CN111416780A - Real-time priority ceiling optimization method, system, medium and terminal - Google Patents
Real-time priority ceiling optimization method, system, medium and terminal Download PDFInfo
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- CN111416780A CN111416780A CN202010161250.9A CN202010161250A CN111416780A CN 111416780 A CN111416780 A CN 111416780A CN 202010161250 A CN202010161250 A CN 202010161250A CN 111416780 A CN111416780 A CN 111416780A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/70—Admission control; Resource allocation
- H04L47/80—Actions related to the user profile or the type of traffic
- H04L47/805—QOS or priority aware
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/24—Traffic characterised by specific attributes, e.g. priority or QoS
- H04L47/2425—Traffic characterised by specific attributes, e.g. priority or QoS for supporting services specification, e.g. SLA
- H04L47/2433—Allocation of priorities to traffic types
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/24—Traffic characterised by specific attributes, e.g. priority or QoS
- H04L47/245—Traffic characterised by specific attributes, e.g. priority or QoS using preemption
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/26—Special purpose or proprietary protocols or architectures
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Abstract
The invention provides a real-time priority ceiling optimization method, a real-time priority ceiling optimization system, a real-time priority ceiling optimization medium and a real-time priority ceiling optimization terminal. The method comprises the following steps: defining a task set, wherein the task set comprises all tasks T3, T1, T0 and T2 which need to use the same type of resources; setting the priority upper limit of the resources for the commonly used similar resources; when the task T3 occupies one resource S1 in the same kind of resources, the priority of the task T3 is raised to the priority of the resource S1; when the task T3 occupies a resource S1, the static priority is higher than that of the task T3, and when the task T1 is activated, the task T1 empowers the task execution right; when the task T3 is preempted by the task T1, the task T3 releases the resource S1, and when the task T3 actively releases the resource S1, and when the task T1 releases the execution right, the use right of the resource of the task T3 is recovered; when the task T3 actively releases the resource S1, the priority of the task T3 is restored to the static priority of the task, and the problems in the background art can be effectively solved.
Description
Technical Field
The invention belongs to the technical field of automobile systems, and particularly relates to a real-time priority ceiling optimization method, a real-time priority ceiling optimization system, a real-time priority ceiling optimization medium and a real-time priority ceiling optimization terminal.
Background
The german automotive industry specified an open system specification OSEK/VDX for the automotive electronics industry, which provides the automotive electronics industry with a unified embedded network interface and standard. The OSEK operating system mainly comprises the following functions: task management, resource management, event management, alarms, and the like.
In the OSEK operating system, in order to avoid the phenomenon of priority reversal when a certain task occupies resources, the system introduces a priority ceiling protocol to solve such problems.
The phenomenon of priority reversal means that a high-priority task is over-occupied by a low-priority task due to the fact that required resources are not occupied by the low-priority task.
In order to solve the above priority reversal problem, the OSEK operating system introduced the OSEK ceiling protocol, however, the OSEK priority ceiling protocol has the following disadvantages;
tasks with higher static priority are delayed until tasks with lower static priority release resources before execution, resulting in some tasks with higher real-time performance being delayed by the priority ceiling protocol.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention is directed to a real-time priority ceiling optimization method, system, medium and terminal, which is used to solve the problem in the prior art that tasks with high priorities are delayed to be scheduled due to changing task priorities in the OSEK priority ceiling protocol.
To achieve the above and other related objects, the present invention provides a method for optimizing a priority ceiling in real time, comprising the steps of:
step S100, defining a task set, wherein the task set comprises all tasks T3, T1, T0 and T2 which need to use the same type of resources, and the priorities of the tasks are the tasks T3, T2, T1 and T0 according to the small-to-large sequence;
step S200, setting the upper limit of the priority of the resources for the same kind of resources commonly used in the step S100, wherein the upper limit of the priority is greater than or equal to the maximum priority of any task in the task set;
step S300, when a task T3 occupies one resource S1 in the same kind of resources, the priority of the task T3 is raised to the priority of the resource S1;
step S400, when the task T3 occupies a resource S1, the static priority is higher than that of the task T3, and when the task T1 is activated, the task T1 empowers the task execution right;
step S500, when the task T3 is preempted by the task T1, the task T3 releases the resource S1;
step S600, when the task T3 actively releases the resource S1, and when the task T1 releases the execution right, the use right of the resource of the task T3 is restored;
and S700, when the task T3 actively releases the resource S1, restoring the priority of the task T3 to the static priority of the task.
In an embodiment of the present invention, the specific process of step S400 includes:
when a task T3 occupies a resource S1, the static priority is higher than the upper limit of the priority, and a task T0 which does not need the same kind of resource is activated, the task T0 empowers the task execution;
when the task T3 occupies a resource S1, it appears that the static priority is higher than the task T3, and a task T1 requiring the same kind of resource is activated, the task T1 empowers the task execution.
In an embodiment of the present invention, in the step S400, after the task T1 or T0 occupies the task execution right and completes the execution, the task T3 has a higher priority than the task T2 due to occupying the resource S1, and the task T3 obtains the task execution right.
In an embodiment of the invention, after the task T3 is finished, the task T2 obtains task execution right.
In one embodiment of the present invention, the task T1 is executed after the execution of the task T0 is completed.
The present invention provides a system comprising:
the defining module is used for defining a task set, the task set comprises all tasks T3, T1, T0 and T2 which need to use the same type of resources, and the priorities of the tasks T3, T2, T1 and T0 are sorted according to the small-to-large order;
the setting module is used for setting the upper priority limit of resources for the same kind of resources commonly used in the definition module, and the upper priority limit is greater than or equal to the maximum priority of any task in the task set;
a promotion module to promote a priority of task T3 to a priority of resource S1 when task T3 occupies one of the homogeneous resources S1;
a preemption module for, when the task T3 occupies a resource S1, a static priority higher than the task T3 occurs, and when the activated task T1, the task T1 empowers the task execution;
a release module, configured to release the resource S1 by the task T3 after the task T3 is preempted by the task T1;
a recovery module, configured to recover, after the task T3 actively releases the resource S1 and after the task T1 releases the execution right, the usage right of the resource of the task T3;
a restoration module, configured to restore the priority of the task T3 to the static priority of the task when the task T3 actively releases the resource S1.
The present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described method of real-time priority ceiling optimization.
The present invention provides a terminal, including: a processor and a memory; the memory is used for storing a computer program; the processor is configured to execute the computer program stored in the memory to cause the terminal to perform the above-described real-time priority ceiling optimization method.
As described above, the complete name of the invention has the following beneficial effects:
in the technical scheme of the invention, when the task with the priority higher than that of the current running task occurs, the high-priority task can be scheduled and executed in time, thereby enhancing the feasibility of the application of the embedded operating system based on the OSEK OS, improving the real-time property, reliability and stability of the system, and the scheme is simple and easy to implement and reduces the workload of developers.
Drawings
FIG. 1 is a diagram illustrating a priority inversion phenomenon in the prior art.
Fig. 2 shows a schematic diagram of the OSEK ceiling protocol in the prior art of the present invention.
FIG. 3 is a schematic diagram of the priority ceiling optimization method of the present invention;
FIG. 4 is a schematic flow chart of the real-time priority ceiling optimization method of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
As shown in fig. 4, the present invention provides a real-time priority ceiling optimization method, comprising the following steps:
step S100, defining a task set, wherein the task set comprises all tasks T3, T1, T0 and T2 which need to use the same type of resources, and the priorities of the tasks are the tasks T3, T2, T1 and T0 according to the small-to-large sequence;
step S200, setting the upper limit of the priority of the resources for the same kind of resources commonly used in the step S100, wherein the upper limit of the priority is greater than or equal to the maximum priority of any task in the task set;
step S300, when a task T3 occupies one resource S1 in the same kind of resources, the priority of the task T3 is raised to the priority of the resource S1;
step S400, when the task T3 occupies a resource S1, the static priority is higher than that of the task T3, and when the task T1 is activated, the task T1 empowers the task execution right;
step S500, when the task T3 is preempted by the task T1, the task T3 releases the resource S1;
step S600, when the task T3 actively releases the resource S1, and when the task T1 releases the execution right, the use right of the resource of the task T3 is restored;
and S700, when the task T3 actively releases the resource S1, restoring the priority of the task T3 to the static priority of the task.
In an embodiment of the present invention, the specific process of step S400 includes:
when a task T3 occupies a resource S1, the static priority is higher than the upper limit of the priority, and a task T0 which does not need the same kind of resource is activated, the task T0 empowers the task execution;
when the task T3 occupies a resource S1, it appears that the static priority is higher than the task T3, and a task T1 requiring the same kind of resource is activated, the task T1 empowers the task execution.
In an embodiment of the present invention, in the step S400, after the task T1 or T0 occupies the task execution right and completes the execution, the task T3 has a higher priority than the task T2 due to occupying the resource S1, and the task T3 obtains the task execution right.
In an embodiment of the invention, after the task T3 is finished, the task T2 obtains task execution right.
In one embodiment of the present invention, the task T1 is executed after the execution of the task T0 is completed.
As shown in fig. 1, the priority reversal phenomenon means that a high-priority task is preempted by a low-priority task because a required resource is not occupied by the low-priority task.
The priority of the task T1 is 9 (high), the priority of the task T2 is 5 (high), the priority of the task T3 is 1 (low), and all the tasks are allowed to be preempted. The task T1 and the task T3 commonly require the resource S1, the task T3 starts to run first, and the execution sequence is as follows:
(1) task T3 uses resource S1 and applies a mutually exclusive lock to resource S1.
(2) The task T1 starts executing, and should be preempted to execute because the priority is higher than that of the task T3, but since the task T1 also needs the resource S1 while the task T3 adds the exclusive lock to the S1, the task T1 can only enter the waiting state.
(3) Task T2 is activated and preemption T3 is run because of the higher priority and task T3. At this time, the priority is reversed, that is, the low-priority task T2 preempts the high-priority task T1.
(4) Task T2 ends.
(5) Task T3 continues to run until the end of the run, releasing the mutually exclusive lock of resource S1.
(6) Task T1 gets resource S1 to run.
As shown in fig. 2, in order to solve the above-mentioned priority reversal problem in the prior art, the OSEK operating system introduces an OSEK ceiling protocol,
the ceiling protocol specification is as follows:
1) a task set is defined, which includes all tasks using the same resource (e.g., the task set using resource S1 is defined as { task T1, task T3 }).
2) Setting the upper limit of the priority of the resource to the same resource commonly used in (1) (setting the upper limit of the priority of the resource S1), wherein the upper limit of the priority is greater than or equal to the maximum priority of all tasks in the task set using the resource.
3) When a task occupies a resource, the priority of the task is raised to the priority of the resource.
4) When the task releases the resources, the priority of the task is restored to the static priority of the task.
The specific implementation process is shown in fig. 2:
task T1 has the highest priority, and task T3 has the lowest priority; both task T1 and task T3 access the common resource S1;
(1) t3 is run first, and after occupying resource S1 during the running process, the priority of task T3 is raised to the highest priority of the resource, and then the execution is continued.
(2) During the execution of T3, when tasks T1 and T2, which have a static priority higher than task T3, are activated, T3 is not interrupted by T1 and T2 because T3 has already been raised to its priority to occupy the resource.
(3) After T3 releases resource S1, the priority of T3 reverts to static priority, at which point task T1, which has a higher static priority, begins execution.
(4) Task T1 frees up resource S1, the priority of task T1 reverts to the static priority, and task T1 continues to run because task T1 is higher than task T2.
Examples
As shown in fig. 3, the optimization method of the priority ceiling protocol in the present scheme is adopted.
The T3 is set to be the lowest priority, the T0 is the highest priority, the T1 and the T3 share the resource S1, and the T2 is set to be between the T3 and the T1.
1) The resource S1 priority is defined as the priority of T1.
2) When task T3 accesses resource S1, the priority of task T3 is raised to resource priority execution.
3) When the task T0 is activated, the task execution right of T3 is empowered by T0 because the priority of the task is higher than the ceiling protocol priority, and after the execution of T0 is finished, the execution of T1 is continued.
4) When T3 holds the resource and is executing, Task T1 is activated, and Task T1 holds the Task execution right of Task T3 because Task T1 has a higher static priority than Task T3 and all access the common resource.
5) When the execution of the task T1 is finished, since the task T3 has a higher priority than the task T2 because it occupies resources, the task T3 obtains the task execution right.
6) After the execution of task T3 ends, task T2 obtains task execution rights.
This allows high priority tasks T0, T1, and T2 to all be scheduled in time.
When a task with higher priority than the currently running task appears, the task with the higher priority is scheduled to be executed in time. The scheme not only enhances the feasibility for the application of the embedded operating system based on the OSEK OS, but also improves the real-time performance, reliability and stability of the system, and is simple and easy to implement, and the workload of developers is reduced.
In an embodiment of the present invention, a system includes:
the defining module is used for defining a task set, the task set comprises all tasks T3, T1, T0 and T2 which need to use the same type of resources, and the priorities of the tasks T3, T2, T1 and T0 are sorted according to the small-to-large order;
the setting module is used for setting the upper priority limit of resources for the same kind of resources commonly used in the definition module, and the upper priority limit is greater than or equal to the maximum priority of any task in the task set;
a promotion module to promote a priority of task T3 to a priority of resource S1 when task T3 occupies one of the homogeneous resources S1;
a preemption module for, when the task T3 occupies a resource S1, a task with higher static priority than the task T3 and is activated, the task preempts task execution;
a release module, configured to release the resource S1 by the task T3 after the task T3 is preempted by the task T1;
a recovery module, configured to recover, after the task T3 actively releases the resource S1 and after the task T1 releases the execution right, the usage right of the resource of the task T3;
a restoring module, configured to restore the priority of the task T3 to the static priority of the task when the task T3 actively releases the resource S1.
In an embodiment of the present invention, a storage medium has a computer program stored thereon, and the computer program is executed by a processor to perform the above-mentioned real-time priority ceiling optimization method.
In an embodiment of the present invention, a terminal includes: a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory to cause the terminal to perform the above-described real-time priority ceiling optimization method.
It should be noted that the protection scope of the real-time priority ceiling optimization method according to the present invention is not limited to the execution sequence of the steps listed in the embodiment, and all the solutions implemented by the steps addition, subtraction, and step replacement in the prior art according to the principle of the present invention are included in the protection scope of the present invention.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the x module may be a processing element that is set up separately, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the function of the x module may be called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, the steps or modules of the real-time priority ceiling optimization method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor elements.
For example, the above modules may be one or more integrated circuits configured to implement the above real-time priority ceiling optimization method, such as: one or more specific integrated circuits (T3ppliT1T3tion SpT2T1ifiT1IntT2grT3tT2T 0T 1irT1uit, T3SIT1 for short), or one or more digital signal processors (T0igitT3lSingnT T3l ProT1T2ssor, T0SP for short), or one or more field programmable gate arrays (FiT2lT0ProgrT3mmT3S1lT2 GT3tT 2T 3rrT3y, FPGT3 for short) or the like. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing Unit (T1T2ntrT3lProT1T2 missing Unit, abbreviated as T1PU) or other processor capable of calling program code. As another example, these modules may be integrated together and implemented in the form of a system on a chip (systT2m-on-T3-T1hip, SOT1 for short).
The storage medium of the present invention has stored thereon a computer program which, when executed by a processor, implements the above-described real-time priority ceiling optimization method. The storage medium includes: various media capable of storing program codes, such as ROM, RT3M, magnetic disk, U disk, memory card, or optical disk.
The terminal comprises a processor and a memory.
The memory is for storing a computer program. Preferably, the memory comprises: various media capable of storing program codes, such as ROM, RT3M, magnetic disk, U disk, memory card, or optical disk.
The processor is connected with the memory and is used for executing the computer program stored in the memory so as to enable the terminal to execute the real-time priority ceiling optimization method.
Preferably, the processor may be a general-purpose processor, and includes a central processing Unit (T1T2ntrT3lProT1T2 missing Unit, abbreviated as T1PU), a network processor (NT2twork ProT1T2ssor, abbreviated as NP), and the like; it may also be a digital signal processor (T0igitT3l sign T3l ProT1T2ssor, shortly called T0SP), an application specific integrated circuit (T3ppliT1T3 station SpT2T1ifiT1IntT2grT3 ttt 2T 0T 1irT1uit, shortly called T3SIT1), a field programmable gate array (FiT2lT0ProgrT3mmT3S1lT2 GT3T 2T 3rrT3y, shortly called FPGT3), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.
It should be noted that the system of the present invention can implement the real-time priority ceiling optimization method of the present invention, but the implementation device of the real-time priority ceiling optimization method of the present invention includes, but is not limited to, the structure of the system illustrated in the present embodiment, and all the structural modifications and substitutions of the prior art made according to the principles of the present invention are included in the protection scope of the present invention.
In summary, according to the real-time priority ceiling optimization method, the system, the medium and the terminal, when a task with a priority higher than that of a currently running task occurs, the high-priority task can be scheduled and executed in time, so that feasibility is enhanced for application of an embedded operating system based on an OSEK OS, real-time performance, reliability and stability of the system are improved, the scheme is simple and easy to implement, and workload of developers is reduced. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. A method of real-time priority ceiling optimization, comprising the steps of:
step S100, defining a task set, wherein the task set comprises all tasks T3, T1, T0 and T2 which need to use the same type of resources, and the priorities of the tasks are the tasks T3, T2, T1 and T0 according to the small-to-large sequence;
step S200, setting the upper limit of the priority of the resources for the same kind of resources commonly used in the step S100, wherein the upper limit of the priority is greater than or equal to the maximum priority of any task in the task set;
step S300, when a task T3 occupies one resource S1 in the same kind of resources, the priority of the task T3 is raised to the priority of the resource S1;
step S400, when the task T3 occupies a resource S1, the static priority is higher than that of the task T3, and when the task T1 is activated, the task T1 empowers the task execution right;
step S500, when the task T3 is preempted by the task T1, the task T3 releases the resource S1;
step S600, when the task T3 actively releases the resource S1, and when the task T1 releases the execution right, the use right of the resource of the task T3 is restored;
and S700, when the task T3 actively releases the resource S1, restoring the priority of the task T3 to the static priority of the task.
2. The method for optimizing a priority ceiling according to the real-time property of the claim 1, wherein the specific process of the step S400 includes:
when a task T3 occupies a resource S1, the static priority is higher than the upper limit of the priority, and a task T0 which does not need the same kind of resource is activated, the task T0 empowers the task execution;
when the task T3 occupies a resource S1, it appears that the static priority is higher than the task T3, and a task T1 requiring the same kind of resource is activated, the task T1 empowers the task execution.
3. The real-time priority ceiling optimization method according to claim 2, wherein in the step S400, after the task T1 or T0 preempts the task execution right and completes the execution, the task T3 has a higher priority for the task T3 than the task T2 because of occupying the resource S1, and the task T3 obtains the task execution right.
4. The real-time priority ceiling optimization method of claim 3, wherein after the task T3 ends, the task T2 obtains task execution right.
5. The real-time priority ceiling optimization method of claim 2, wherein the task T1 is performed after the task T0 is completed.
6. A system, comprising:
the defining module is used for defining a task set, the task set comprises all tasks T3, T1, T0 and T2 which need to use the same type of resources, and the priorities of the tasks T3, T2, T1 and T0 are sorted according to the small-to-large order;
the setting module is used for setting the upper priority limit of resources for the same kind of resources commonly used in the definition module, and the upper priority limit is greater than or equal to the maximum priority of any task in the task set;
a promotion module to promote a priority of task T3 to a priority of resource S1 when task T3 occupies one of the homogeneous resources S1;
a preemption module for, when the task T3 occupies a resource S1, a static priority higher than the task T3 occurs, and when the activated task T1, the task T1 empowers the task execution;
a release module, configured to release the resource S1 by the task T3 after the task T3 is preempted by the task T1;
a recovery module, configured to recover, after the task T3 actively releases the resource S1 and after the task T1 releases the execution right, the usage right of the resource of the task T3;
a restoring module, configured to restore the priority of the task T3 to the static priority of the task when the task T3 actively releases the resource S1.
7. A storage medium having stored thereon a computer program, characterized in that the program, when being executed by a processor, is adapted to carry out the method of real-time priority ceiling optimization of any of claims 1 to 5.
8. A terminal, comprising: a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory to cause the terminal to perform claim 1
The method of real-time priority ceiling optimization of any one of claims to 5.
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| CN114510327A (en) * | 2022-01-07 | 2022-05-17 | 中汽创智科技有限公司 | Method and device for dynamically adjusting priority |
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