle task run queue PRunQueue and A cycle task waiting list PWaitQueue is respectively used to preserve ready periodic duty, the periodic duty of operation and resistance The periodic duty of plug.Task in periodic duty ready queue PRdyQueue and periodic duty operation queue PRunQueue according to Duty cycle being ranked sequentially from small to large.
Each Delay Service device SiThere are one aperiodic task ready queue APRdyQueuei, an aperiodic task operation Queue APRunQueuei, an aperiodic task waiting list APWaitQueueiWith a variable SUi, delay clothes are preserved respectively Be engaged in device SiUpper ready aperiodic task, the aperiodic task of operation, the aperiodic task of obstruction and aperiodic task synthesis profit With rate.
Period and aperiodic task ready queue schematic diagram are as shown in figure 4, other queues are omitted.
Periodic duty, Delay Service device and aperiodic task are scheduled using event driven mode, are arranged in system One event queue EventQueue, according to triggered time being ranked sequentially from small to large.One timer is set, for triggering Event in event queue EventQueue.
One 4 tuple Event of each eventi={ IDi, Typei, RTimei, TaskIDiIndicate, wherein IDi, Typei And RTimeiEvent Event is indicated respectivelyiMark, type, triggered time and corresponding mission number.
The type of event includes exhausting the ready event of periodic duty, the ready event of Delay Service device, Delay Service device time The ready event of event, aperiodic task and aperiodic task deadline event.Per one kind event, all there are one event handling letters Number calls event handling function to handle such event in event triggering moment.
It includes the ready event handling letter of periodic duty to dispatch relevant event handling function with periodic duty, Delay Service device Number and the ready event handling function of Delay Service device.
The ready event Event of periodic dutyiProcessing function called when periodic duty is ready, major function is：(1) Number is TaskIDiPeriodic duty be inserted into periodic duty ready queue PRdyQueue, from time queue EventQueue Middle deletion event Eventi；(2) a new events Event is createdjIt is inserted into time queue EventQueue, event Eventj's Type be the ready event of periodic duty, the triggered time be the task next cycle at the beginning of carve；(3) start periodic duty tune Spend function.
The ready event Event of Delay Service deviceiProcessing function called when Delay Service device is ready, major function is： (1) it is TaskID numberiDelay Service device is inserted into periodic duty ready queue PRdyQueue, from time queue Deletion event Event in EventQueuei；(2) a new events Event is createdjIt is inserted into time queue EventQueue, thing Part EventjType be the ready event of Delay Service device, the triggered time be the Delay Service device next cycle at the beginning of It carves；(3) complementary delay server SiRemaining execute the timeFor(4) aperiodic task waiting list is determined APWaitQueueiIn each aperiodic task JkIn server SiJ-th of period in release time and create with each it is non- The corresponding new events Event of periodic dutyjIt is inserted into time queue EventQueue, event EventjType aperiodic task Ready event, triggered time are aperiodic task JkRelease time, aperiodic task JkRelease time computational methods it is as follows：
WhereinFor server SiThe remaining execution time within j-th of period；(5) start period task scheduling function.
Period task scheduling function interrupt processing from kernel state be switched to the User space moment, the periodic duty ready moment, One job execution of periodic duty finishes the moment, the Delay Service device time exhausts moment and periodic duty for some reason It is called at the time of blocked, period task scheduling function is described as follows：(1) if the length of PRunQueue is less than m, Directly PRdyQueue teams head is inserted into PRunQueue, is executed in idle processor core；(2) compare successively The priority of PRdyQueue teams head and PRunQueue tail of the queue tasks, if the priority of PRdyQueue teams head task is less than The priority of PRunQueue tail of the queue tasks, then terminate this comparison procedure；Otherwise by PRdyQueue teams head task from PRdyQueue is deleted and is inserted into PRunQueue, by PRunQueue tails of the queue task from PRunQueue is deleted and is inserted into In PRdyQueue, and exchange the context of two tasks.
4. dispatching aperiodic task on Delay Service device
With aperiodic task dispatch relevant event handling function include exhaust the Delay Service device time event handling function, The ready event handling function of aperiodic task and aperiodic task deadline event handling function.
The Delay Service device time exhausts event EventiProcessing function be consumed nearly in the execution time of Delay Service device It is called when to the greatest extent, major function is：(1) event is deleted from event queue EventQueue；(2) currently performed non-week is terminated Phase task and the task from aperiodic task operation queue APRunQueueiIt is transferred to aperiodic task waiting list APWaitQueueiIn；(3) aperiodic task ready queue APRdyQueueiIn all aperiodic tasks be transferred to non-week Phase task waiting list APWaitQueueiIn；(4) it is TaskID numberiDelay Service device deleted from PRunQueue, Start period task scheduling function.
The ready event Event of aperiodic taskiProcessing function called at aperiodic task ready moment, major function For：(1) it is TaskID mission numberiAperiodic task from aperiodic task waiting list APWaitQueueiIt is transferred to non- Periodic duty ready queue APRdyQueueiIn；(2) event is deleted from event queue EventQueue；(3) non-week is dispatched Phase task scheduling function.
Aperiodic task deadline event handling function calls at the moment in aperiodic task absolute cutoff time limit, main work( Can be modification comprehensive utilization ratio and aperiodic task collection S (t)：
SUi=SUi-Ck/Dk；
S (t)=S (t)-{ Jk}；
Aperiodic task scheduling function interrupt processing from kernel state be switched to User space moment, Delay Service device it is ready when It carves, aperiodic task ready moment, aperiodic task are finished the moment and aperiodic task is hindered for some reason It is called at the time of plug, aperiodic task scheduling function is described as follows：(1) it if aperiodic task ready queue is sky, weighs Set aperiodic task set S (t)=φ and comprehensive utilization ratio SUi=0；(2) when all ready aperiodic tasks of calculating execute Between summation, execute the time if executing temporal summation and being more than the remaining of Delay Service device, creating the Delay Service device time exhausts Event, the triggered time be current time add it is remaining execute the time, otherwise slow server residue executes the time and subtracts aperiodic task Execute temporal summation；(3) the highest aperiodic task of execution priority；
As aperiodic task JkWhen arrival, judge that the schedulability of aperiodic task, decision condition are：
Wherein, SUiIndicate Delay Service device SiComprehensive utilization ratio,Before S (t) is indicated in the busy phase All aperiodic tasks that deadline has not expired.If server SiReceive aperiodic task Jk, then task JkIt is inserted into this The aperiodic task waiting list APWaitQueue of serveriIn, change comprehensive utilization ratio and aperiodic task collection S (t)：
SUi=SUi+Ck/Dk；
S (t)=S (t) ∪ { Jk}；
An aperiodic task deadline event is created, the triggered time is task JkAbsolute cutoff time limit dk, it is inserted into In event queue EventQueue.
From the foregoing, it will be observed that the method for the present invention can dispatch hard real time hybrid task, guarantee meets all period real-time tasks With the deadline of the aperiodic real-time task of reception, aperiodic task schedulability determination method time complexity is low, the time Complexity is O (1), and aperiodic task can in the heart be executed in each processor core, improves the concurrency of aperiodic task execution.

Claims (4)

1. a kind of hard real time hybrid tasks scheduling method based on Delay Service device, which is characterized in that include the following steps：
Step 1, the schedulability that periodic duty is judged according to the load of periodic duty, if schedulable thens follow the steps 2, otherwise End operation；
Step 2 determines Delay Service device number, under the premise of not influencing periodic duty schedulable, determines each Delay Service Device maximum execution time；
Step 3, using DM dispatching algorithm tasks dispatching cycle and Delay Service device；
Whether the task that step 4, determination step 3 are chosen is Delay Service device, if Delay Service device, thens follow the steps 5, otherwise Periodic duty is executed, later return to step 3；
Step 5 judges whether ready aperiodic task, if there are ready aperiodic task, in Delay Service device Upper scheduling executes aperiodic task, and return to step 3, no to then follow the steps 6 later；
Step 6 judges whether ready periodic duty, if there are ready periodic duty, is held using DM algorithmic dispatchings Row periodic duty, later return to step 3, otherwise direct return to step 3.
2. the hard real time hybrid tasks scheduling method according to claim 1 based on Delay Service device, which is characterized in that step When in rapid 1 according to the schedulability of the load judgement periodic duty of periodic duty, formula used is：
Wherein q is the processor core calculation that periodic duty needs, if q is more than system processor core number m, periodic duty is not Schedulable, otherwise, periodic duty schedulable；N indicates periodic duty number；βiExpression task TiTo task TkLoad, βiIt calculates It is as follows：
Wherein λ=Ck/Pk；Work as i<When k, δi=Ci, as i=k, δi=Di；Ci、Di、PiAnd Ck、Dk、PkTask T is indicated respectivelyiWith Task TkThe execution time, opposite deadline and period.
3. the hard real time hybrid tasks scheduling method according to claim 1 based on Delay Service device, which is characterized in that step Rapid 2 determination Delay Service device number determines that each Delay Service device maximum is held under the premise of not influencing periodic duty schedulable The row time, specially：
The Delay Service device number h=m, m be processor core calculation, the execution time and period of each Delay Service device and its The identical i.e. C of his serveri s=Cj s, Pi s=Pj s(1≤i≤m, i ≠ j), Ci s、Cj sAnd Pi s、Pj s；Delay clothes are indicated respectively Be engaged in device SiAnd SjThe execution time, the period；
Determine that the formula of each Delay Service device maximum execution time is：
Wherein, Ci sIndicate server SiThe execution time；Pi sIndicate server SiPeriod；DkExpression task TkOpposite cut-off Time limit；βi sFor Delay Service device SiTo task TkLoad, βi sComputational methods are as follows：
Wherein, m indicates processor core calculation, CkAnd DkTask T is indicated respectivelykThe execution time and opposite deadline；βjIt indicates Task TjTo task TkLoad.
4. the hard real time hybrid tasks scheduling method according to claim 1 based on Delay Service device, which is characterized in that step Rapid 5 dispatch execution aperiodic task on Delay Service device, specifically include following steps：
Step 5-1, the release time of aperiodic task, aperiodic task J are determinedkIn Delay Service device SiReleasing in j-th of period It is as follows to put time calculation formula：
Wherein, Ci resIndicate server SiThe remaining execution time within j-th of period；Pi sIndicate server SiPeriod；dkTable Show aperiodic task JkThe absolute cutoff time limit；
Step 5-2, judge new arrival aperiodic task JkSchedulability, formula used is：
SUi+Ck/Dk≤Ci s/Pi s, (1≤i≤m)
Wherein, SUiIndicate Delay Service device SiComprehensive utilization ratio,Cut-off in the busy phase before S (t) is indicated All aperiodic tasks that time limit has not expired；
Step 5-3, the Delay Service device residue execution time is handled, specific method is：When dispatching aperiodic task, such as The execution temporal summation of the ready aperiodic task of fruit is more than the remaining of Delay Service device and executes the time, then when creating Delay Service device Between exhaust event, the triggered time be add at current time it is remaining execute the time, otherwise slow server residue executes the time and subtracts non-week Phase task execution time summation；
Step 5-4, using the aperiodic task on each Delay Service device of EDF algorithmic dispatchings.
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