CN111522692B - Multi-operating-system input and output equipment redundancy guarantee system based on virtual machine - Google Patents
Multi-operating-system input and output equipment redundancy guarantee system based on virtual machine Download PDFInfo
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- CN111522692B CN111522692B CN202010311055.XA CN202010311055A CN111522692B CN 111522692 B CN111522692 B CN 111522692B CN 202010311055 A CN202010311055 A CN 202010311055A CN 111522692 B CN111522692 B CN 111522692B
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- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/14—Error detection or correction of the data by redundancy in operation
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- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
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Abstract
The invention discloses a virtual machine-based multi-operating-system input/output equipment redundancy guarantee system, which comprises a virtual machine management program, a domain operating system, a client operating system, a real-time operating system and a multi-core processor, wherein the virtual machine management program comprises an equipment distribution module, the domain operating system comprises an equipment sharing module, the real-time operating system comprises an equipment fault alarm module, and the domain operating system, the client operating system and the real-time operating system respectively run on different cores of the processor. The invention improves the existing virtual machine management program and the virtual io framework, and can ensure that the real-time operating system can still access the input/output equipment through fault alarm and dynamic allocation of the input/output equipment when the domain operating system where the virtual io is located is in fault.
Description
Technical Field
The invention belongs to the technical field of computers, and particularly relates to a redundancy guarantee system for multiple operation system input and output equipment based on a virtual machine.
Background
With the development of artificial intelligence technology and communication technology, various machines are changed from traditional control to intelligent control, and in intelligent control machines, safety-critical applications and general-purpose applications run simultaneously. Among them, the general application related to intelligent control has certain requirements on development and operation environments, which are not provided by the conventional bare metal and real-time operating systems, so that such application programs generally run in the general operating system. The operating system where the safety-critical application program is located needs to be subjected to safety authentication, and the general operating system is difficult to pass the safety authentication due to the complexity of the general operating system, so that the safety-critical application program runs on the real-time operating system. Since security critical applications and general-purpose applications have different requirements on the operating environment, the two types of applications cannot coexist on one operating system. The current mainstream solution is to run a real-time operating system and a general operating system on an embedded microprocessor simultaneously through a virtualization technology, then deploy a safety key application program in the real-time operating system and deploy a general application program in the general operating system, so that the problem that the safety key application program and the general application program cannot coexist is solved.
However, the peripheral input/output devices of the embedded microprocessor are limited, so that multiple operating systems in the virtual machine multiple operating system scheme may need to share the same input/output device in order to fully utilize the limited hardware device resources.
A mainstream virtualization solution such as KVM, XEN, ACRN simulates an input/output device on a domain operating system through a virtio backend simulator, and implements a virtio front-end driver on a guest operating system for accessing the simulated input/output device. When the client operating system and the domain operating system share equipment, the virtio front end driver sends a request to the rear end through a communication mechanism provided by the virtual machine management program, the virtio rear end operates the actual input/output equipment according to the request, and returns a result to the client operating system after the request is completed, namely, the hardware equipment seen by the client operating system is simulated by the domain operating system, the access of the client operating system to the hardware equipment is transmitted to the domain operating system by the virtual machine management program, then the domain operating system interacts with the actual hardware, and the response result of the hardware is transmitted to the client operating system.
Fig. 1 illustrates the virtual machine multi-operating system device sharing scheme based on virtio, which is widely applied to the fields of personal computers and cloud computing at present. In view of complexity of I/O virtualization, a Linux system is generally selected as a domain operating system in the scheme, and since a general operating system such as Linux is originally designed for a PC, the reliability is lower, and faults are more likely to occur compared with a real-time operating system. If the guest operating system in this scenario is a real-time operating system, the real-time operating system will not be able to access the device once the domain operating system fails. In this case, the real-time performance and reliability of the real-time operating system are affected by the domain operating system, and finally, the operation of the safety-critical application program is affected.
In order to ensure stable operation of the operating system when the virtual machine multi-operating system scheme is verified, a redundancy guarantee method of the input/output device must be provided, so that the real-time operating system can still access the input/output device when the domain operating system fails, and important data can be timely acquired.
Disclosure of Invention
In view of the above, the invention provides a multi-operating-system input/output equipment redundancy guarantee system based on a virtual machine, which can solve the problem that a real-time operating system cannot normally access a peripheral when a domain operating system fails in the scheme of sharing the peripheral by the existing virtual machine multi-operating system.
The utility model provides a virtual machine-based multi-operating-system input and output equipment redundancy guarantee system, includes virtual machine management program, domain operating system, customer operating system, real-time operating system and multicore processor, the virtual machine management program contains equipment allocation module, the domain operating system contains equipment sharing module, the real-time operating system contains equipment failure alarm module, the domain operating system, customer operating system and real-time operating system run on different core processors;
the device allocation module is realized by a virtual machine management program and comprises a device configuration file for recording device allocation information, and input and output devices are allocated to each operating system according to the device configuration file;
the equipment sharing module is realized by adopting a virtualization technology, and provides an interface for sharing access input and output equipment for a plurality of operating systems;
the device failure alarm module sends failure information to the virtual machine management program when the target device does not respond for a long time, and requests exclusive use of the target input and output devices.
Further, the virtual machine manager runs a plurality of operating systems including a domain operating system, a plurality of guest operating systems, and a real-time operating system.
Furthermore, the domain operating system bears the I/O virtualization work, and the sharing of input and output devices is realized through the virtio back-end program, so that the client operating system and the real-time operating system can share the input and output devices of the domain operating system through the virtio front-end program.
Further, the real-time operating system has a device access timeout notification function, and if the device is accessed for a certain time and is not responded, the real-time operating system sends device application information to the virtual machine management program.
Further, when the virtual machine management program runs, the virtual machine management program receives the equipment application information and verifies the equipment application information, and then distributes input and output equipment to a real-time operating system for initiating the application.
Further, the device configuration file classifies devices into exclusive devices, shared devices and real-time shared devices, and writes operating system information to which the devices belong into the file.
Further, the virtual machine management program reads and analyzes configuration files of the input and output devices when being started, the exclusive devices are fixedly allocated to the corresponding operating systems, the sharing devices are fixedly allocated to the domain operating systems, and the real-time sharing devices are dynamically allocated to the domain operating systems.
Further, the fixedly allocated exclusive device is allocated to the corresponding operating system after being started, and cannot be changed during the running period; the fixedly distributed sharing equipment is distributed to the domain operating system after being started and is shared with other operating systems through the equipment sharing module, and the operation period cannot be changed; the dynamically allocated real-time sharing device is first allocated to the domain operating system after being started and shared with other operating systems through the device sharing module, but only the real-time operating system has the right to offload the device from the domain operating system and monopolize the device during running.
The invention improves the existing virtual machine management program and the virtual io framework, and can ensure that the real-time operating system can still access the input/output equipment through fault alarm and dynamic allocation of the input/output equipment when the domain operating system where the virtual io is located is in fault.
Drawings
FIG. 1 is a schematic diagram of a domain-operating-system-virtio-based I/O paravirtualized architecture.
FIG. 2 is a schematic diagram of a virtualization architecture for redundancy guarantee of input and output devices of a real-time operating system according to the present invention.
FIG. 3 is a flow chart of device allocation at the start of a virtual machine system according to the present invention.
FIG. 4 is a flow chart of the access of the operating system to the shared input/output device in the present invention.
Detailed Description
In order to more particularly describe the present invention, the following detailed description of the technical scheme of the present invention is provided with reference to the accompanying drawings and the specific embodiments.
Fig. 2 is a virtual machine system corresponding to the present embodiment, and in order to fully explain the technical features of the present invention, the virtual machine system designed in this embodiment includes a multi-core processor a having three cores, a virtual machine manager B, a domain operating system C, a guest operating system D and a real-time operating system E.
In the virtual machine system, a domain operating system C, a client operating system D and a real-time operating system E respectively run on three different cores of the multi-core processor a, which is different from a scheme of time-sharing running of a plurality of operating systems in single-core processor virtualization, the requests of the respective operating systems to input/output devices may occur simultaneously, and the devices cannot be allocated to the different operating systems in a manner of operating system context switching.
The virtual machine management program B comprises a device allocation module F, wherein the device allocation module F comprises a device configuration file and a device allocation program, the device configuration file belongs to the virtual machine management program B, and other operating systems can only read and cannot directly modify. In the device configuration file, each configuration corresponds to a device, and mainly comprises information such as a device category, a device ID, a device attribute, an operating system to which the device belongs, and the like. The device attributes are classified into exclusive devices, shared devices, and real-time shared devices.
As shown in fig. 3, when the virtual machine manager B is started, the device allocation program of the device allocation module F reads and parses the device configuration file, and allocates the exclusive device to the corresponding operating system fixedly, which cannot be changed during the running; the shared equipment is fixedly allocated to the domain operating system and is shared with the client operating system D and the real-time operating system E through the equipment sharing module G, and the operation period cannot be changed; the real-time sharing device is first dynamically allocated to the domain operating system and shared with the client operating system D and the real-time operating system E through the device sharing module G, but the real-time operating system E has the right to offload the device from the domain operating system and monopolize the device during run-time. The domain operating system may thus have exclusive devices, shared devices, and real-time shared devices at the same time.
The domain operating system comprises a device sharing module G, and the device sharing module G configures the access rights of the device according to the device configuration file. For example, the device sharing module G may not access the exclusive device of the domain operating system to the virtio framework, but may share the shared device and the real-time shared device with other operating systems specified in the device configuration file through the virtio backend, and in more detail, the device configuration file may further specify access rights of the respective operating systems to the devices.
For hardware with limited input/output equipment resources, in order to improve the utilization rate of equipment resources and make the functions of each operating system more complete, it is necessary to assign each required equipment to different operating systems in advance, and configure the attribute of the equipment and the authority of the operating system. Taking CAN devices as an example, the domain operating system and the general client operating system generally do not need to use CAN devices, and CAN be fixedly allocated to the real-time operating system as exclusive devices. The real-time operating system is usually not provided with devices such as a mouse, a keyboard and the like, so that the devices can be fixedly distributed to a domain operating system or a client operating system as exclusive devices. Because the exclusive device is directly distributed by the device distribution module F and does not pass through the domain operating system C, any operating system uses a direct access instruction when accessing the exclusive device, and the mode can fully utilize the hardware performance and improve the stability of the operating system.
In addition, some devices, such as Flash, have a fast read-write speed, and can completely meet the read-write requirements of multiple operating systems at the same time. If the dependency of the real-time operating system E on Flash is not strong, only some log information is written into Flash to assist in debugging, flash errors do not affect the running of the real-time operating system E, and then the devices can be divided into sharing devices. For shared devices, the rights of the real-time operating system E are the same as the guest operating system D.
As shown in fig. 4, for such a shared device, the client operating system D and the real-time operating system E access the shared hardware using the virtio front-end driver, and when the access command reaches the domain operating system C, the device sharing module G determines whether the operation performed by the operating system meets the specification of the device profile and then decides whether to execute the access command. If the guest operating system D is to access the unallocated device in the device configuration file, it is necessary to initiate an application to the virtual machine manager B. At this time, the virtual machine management program B verifies whether the application of the client operating system D is legal, if the application is legal, the device configuration file is modified, and the client operating system initiating the application is added into an operating system list of the device; if the application is illegal, rejecting the request of the client operation system D and sending feedback information. The legitimacy of a device application is determined by a series of predefined rules, e.g., any application to an exclusive device is illegal, except for the operating system to which it belongs.
The domain operating system C, the client operating system D and the real-time operating system E may all use network devices, wherein safety-critical applications of the real-time operating system E may depend on responses of the network devices, and the real-time operating system E may not obtain rapid responses when the network is congested, and the real-time operating system E needs to monopolize devices to ensure real-time performance, so that such devices need to be allocated as real-time sharing devices.
The real-time operating system E has special authority for the real-time sharing device, and can force the virtual machine management program to unload the device from the domain operating system and distribute the device to the real-time operating system. In the initial stage of running the virtual machine system, the network equipment is distributed to the domain operating system C by the equipment distribution module F, and the client operating system D and the real-time operating system E access the network equipment through the own virtio front-end program and the equipment sharing module G of the domain operating system C. The response time of the fault alarm module H of the real-time operating system E to the network device is set to two thresholds, the threshold H1 is set to the maximum response time that does not affect the operation of the safety critical application program of the real-time operating system, and the threshold H2 is H1 minus the maximum time required by the device allocation module F to reallocate the device and to re-request/answer.
When a large amount of data is transmitted in the network to cause network congestion, the real-time operating system cannot obtain response information later until the waiting time exceeds a threshold H2, and the fault alarm module H gives a warning and applies for exclusive network equipment. After receiving the application of the real-time operating system E, the device allocation module F sends an unloading instruction to the domain operating system C according to the configuration information of the network device in the device configuration file. After receiving the device unloading instruction, the domain operating system C reads the device configuration file, sends a sharing stopping instruction to the client operating system D and the real-time operating system E which share the network device, and after receiving the sharing stopping instruction, the client operating system D and the real-time operating system E stop using the virtio front end driver to access the sharing device and send sharing termination information to the domain operating system C, and after receiving the sharing termination information, the domain operating system C unloads the network device from the domain operating system C and sends unloading completion information to the virtual machine management program B.
Then, after receiving the unloading completion information of the domain operating system C, the virtual machine manager B sends a registration instruction to the real-time operating system E, and inserts the network device into the real-time operating system E. After the fault alarm module H receives the registration instruction and completes the installation of the network equipment, the subsequent operation of the real-time operating system E directly acts on the network equipment, as if the exclusive equipment is accessed.
After the equipment is redistributed, the fault alarm module H and the virtual machine management program B analyze fault reasons, if the fault alarm module H and the virtual machine management program B are the domain operating system C or the client operating system D suddenly breaks down and recovers quickly, the virtual machine management program B redistributes the network equipment to the domain operating system C after the real-time operating system E stably operates for a period of time, the real-time sharing equipment is recovered to an initial state, and the domain operating system C controls the access of the client operating system D and the real-time operating system E to the equipment. If the carrying capacity of the network device is limited and three operating systems cannot access simultaneously, the virtual machine manager B reallocates network bandwidth according to the priority of each operating system in the network device.
In summary, the embodiment realizes a redundancy guarantee method for multiple operating systems input and output devices based on a virtual machine, can ensure reliable access of a real-time operating system to the input/output devices under the condition that multiple operating systems share the same input/output device, and solves the problem that the current scheme of multiple operating systems of a main stream virtual machine is not suitable for the real-time operating system.
The foregoing description of the specific embodiments is provided to facilitate the understanding and appreciation of the invention by those skilled in the art. It will be apparent to those having ordinary skill in the art that various modifications to the above-described embodiments may be readily made and the generic principles described herein may be applied to other embodiments without the use of inventive faculty. Therefore, the present invention is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications within the scope of the present invention.
Claims (6)
1. A multi-operating system input and output equipment redundancy guarantee system based on a virtual machine comprises a virtual machine management program, a domain operating system, a client operating system, a real-time operating system and a multi-core processor, and is characterized in that: the virtual machine management program comprises a device allocation module, the domain operating system comprises a device sharing module, the real-time operating system comprises a device fault alarm module, and the domain operating system, the client operating system and the real-time operating system run on different core processors;
the device allocation module is realized by a virtual machine management program and comprises a device configuration file for recording device allocation information, and input and output devices are allocated to each operating system according to the device configuration file;
the equipment sharing module is realized by adopting a virtualization technology, and provides an interface for sharing access input and output equipment for a plurality of operating systems;
the device fault alarm module sends fault information to the virtual machine management program when the target device does not respond for a long time, and requests to exclusively use the target input and output devices;
the virtual machine management program reads and analyzes configuration files of input and output equipment when being started, the exclusive equipment is fixedly allocated to a corresponding operating system, the sharing equipment is fixedly allocated to a domain operating system, and the real-time sharing equipment is dynamically allocated to the domain operating system;
the exclusive equipment which is fixedly allocated is allocated to the corresponding operating system after being started, and the running period cannot be changed; the fixedly distributed sharing equipment is distributed to the domain operating system after being started and is shared with other operating systems through the equipment sharing module, and the operation period cannot be changed; the dynamically allocated real-time sharing device is first allocated to the domain operating system after being started and shared with other operating systems through the device sharing module, but only the real-time operating system has the right to offload the device from the domain operating system and monopolize the device during running.
2. The virtual machine-based multiple operating system input and output device redundancy guarantee system of claim 1, wherein: the virtual machine management program runs a plurality of operating systems, including a domain operating system, a plurality of client operating systems and a real-time operating system.
3. The virtual machine-based multiple operating system input and output device redundancy guarantee system of claim 1, wherein: the domain operating system bears the I/O virtualization work, and the sharing of input and output devices is realized through the virtio back-end program, so that the client operating system and the real-time operating system can share the input and output devices of the domain operating system through the virtio front-end program.
4. The virtual machine-based multiple operating system input and output device redundancy guarantee system of claim 1, wherein: the real-time operating system has a device access timeout notification function, and if the device is accessed for a certain time and is not responded, the real-time operating system sends device application information to the virtual machine management program.
5. The virtual machine-based multiple operating system input and output device redundancy guarantee system of claim 1, wherein: and after receiving the equipment application information and verifying the equipment application information when the virtual machine management program runs, distributing the input and output equipment to a real-time operating system for initiating the application.
6. The virtual machine-based multiple operating system input and output device redundancy guarantee system of claim 1, wherein: the device configuration file classifies the devices into exclusive devices, shared devices and real-time shared devices, and writes the operating system information of the devices into the file.
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