CN111475312B - Message driving method and device based on real-time operating system - Google Patents
Message driving method and device based on real-time operating system Download PDFInfo
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- CN111475312B CN111475312B CN201910866180.4A CN201910866180A CN111475312B CN 111475312 B CN111475312 B CN 111475312B CN 201910866180 A CN201910866180 A CN 201910866180A CN 111475312 B CN111475312 B CN 111475312B
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Abstract
The invention provides a message driving method and a device based on a real-time operating system, which are characterized in that a service message body is added into a task message queue with corresponding priority based on the type of service data by acquiring the service data and service logic in the service message body; and transmitting the business logic based on the task message queue so that a thread can process the business logic when receiving the message. The real-time operating system task supports the message queue, and the task only processes the message in the message queue; the task and the service program are decoupled, the service message body is divided into two parts, one part is service logic, and the other part is service data; the service logic and the service data source are considered separately, and the service logic and data decoupling design is realized; the real-time operating system task supports priority processing, and the messages in the corresponding message queues can obtain processing service logic according to the corresponding priorities.
Description
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a message driving method and device based on a real-time operating system.
Background
The Real Time Operation System (RTOS) is an operating System that can accept and process external events or data at a fast enough speed, and the processing result can control the production process or make a fast response to the processing System within a specified Time, schedule all available resources to complete Real-Time tasks, and control all Real-Time tasks to run in coordination. Providing timely response and high reliability are main features.
A real-time operating system is an operating system that ensures that certain functions are completed within certain time limits. The real-time operating system is divided into hard real-time and soft real-time, the hard real-time requires that the operation must be completed within a specified time, which is ensured during the design of the operating system; the soft real-time is only required to complete the operation as fast as possible according to the priority of the task. A commonly used operating system may become a real-time operating system after certain changes. For example, an operating system may be designed to ensure that a robot on a production line can acquire an object. In a "hard" real-time operating system, if the calculations to make an object reachable cannot be completed within the allowed time, the operating system will end up with errors. In a "soft" real-time operating system, the production line can still continue to work, but the output of the product is slowed down because the product cannot arrive within the allowed time, which causes the robot to have a transient unproductive phenomenon. Some real-time operating systems are designed for specific applications, others are general-purpose. Some general purpose operating systems are known as real-time operating systems. But to some extent most general purpose operating systems, such as OS/390 from Windows NT or IBM, have the characteristics of a real-time system. That is, even if an operating system is not a strict real-time system, they can solve a part of the real-time application problem.
In many existing real-time operating system program designs, a service program and an operating system task are very tightly bound, service modules are tightly coupled, the service program, service data and the operating system task are deeply coupled, the priority of the service program depends on the operating system task, as shown in fig. 1, tasks with different priorities need to be processed by different service programs, so that the service program cannot change the priority of processing the service operating system task in real time according to the service data.
Disclosure of Invention
To address the above problems, the present invention provides a message driven method and apparatus based on a real-time operating system that overcomes, or at least partially solves, the above problems.
According to a first aspect of the embodiments of the present invention, there is provided a message driving method based on a real-time operating system, including:
acquiring service data and service logic in a service message body, and adding the service message body to a task message queue of a corresponding priority level based on the type of the service data;
and transmitting the business logic based on the task message queue so that a thread can process the business logic when receiving the message.
Preferably, the service logic comprises processing service functions and function parameters.
Preferably, the acquiring the service data and the service logic in the service message body specifically includes:
and acquiring a service message body in the message queue to be processed, executing a service function, and extracting service data and service logic.
Preferably, based on the type of the service data, adding the service message body to a task message queue with a corresponding priority, specifically including:
and based on the type of the service data, putting the service data into different service messages, and based on the data priority, putting the service message body into a task message queue with corresponding priority.
Preferably, the real-time operating system sends the service message body to the task message queue through the task handle.
According to a second aspect of the embodiments of the present invention, there is provided a message driving apparatus based on a real-time operating system, including a service scheduling task module and a task message queue module;
the service scheduling task module is used for acquiring service data and service logic in a service message body and adding the service message body to a task message queue with corresponding priority based on the type of the service data;
and the task message queue module is used for transmitting the service logic based on the task message queue so that a thread can process the service logic when receiving the message.
Preferably, the task message queue module includes a plurality of message slots, and the message slots are configured to accommodate a service message body and execute the service logic to obtain service data corresponding to a service message.
Preferably, the service scheduling task module is used for acquiring a service message body in a message queue to be processed, executing a service function, and extracting service data and service logic;
and based on the type of the service data, putting the service data into different service messages, and based on the data priority, putting the service message body into a task message queue with corresponding priority.
According to a third aspect of the embodiments of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the message driving method based on the real-time operating system as provided in any one of the various possible implementations of the first aspect.
According to a fourth aspect of embodiments of the present invention, there is provided a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a real-time operating system based message driven method as provided by any of the various possible implementations of the first aspect.
According to the message driving method and device based on the real-time operating system, the service data and the service logic in the service message body are acquired, and the service message body is added to the task message queue with the corresponding priority based on the type of the service data; and transmitting the business logic based on the task message queue so that a thread can process the business logic when receiving the message. The real-time operating system task supports the message queue, and the task only processes the message in the message queue; the task and the service program are decoupled, the service program is designed into two parts, one part is service logic, and the other part is service data; the service logic and the service data source are considered separately, and the service logic and data decoupling design is realized; the real-time operating system task supports priority processing, and the messages in the corresponding message queues can obtain processing service logic according to the corresponding priorities.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from these without inventive effort.
FIG. 1 is a schematic diagram of a message-driven process of a real-time operating system in the prior art;
fig. 2 is a schematic diagram of a message-driven method based on a real-time operating system according to an embodiment of the present invention;
fig. 3 is a schematic specific flowchart of a message driving method based on a real-time operating system according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a message driven method based on a real-time operating system according to an embodiment of the present invention for processing a service program in the prior art;
fig. 5 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Task: also called a thread, is a simple program. Each task is given a certain priority, has its own set of CPU registers and its own stack space. Typically, each task is an infinite loop, and each task is in the following five states: a dormant state, a ready state, a running state, a suspended state, and an interrupted state;
task switching: the current state (the whole content in the CPU register) of the running task is stored in the stack area of the task, then the current state of the next task to be run is reloaded into the register of the CPU from the stack of the task, and the running of the next task is started;
task priority: dividing the priority into a static priority with unchangeable priority and a dynamic priority with changeable priority;
the Real Time Operation System (RTOS) is an operating System that can accept and process external events or data at a fast enough speed, and the processing result can control the production process or make a fast response to the processing System within a specified Time, schedule all available resources to complete Real-Time tasks, and control all Real-Time tasks to run in coordination. Providing timely response and high reliability are main features.
A real-time operating system is an operating system that ensures that certain functions are completed within certain time limits. The real-time operating system is divided into hard real-time and soft real-time, the hard real-time requires that the operation must be completed within a specified time, which is ensured during the design of the operating system; the soft real-time is only required to complete the operation as fast as possible according to the priority of the task. A commonly used operating system may become a real-time operating system after certain changes.
Real-time operating system (RTOS) requirements:
multitasking;
processing process lines that can be prioritized;
a sufficient number of interrupt levels;
a built-in small operating system that is built into a piece of miniature equipment often requires a real-time operating system. Some core issues can be considered to meet the requirements of real-time operating systems. However, a real-time operating system is typically larger than the kernel, because other components, such as device drivers, are also typically required by the particular approach.
The main characteristics of the real-time operating system RTOS include: the real-time performance reflects the capability of a real-time operating system for quickly responding to an external event; reliability, which reflects the ability of a real-time operating system to maintain normal operation without external influence, and is usually measured by the continuous and reliable operation time of the system; thirdly, the safety reflects the capability of the real-time operating system to resist external attacks and the defects of the application software; and fourthly, openness reflects the basic condition that the real-time operating system meets the international and national standard level and can not be widely supported by a plurality of third parties.
The multi-task real-time kernel realizing preemptive based on priority is the core part of the real-time operating system. The functions of the system mainly comprise modules of processor management, task scheduling, task synchronization, inter-task communication, interrupt processing, a timer, memory management and the like. For example, the well-known VxWorks real-time kernel (Wind) mainly includes priority-based task scheduling, task synchronization and communication, interrupt processing, timers, and memory management; the uC/OS-II/III provides functions of task scheduling and management based on priority, task synchronization and communication, time management and interrupt service, memory management and the like.
In an RTOS kernel, it can be logically broken down into three parts: the method comprises the steps of timing cycle of tasks, ready logic of the tasks and switching of the tasks, wherein the timing cycle of the tasks and the ready logic of the tasks can be realized by hardware, and the switching of the tasks can be realized by software. Thus, the RTOS can be abstracted into a Hardware real-time operating system (HRTOS, Hardware RTOS) and a Software real-time operating system (SRTOS, Software RTOS). The HRTOS mainly comprises a timing cycle of a task and ready logic of the task, and is realized by hardware. The SRTOS mainly includes switching of tasks, and is implemented by software.
"message" is a basic and important concept in windows running mechanisms. The message is a notice reporting the occurrence of an event, and the message driving is expanded around the generation and processing of the message and is realized by a message loop mechanism.
A plurality of different tasks run in the real-time operating system, one task is a running program, data exchange is inevitably performed between tasks, the process of data exchange between tasks is called inter-task communication, and the inter-task communication is an indispensable function in the real-time operating system. At present, two common task communication modes in a multi-task real-time operating system include a message mailbox and a message queue.
In many existing real-time operating system program designs, a service program and an operating system task are very tightly bound, service modules are tightly coupled, the service program, service data and the operating system task are deeply coupled, the priority of the service program depends on the operating system task, as shown in fig. 1, tasks with different priorities need to be processed by different service programs, so that the service program cannot change the priority of processing the service operating system task in real time according to the service data. Therefore, the message driving method and device based on the real-time operating system provided by the embodiment of the invention can be used for realizing the decoupling of tasks and service programs, wherein the service programs are designed into two parts, one part is service logic, and the other part is service data; the service logic and the service data source are considered separately, and the service logic and data decoupling design is realized; the real-time operating system task supports priority processing, and the messages in the corresponding message queues can obtain processing service logic according to the corresponding priorities. The following description and description will proceed with reference being made to various embodiments.
As shown in fig. 2 and 4, an embodiment of the present invention provides a message-driven method based on a real-time operating system, including:
acquiring service data and service logic in a service message body, and adding the service message body to a task message queue of a corresponding priority level based on the type of the service data;
and transmitting the business logic based on the task message queue so that a thread can process the business logic when receiving the message.
In this embodiment, the message driving is performed through the real-time operating system, where the real-time operating system task supports the message queue, and the task is implemented to process only the messages in the message queue. The task and the service program are decoupled, the service program is designed into two parts, one part is service logic, and the other part is service data. The service logic and the service data source are considered separately, and the service logic and data decoupling design is realized; the operating system task supports priority processing, and the messages in the corresponding message queue can obtain processing service logic according to the corresponding priority.
On the basis of the above embodiment, the service logic includes processing service functions and function parameters.
In this embodiment, as a preferred implementation, the task message body is divided into two parts, one part handles the logic of the service, and the other part handles the service data; the service logic includes processing a service Function and a Function parameter, and the service logic Function is defined as void Function (void pArg).
By placing the task message body in the task message slot, the relevant task will only execute the function of processing the service, and the service function obtains the current service data.
On the basis of the above embodiment, acquiring the service data and the service logic in the service message body specifically includes:
and acquiring a service message body in the message queue to be processed, executing a service function, and extracting service data and service logic.
In this embodiment, as a preferred implementation, the real-time operating system task is responsible for obtaining the service message body in the message queue to be processed, and executing the service function, so as to separate the task from the service logic. And the service logic and the service data source are considered separately, so that the decoupling design of the service logic and the data is realized.
On the basis of the foregoing embodiment, based on the type of the service data, adding the service message body to a task message queue of a corresponding priority includes:
and based on the type of the service data, putting the service data into different service messages, and based on the data priority, putting the service message body into a task message queue with corresponding priority.
In this embodiment, as a preferred implementation, as shown in fig. 3 and fig. 4, the pending message queue includes a service 1 message, a service 2 message, a service 3 message, and a service 4 message, and in other embodiments, may include a plurality of service message bodies; after the service message body in the message queue to be processed is processed by the service scheduling task, the message in the message queue is obtained, the service function is executed, the task is separated from the service logic, the message is distributed according to the service data, and the message is added into the task message queues with different priorities. Namely, in the message queue 1 or the message queue 2 in the figure, the task message body is put into the task message slot of the message queue 1 or the message queue 2, and when the thread/task receives the message, the thread/task directly executes the processing service function.
The traditional message is used for transmitting data, a system message queue is adopted, the message queue transmits the data, a special thread reads the data at a message receiving end, and a corresponding processing method is called according to the type of the message. In this embodiment, the message queue employed by the message driving framework transfers not the message data but the service function and the function parameter, and when the thread receives the message, the thread directly executes the service function. The message driven framework of the present embodiment operates with very little system resources, relying only on system-specific semaphores and tasks (or threads), unlike conventional messages, which rely on system-specific message queues.
On the basis of the above embodiments, the real-time operating system sends a service message body to the task message queue through a task handle.
In this embodiment, as a preferred implementation, the service scheduling task is mainly responsible for putting service data into different service messages according to service data types, and putting service message bodies into task queues of relevant priorities according to data priorities, the real-time operating system task supports the message queues, and sends messages to the tasks through task handles, and the message queues provide message body priorities.
According to a second aspect of the embodiments of the present invention, a message driving apparatus based on a real-time operating system is provided, where the message driving method based on the real-time operating system in the above embodiments is adopted, and includes a service scheduling task module and a task message queue module;
the service scheduling task module is used for acquiring service data and service logic in a service message body and adding the service message body to a task message queue with corresponding priority based on the type of the service data;
and the task message queue module is used for transmitting the service logic based on the task message queue so that a thread can process the service logic when receiving the message.
In this embodiment, as a preferred implementation manner, the task message queue module includes a plurality of message slots, where the message slots are used to accommodate a service message body and execute the service logic to obtain service data corresponding to a service message.
In this embodiment, as a preferred implementation manner, the service scheduling task module is specifically configured to acquire a service message body in a message queue to be processed, execute a service function, and extract service data and service logic;
and based on the type of the service data, putting the service data into different service messages, and based on the data priority, putting the service message body into a task message queue with corresponding priority.
According to a second aspect of the embodiments of the present invention, there is provided a message driving apparatus based on a real-time operating system, including a service scheduling task module and a task message queue module;
the service scheduling task module is used for acquiring service data and service logic in a service message body and adding the service message body to a task message queue with corresponding priority based on the type of the service data;
and the task message queue module is used for transmitting the service logic based on the task message queue so that a thread can process the service logic when receiving the message.
Preferably, the task message queue module includes a plurality of message slots, and the message slots are configured to accommodate a service message body and execute the service logic to obtain service data corresponding to a service message.
Preferably, the service scheduling task module is used for acquiring a service message body in a message queue to be processed, executing a service function, and extracting service data and service logic;
and based on the type of the service data, putting the service data into different service messages, and based on the data priority, putting the service message body into a task message queue with corresponding priority.
An embodiment of the present invention provides an electronic device, as shown in fig. 5, including: a processor (processor)501, a communication Interface (Communications Interface)502, a memory (memory)503, and a communication bus 504, wherein the processor 501, the communication Interface 502, and the memory 503 are configured to communicate with each other via the communication bus 504. The processor 501 may call a computer program running on the memory 503 and on the processor 501 to execute the message driving method based on the real-time operating system provided by the above embodiments, for example, including:
acquiring service data and service logic in a service message body, and adding the service message body to a task message queue of a corresponding priority level based on the type of the service data;
and transmitting the business logic based on the task message queue so that a thread can process the business logic when receiving the message.
In addition, the logic instructions in the memory 503 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the message driving method based on the real-time operating system provided in the foregoing embodiments when executed by a processor, and the method includes:
acquiring service data and service logic in a service message body, and adding the service message body to a task message queue of a corresponding priority level based on the type of the service data;
and transmitting the business logic based on the task message queue so that a thread can process the business logic when receiving the message.
In summary, according to the message driving method and device based on the real-time operating system provided by the embodiment of the present invention, by acquiring the service data and the service logic in the service message body, based on the type of the service data, the service message body is added to the task message queue with the corresponding priority; and transmitting the business logic based on the task message queue so that a thread can process the business logic when receiving the message. The real-time operating system task supports the message queue, and the task only processes the message in the message queue; the task and the service program are decoupled, the service program is designed into two parts, one part is service logic, and the other part is service data; the service logic and the service data source are considered separately, and the service logic and data decoupling design is realized; the real-time operating system task supports priority processing, and the messages in the corresponding message queues can obtain processing service logic according to the corresponding priorities.
The above-described embodiments of the electronic device and the like are merely illustrative, and units illustrated as separate components may or may not be physically separate, and components displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute the various embodiments or some parts of the methods of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A message driving method based on a real-time operating system is characterized by comprising the following steps:
in a real-time operating system, acquiring service data and service logic in a service message body, wherein the service logic comprises a service processing function and a function parameter, and based on the type of the service data, the service message body is added into a message slot of a task message queue with corresponding priority;
and transmitting the business logic based on the task message queue so that a thread processes the business logic when receiving the message, and when receiving the message, the thread directly executes the business processing function.
2. The message driving method based on the real-time operating system according to claim 1, wherein acquiring the service data and the service logic in the service message body specifically comprises:
and acquiring a service message body in the message queue to be processed, executing a service function, and extracting service data and service logic.
3. The message driving method based on the real-time operating system according to claim 2, wherein the adding the service message body to the task message queue of the corresponding priority based on the type of the service data specifically includes:
and based on the type of the service data, putting the service data into different service messages, and based on the data priority, putting the service message body into a task message queue with corresponding priority.
4. The message driven method of claim 2, wherein the real-time operating system sends the service message body to the task message queue through a task handle.
5. A message driving device based on a real-time operating system is characterized by comprising a service scheduling task module and a task message queue module;
the service scheduling task module is used for acquiring service data and service logic in a service message body in a real-time operating system, wherein the service logic comprises a service processing function and a function parameter, and the service message body is added to a task message queue with corresponding priority based on the type of the service data;
and the task message queue module is used for transmitting the service logic based on the task message queue so that a thread processes the service logic when receiving the message, and when the thread receives the message, the thread directly executes the service processing function.
6. The message driving apparatus according to claim 5, wherein the task message queue module includes a plurality of message slots, and the message slots are configured to accommodate a service message body and execute the service logic to obtain service data corresponding to a service message.
7. The message driving apparatus based on the real-time operating system as claimed in claim 5, wherein the service scheduling task module is configured to obtain a service message body in the message queue to be processed, execute a service function, and extract service data and service logic;
and based on the type of the service data, putting the service data into different service messages, and based on the data priority, putting the service message body into a task message queue with corresponding priority.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 4 are implemented when the processor executes the program.
9. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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