CN111708670B - Method and device for determining task time parameters in real-time operation system and vehicle - Google Patents
Method and device for determining task time parameters in real-time operation system and vehicle Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/3003—Monitoring arrangements specially adapted to the computing system or computing system component being monitored
- G06F11/302—Monitoring arrangements specially adapted to the computing system or computing system component being monitored where the computing system component is a software system
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
- G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Abstract
The embodiment of the invention discloses a method and a device for determining task time parameters in a real-time operating system and a vehicle. Wherein the method comprises the following steps: establishing a call relation between a real-time operating system to be tested and a set task entering monitoring function and a task exiting monitoring function through an external call interface, wherein preset task identifiers exist corresponding to each task deployed in the real-time operating system to be tested; acquiring a task time stamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs; and determining task time parameter information of the task to be analyzed according to the task timestamp record table and the task identification of the selected task to be analyzed. According to the technical scheme provided by the embodiment of the invention, various tasks are monitored without adopting a third-party monitoring tool, and the task time parameters of nested tasks or interrupt tasks can be accurately calculated only by two calling functions.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobile control, in particular to a method and a device for determining task time parameters in a real-time operating system and a vehicle.
Background
The electronic control unit (Electronic Control Unit, ECU) is a core control component in the automobile control technology, and the automobile comprises a plurality of ECUs for realizing different control functions, and the ECU realizes the execution of the corresponding control functions mainly through a real-time operating system embedded therein. For a real-time operating system, the characteristics of the operating system can be described as follows: when the real-time operating system is initially embedded into the ECU, a programmer writes various tasks for executing corresponding control functions, wherein the tasks can comprise events, periods, interrupts and the like, the execution time and the execution sequence of each task are solidified in a programming stage, and the execution of the corresponding functions can be controlled only by powering on the ECU in practical application.
Because the running performance of the real-time operating system directly affects the service performance of the automobile, technicians often need to test the control performance of the ECU after embedding the real-time operating system into each corresponding ECU in the automobile, and the performance test of the real-time operating system is one link. Specifically, in the testing process, the determination of the task time parameter of the real-time operating system is an important task, because the determined task time parameter can reflect the running state of the real-time operating system and is used as a main evaluation index of the stability and reliability of the real-time operating system.
The existing method for determining the task time parameter mainly comprises the steps of directly obtaining the task time parameter through a register reading mode of a debugger, or alternatively, marking the starting time and the ending time of a task in a real-time operating system through a high-low level marking mode, and monitoring and calculating the task time parameter of the executed task through an oscilloscope. The two modes are often only suitable for determining task time parameters of a task without nesting or interrupting the task, and if nesting or interrupting the task exists, the determined task time parameters cannot reflect the real execution time of the marked task. The technician optimizes the real-time operating system with less reference to these task time parameters.
In addition, the method can also be used for monitoring various tasks in the form of a third-party monitoring tool so as to determine relatively accurate task time parameters. However, the mode of adopting the third party monitoring tool needs to be customized and integrated aiming at the chip platform, the coupling degree is high, the transplanting is not easy, the input cost is high, and the third party monitoring tool occupies more system resources in operation, the load capacity of the system is increased, and the stability of the whole test is influenced.
Disclosure of Invention
The embodiment of the invention provides a method, a device and a vehicle for determining task time parameters in a real-time operating system, which are used for monitoring various tasks without a third-party monitoring tool, and can accurately calculate task time parameters of nested tasks or interrupt tasks only by two calling functions.
In a first aspect, an embodiment of the present invention provides a method for determining a task time parameter in a real-time operating system, where the method includes:
establishing a call relation between a real-time operating system to be tested and a set task entering monitoring function and a task exiting monitoring function through an external call interface, wherein preset task identifiers exist corresponding to each task deployed in the real-time operating system to be tested;
acquiring a task time stamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
and determining task time parameter information of the task to be analyzed according to the task timestamp record table and the task identification of the selected task to be analyzed.
In a second aspect, an embodiment of the present invention provides a device for determining a task time parameter in a real-time operating system, where the device includes:
The system comprises a calling relation establishing module, a task exit monitoring function and a task entry monitoring function, wherein the calling relation establishing module is used for establishing a calling relation between a real-time operating system to be tested and a set task entry monitoring function and a task exit monitoring function through an external calling interface, and each task deployed in the real-time operating system to be tested is correspondingly provided with a preset task identifier;
the record table acquisition module is used for acquiring a task time stamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
and the parameter information determining module is used for determining task time parameter information of the task to be analyzed according to the task mark of the task to be analyzed combined with the task timestamp recording table.
In a third aspect, an embodiment of the present invention provides a vehicle including:
one or more processors;
a storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining task time parameters in a real-time operating system according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium, where a computer program is stored, where the program when executed by a processor implements a method for determining a task time parameter in a real-time operating system according to any embodiment of the present invention.
The embodiment of the invention provides a method, a device and a vehicle for determining task time parameters in a real-time operating system, which are characterized in that firstly, a calling relation between the real-time operating system to be tested and a set task entry monitoring function and a task exit monitoring function is established through an external calling interface, preset task identifiers corresponding to all tasks deployed in the real-time operating system to be tested are obtained, then a task time stamp recording table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs is obtained, finally, task time parameter information of the task to be analyzed is determined according to the task time stamp recording table in combination with the task identifiers of the selected task to be analyzed, and therefore, various tasks are monitored without adopting a third party monitoring tool, and accurate calculation of the task time parameters with nested tasks or interrupt tasks can be realized through only two calling functions, so that the real execution time of the selected task to be analyzed can be reflected, and more system resources are avoided.
Drawings
FIG. 1 is a flowchart of a method for determining task time parameters in a real-time operating system according to an embodiment of the present invention;
FIG. 2A is a flowchart of a method for determining task time parameters in a real-time operating system according to a second embodiment of the present invention;
FIG. 2B is a schematic diagram of a task preempted process in the method according to the second embodiment of the present invention;
fig. 2C is a flowchart of a step of determining time parameter information of a task to be analyzed in the method according to the second embodiment of the present invention;
FIG. 3 is a flowchart of a task time parameter determining apparatus in a real-time operating system according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a method for determining task time parameters in a real-time operating system according to an embodiment of the present invention, where the embodiment is applicable to a case of determining task time parameters in any real-time operating system, and the method for determining task time parameters in a real-time operating system according to the embodiment of the present invention may be implemented by a device for determining task time parameters in a real-time operating system according to an embodiment of the present invention, where the device may be implemented by software and/or hardware, and is integrated in a vehicle for implementing the method.
Specifically, referring to fig. 1, the method specifically includes the following steps:
s101, establishing a call relation between a real-time operating system to be tested and a set task entering monitoring function and a task exiting monitoring function through an external call interface, wherein preset task identifiers exist corresponding to each task deployed in the real-time operating system to be tested.
The external calling interface refers to an interface provided by software or service externally, corresponding functions can be realized by calling the interface, the real-time operating system to be tested refers to a real-time operating system which is embedded in the vehicle ECU and needs to be tested, the task entry monitoring function and the task exit monitoring function refer to a function for monitoring the entry time and a function for monitoring the exit time of a preset task in the real-time operating system, and since which tasks should be executed are designed in advance in the real-time operating system, which tasks can be inserted in the executed tasks, and the real-time operating system contains a plurality of tasks, the tasks can be periodic tasks, event tasks and interrupt tasks, and the embodiment is not particularly limited. In order to quickly distinguish which task is currently being executed from a plurality of tasks, task identifiers can be preset for each task in the real-time operating system to be tested, each task corresponds to one task identifier, and the task corresponding to the task identifier can be quickly locked through the task identifiers.
Optionally, a task entry monitoring function and a task exit monitoring function can be executed at a starting point and an ending point of a task in the real-time operating system to be tested respectively, the task entry monitoring function can be PreHook, the task exit monitoring function can be PostHook, and unified management of the task in the real-time operating system to be tested can be achieved through the two functions.
Specifically, in this embodiment, the task entry monitoring function and the task exit monitoring function set in the external calling interface are used to record the entry time and the exit time of the task in the real-time operating system, so that a calling relationship between the real-time operating system to be tested and the set task entry monitoring function and the task exit monitoring function is established, and the subsequent process of recording the task timestamp can be conveniently and smoothly performed through the calling relationship.
S102, acquiring a task time stamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs.
The task timestamp recording table may be a table for recording related timestamps in the task execution process.
Specifically, when the real-time operating system to be tested runs, the task in the real-time operating system to be tested is monitored by calling the task entry monitoring function and the task exit monitoring function, so that relevant time stamps at the task entry time and the task exit time in the task execution process can be recorded, and the relevant time stamps are associated with the executed task, so that a task time stamp recording table is obtained. The task time parameter information can be conveniently determined later through the time stamp information in the task time stamp recording table.
S103, determining task time parameter information of the task to be analyzed according to the task timestamp record table and the task identification of the selected task to be analyzed.
Specifically, since the number of tasks in the real-time operating system to be tested is large, the task to be analyzed is firstly selected, after the task to be analyzed is selected, the identification of the task to be analyzed is determined, then the task to be analyzed can be identified through the task identification of the selected task to be analyzed, then the relevant timestamp of the selected task to be analyzed is searched in the task timestamp record table, and the task time parameter information of the selected task to be analyzed can be determined through statistics and calculation of the relevant timestamp of the selected task to be analyzed. The time parameter is used as an index for measuring the performance test of the real-time operating system, and the real-time operating system is convenient to analyze or optimize subsequently through the acquired time parameter information.
Optionally, the task to be analyzed may specifically include a system task pre-written in the real-time operating system to be tested and a temporary task formed by pre-selecting any two time points in the real-time operating system to be tested.
Specifically, since a plurality of tasks to be executed by the operating system are already pre-written in the real-time operating system to be tested, when the task to be analyzed is selected, the system task pre-written in the real-time operating system to be tested can be used as the task to be analyzed; any two time points can be preselected in the real-time operating system to be tested, the task contained between the two time points forms a temporary task, the temporary task can be used as a task to be analyzed, the any two time points can be designated by a user or formulated by a technician, and the embodiment does not limit the task specifically. The task to be analyzed can be the task to be analyzed selected in the task of the real-time operating system to be analyzed, and the task time parameter information of the task in the executing process can be obtained by analyzing the task to be analyzed.
According to the technical scheme provided by the embodiment, firstly, the calling relation between a real-time operation system to be tested and a set task entry monitoring function and a task exit monitoring function is established through an external calling interface, preset task identifiers exist for all tasks deployed in the real-time operation system to be tested correspondingly, then a task timestamp recording table formed by the task entry monitoring function and the task exit monitoring function when the real-time operation system to be tested runs is obtained, finally task time parameter information of the task to be analyzed is determined according to the task timestamp recording table in combination with the task identifiers of the selected task to be analyzed, monitoring of various tasks is not needed by a third-party monitoring tool, accurate calculation of task time parameters with nested tasks or interrupt tasks can be achieved through the two calling functions, accordingly real execution time of the selected task to be analyzed can be reflected, and occupation of more system resources is avoided.
Example two
Fig. 2A is a flowchart of a method for determining task time parameters in a real-time operating system according to a second embodiment of the present invention, where the method is optimized based on the foregoing embodiment. Optionally, the embodiment explains the execution process of the task entry monitoring function and the execution process of the task exit monitoring function in detail.
Specifically, referring to fig. 2A, the method of this embodiment may specifically include:
s201, establishing a calling relation between a real-time operating system to be tested and a set task entering monitoring function and a task exiting monitoring function through an external calling interface.
S202, the starting time stamp of each task is preset to be a default value.
The start time stamp of the task may be data that can represent the running state of the task at a specific point in time.
Optionally, the starting time stamp of each task in the real-time operating system is preset to be a default value, so that the setting can facilitate the subsequent recording and updating of the starting time stamp of each task. This default value may be set manually, for example, the start time stamp may be set to 0xFFFFFFFF, or the start time stamp may be set to another value, which is not particularly limited in this embodiment.
S203, recording the task which is monitored to enter currently as a task which enters currently, acquiring a task identifier of the task which enters currently as a task identifier which enters currently, and acquiring a previous starting time stamp of the task which enters previously.
Specifically, since there are many tasks in the real-time operating system, in order to distinguish the tasks, the task of monitoring the current entering can be recorded as the current entering task, and the task identifier of the current entering task can be obtained if the task identifier is preset for each task in the real-time operating system to be tested, and the task identifier of the current entering task is recorded as the entering task identifier, so that the task can be distinguished from other tasks. Since the start time stamp of a task can represent the running state of the task at a specific time point, the previous start time stamp of the previous entering task is also acquired in order to judge the running state of the current task.
S204, judging whether the previous starting time stamp is a default value.
If yes, go to step S205-S206; if not, steps S207-S209 are performed.
S205, determining that the current entering task is the normal entering of the task, and controlling the preset identification state to be in a default state.
Specifically, after the previous start time stamp of the previous entering task is obtained, if the previous start time stamp is a default value, it means that the current entering task does not preempt the previous entering task, and the current entering task is the normal entering of the task, and at this time, the preset identification state of the current entering task is set to be the default state. The identification state is data for carrying out state record on the identification of the task in the real-time operating system, and the state of the current entering task can be clearly known through the identification state. The identification state may be set in advance by the technician, with two options, namely a default state and a preemption state.
S206, updating the current entering moment to be the starting time stamp of the current entering task and the entering time stamp of the current entering task, and recording the entering task identification, the corresponding starting time stamp and entering time stamp and the identification state association in a task time stamp recording table.
Specifically, after the current entering task is determined to be the normal entering of the task, the current entering time of the current entering task is updated to be the starting time stamp of the current entering task, and the current entering time of the current entering task is used as the entering time stamp of the current entering task. Since there may be more than one timestamp for a task in a real-time operating system, there may be multiple, such as a start timestamp for a task, an entry timestamp for a task, an exit timestamp for a task, etc. Therefore, when the task time stamp of the current entering task is recorded, the current entering task identifier, the starting time stamp of the current entering task, the entering time stamp of the current entering task and the identification state of the current entering task are recorded in the task time stamp recording table in a correlation mode, and by means of the correlation record, a technician can quickly find the starting time stamp of the current entering task, the entering time stamp of the current entering task and the identification state of the current entering task in the task time stamp recording table according to the current entering task identifier.
S207, determining that the current entering task is the preemption of the previous entering task, and controlling the identification state to be in the preemption state.
Specifically, if the previous start time stamp of the previous entering task is not a default value, which represents that the current task is not the normal entering of the task, but the preemption of the previous entering task, that is, the current entering task is the preempting task of the previous task, then the currently entering task identifier is set to be in a preempting state.
S208, determining the task identifier of the previous task as the preempted task identifier, and updating the current entering moment to be the starting time stamp of the current entering task and taking the current entering moment as the entering time stamp of the current entering task.
Specifically, after it is determined that the current entering task is the preempting task of the previous task, representing that the previous task is preempted by the current entering task, if the previous task is not executed, determining the task identifier of the previous task as the preempted task identifier, updating the current entering time of the current entering task to be the starting time stamp of the current entering task, and taking the current entering time of the current entering task as the entering time stamp of the current entering task.
S209, recording the entering task identification, the corresponding starting time stamp and entering time stamp, the preempted task identification and the identification state association in a task time stamp recording table.
Specifically, after updating the current entering time to be the starting time stamp of the current entering task and taking the current entering time stamp as the entering time stamp of the current entering task, in order to facilitate distinguishing the time stamps of the tasks in the real-time operating system, the current entering task identifier, the starting time stamp of the current entering task, the entering time stamp of the current entering task, the preempted task identifier of the previous task and the preempted state of the current entering task are recorded in a task time stamp recording table, and by means of the association record, a technician can know that the current entering task is the preempted task according to the preempted state of the current entering task and the preempted task identifier of the previous task, and the previous task is preempted by the current task, and meanwhile, the starting time stamp of the current entering task and the entering time stamp of the current entering task can be quickly searched in the task time stamp recording table.
The execution process of the task entry monitoring function is described in this embodiment through S203 to S209.
S210, recording the task which is monitored to be currently withdrawn as a current withdrawn task, acquiring a task identifier of the current withdrawn task as a withdrawn task identifier, taking the current moment as a withdrawn time stamp of the current withdrawn task and recovering a starting time stamp of the current withdrawn task as a default value.
Specifically, in the real-time operating system, a current entering task and a corresponding current exiting task exist, in order to better distinguish the tasks, the task of monitoring the current exiting task can be recorded as the current exiting task, and task identifiers are preset for the tasks in the real-time operating system to be tested, so that the task identifiers of the current exiting task can be obtained, and the task identifiers of the current exiting task are recorded as the exiting task identifiers. Since the exit timestamp of the task can represent that the running state of the task at a specific time point is exit, the current moment of exiting the task is taken as the exit timestamp of the current exiting task. And the current exiting task represents that the current task is executed and completed, so that the starting time stamp of the current exiting task is restored to a default value. This may be done on the one hand to represent that the current task has been performed and on the other hand to facilitate updating and judging the start time stamp of the task when the next task is performed.
S211, storing the exit task identification, the exit time stamp and the updated start time stamp in a task time stamp record table in an associated mode.
Specifically, since there may be more than one timestamp for a task in the real-time operating system, there may be multiple, such as a start timestamp for the task, an entry timestamp for the task, and an exit timestamp for the task. Therefore, when the task time stamp of the current exiting task is recorded, the current exiting task identifier, the starting time stamp of the current exiting task and the exiting time stamp of the current exiting task are recorded in the task time stamp recording table, and by means of the association record, a technician can quickly find the exiting time stamp of the current exiting task and the starting time stamp of the current exiting task in the task time stamp recording table according to the current exiting task identifier.
S212, searching a target entering task identifier which is the same as the exiting task identifier in the task timestamp recording table, and acquiring an identification state corresponding to the target entering task identifier.
Specifically, task identifiers are preset for each task in the real-time operating system to be tested, the task corresponding to the task identifier can be directly locked through the task identifiers, the exit task identifier and the entry task identifier of a certain task can be recorded in the task timestamp recording table, then the target entry task identifier which is the same as the exit task identifier in the task timestamp recording table is required to be searched, and therefore the existing entry process and the exiting process of the task can be determined, and the execution process of the task is from the entry process to the exiting process. At this time, in order to determine the state of the target entering task, it is also necessary to acquire the identification state corresponding to the target entering task identification.
S213, if the identification state is in the preemption state, acquiring a target preempted task identification corresponding to the target entering task identification, updating a starting time stamp of the preempted task corresponding to the target preempted task identification to the current time, and controlling the identification state to be in a default state.
Specifically, if the identification state corresponding to the target entering task identification is the preemption state, it represents that the previous task is preempted by the current target entering task, and because the current task is already executed and completed, the target preempted task identification corresponding to the target entering task identification is acquired at this time, the task identification of the previous task can be determined through the target preempted task identification, and the previous task can be locked, then the starting timestamp of the preempted task corresponding to the target preempted task identification, that is, the task identification of the previous task is updated to the current moment of the current exiting task, and meanwhile, because the execution of the current exiting task is completed, the corresponding target entering task can start executing, and therefore the task identification state of the target entering task is controlled to be the default state.
An exemplary diagram of a Task preempted process in the method provided by the second embodiment of the present invention is shown in fig. 2B, in the Environment (Environment, abbreviated as ENV), it is assumed that the current exit Task is task_1ms, the task_1ms exit timestamp is called, namely, T3, the preset Task identifier of task_1ms is 0002, the target entry Task identical to the exit Task task_1ms identifier is entry Task task_1ms, when task_1ms enters, the entry timestamp of task_1ms is already called, namely, T2, if the identification state corresponding to the entry Task task_1ms identifier is the preempted state, the entry timestamp representing that task_1 is the preempted Task for task_1ms, the exit timestamp of task_1ms is the preempted entry portal, namely, when task_1ms exits are executed are the preempted, namely, the entry timestamp of task_1ms is the preempted by the task_1ms is controlled to be the default state, and the entry timestamp of task_10ms is controlled to be the default state when the task_10ms is executed, namely, the entry timestamp of the task_10ms 1 is controlled to be the default state, and the entry timestamp of the preempted state is controlled to be the default state when the task_10ms is executed, namely, the entry timestamp of 10 is the preempted by the timestamp is controlled to be executed, and the timestamp of 10 is the preempted by the timestamp of the task_1ms (10 ms) is the preempted by the task_1ms, and the preempted by the task_1ms when the preempted by the Task is executed by the Task 1 ms.
S214, the target preempted task identification and the updated starting time stamp are recorded in a task time stamp recording table in association with the identification state.
Specifically, when the task time stamp of the target preempted task is recorded, the target preempted task identifier, the starting time stamp of the corresponding target preempted task after being updated, and the identifier state of the target preempted task are recorded in the task time stamp recording table in a correlation manner, so that a technician can quickly find the starting time stamp of the corresponding target preempted task after being updated and the identifier state of the target preempted task in the task time stamp recording table according to the target preempted task identifier through the correlation record.
The execution of the task exit monitoring function is described in this embodiment through S210-S214.
S215, determining task time parameter information of the task to be analyzed according to the task timestamp record table and the task identification of the selected task to be analyzed.
According to the technical scheme provided by the embodiment, firstly, the calling relation between a real-time operating system to be detected and a set task entry monitoring function and a task exit monitoring function is established through an external calling interface, then the starting time stamp of each task is preset to be a default value, then a task time stamp recording table is formed by executing the task entry monitoring function and the task exit monitoring function, finally task time parameter information of the task to be analyzed is determined according to the task time stamp recording table in combination with the task identification of the selected task to be analyzed, therefore, monitoring of various tasks is not needed by a third party monitoring tool, accurate calculation of the task time parameters of nested tasks or interrupt tasks can be achieved through two calling functions, and accordingly real execution time of the selected task to be analyzed can be reflected, and occupation of more system resources is avoided.
Further, fig. 2C is a flowchart illustrating the implementation of the step of determining the time parameter information of the task to be analyzed in the method according to the second embodiment of the present invention, and the detailed explanation of the implementation of the step of determining the time parameter information of the task to be analyzed is described below.
Specifically, referring to fig. 2C, the implementation process of the step of determining task time parameter information of the task to be analyzed may specifically include:
s2151, the task identification of the currently selected task to be analyzed is recorded as the task identification to be analyzed.
Specifically, because more tasks are in the real-time operating system, when the tasks are analyzed, the tasks to be analyzed are selected firstly, the currently selected tasks to be analyzed are used as the tasks to be analyzed for the secondary time, and meanwhile, the task identification of the currently selected tasks to be analyzed is recorded as the task identification to be analyzed, so that the setting has the advantage of being convenient for locking the currently selected tasks to be analyzed according to the task identification to be analyzed.
S2152, traversing the task time stamp record table, searching all the matched entering task identifiers and all the matched exiting task identifiers which are the same as the task identifiers to be analyzed, and forming at least one group of task operation sections.
Specifically, since the start time stamp, the entry time stamp, the exit time stamp, the task identifier and the task state of each task are recorded in the task time stamp recording table, when a certain task is analyzed, all the matched entry task identifiers and all the matched exit task identifiers which are the same as the task identifier to be analyzed can be searched in the task time stamp recording table according to the task identifier to be analyzed, all the matched entry tasks and the matched exit tasks which are the same as the task identifier to be analyzed can be searched according to all the matched entry task identifiers and all the matched exit task identifiers, and at least one group of task operation sections can be formed by combining the matched entry tasks and the matched exit tasks. The task operation sections may be one group or even multiple groups, and because some tasks in the real-time operating system may be periodic tasks, the periodic tasks are executed according to periods, and thus may be executed many times, the obtained task operation sections may be multiple groups of task operation sections.
S2153, for each group of task operation sections, acquiring a matching entry time stamp and a matching exit time stamp respectively associated with the matching entry task identifier and the matching exit task identifier in the task operation section.
Specifically, after the task operation sections are obtained, for each group of task operation sections, according to the matching entry task identification and the matching exit task identification in the task operation sections, the matching entry time stamp and the matching exit time stamp respectively associated with the matching entry task identification and the matching exit task identification in the task operation sections can be found in the task time stamp record table, so that the calculation of the single net operation time of the task is facilitated.
S2154, determining single net running time of the task to be analyzed according to the matched entering time stamp, the matched exiting time stamp and local time stamp information between the matched entering time stamp and the matched exiting time stamp, and taking the single net running time as one parameter item in the corresponding task time parameter information.
The local timestamp information refers to timestamp information recorded by a preemption task in the execution process of a matching entering task and a matching exiting task of a task to be analyzed.
Specifically, according to the matching entry time stamp and the matching exit time stamp, the matching entry time and the matching exit time of the task to be analyzed can be known, then the matching execution time can be calculated, then the execution time of the preemptive task can be calculated according to the local time stamp information between the matching entry time stamp and the matching exit time stamp, and finally the single net running time of the task to be analyzed can be obtained according to the matching execution time and the execution time of the preemptive task, at this time, the single net running time can be used as a parameter item in the corresponding task time parameter information, and the determined single net running time can reflect the running state of the real-time operating system through accurate calculation of the single net running time, so that the stability and reliability of the real-time operating system can be judged.
Further, the process of taking the average execution time as one parameter item in the corresponding task time parameter information may specifically include:
counting all single net running time of the task to be analyzed, and obtaining accumulated running time of the task to be analyzed; and determining the average execution time of the task to be analyzed according to the total group number of the task operation sections corresponding to the task to be analyzed and the accumulated operation time, and taking the average execution time as one parameter item in the corresponding task time parameter information.
Specifically, since the task to be analyzed may be a periodic task, the task to be analyzed may be executed multiple times during the execution process, a single net running time can be obtained for each execution, and the accumulated running time of the task to be analyzed can be obtained by counting all the single net running times of the task to be analyzed; when the task to be analyzed is possibly executed for a plurality of times, the number of groups of task operation sections corresponding to the task to be analyzed is also possibly multiple groups, the number of groups of task operation sections corresponding to the task to be analyzed is counted, the total number of groups of task operation sections corresponding to the task to be analyzed can be obtained, the average execution time of the task to be analyzed can be calculated by combining the accumulated operation time of the task to be analyzed, the average execution time can be used as one parameter item in corresponding task time parameter information, the operation state of a real-time operation system can be reflected through the average execution time, and then the stability and reliability of the real-time operation system can be judged.
Alternatively, the single minimum net running time and the single maximum net running time can be obtained by counting all the single net running times of the tasks to be analyzed; the execution period of the task to be analyzed can be obtained by recording the exit time stamp of the task to be analyzed when a certain single execution of the task to be analyzed is finished, recording the exit time stamp of the task to be analyzed when the next single execution of the same task to be analyzed is finished, calculating the time intervals of the two exit time stamps, and the minimum execution period of the task to be analyzed and the maximum execution period of the task to be analyzed can be obtained by comparing the exit time stamp intervals within a period of time, and the running total time of the task to be analyzed and the running total times of the task to be analyzed are counted. The single minimum net running time, the single maximum net running time, the minimum execution period, the maximum execution period and the average execution period can be used as performance indexes of the real-time operating system, the running state of the real-time operating system can be reflected, and the performance quality of the real-time operating system can be determined by judging the performance indexes.
Further, after the step of determining the time parameter information of the task to be analyzed, an anomaly recording process may be included. The anomaly recording process may specifically include:
when abnormal interruption is monitored, searching the task time stamp recording table according to the task identification of each task in the real-time operating system to be detected through an abnormal interruption service program, and determining whether the starting time stamp after last update of the task is a default value or not; if not, determining that the task runs abnormally, determining a specific timestamp corresponding to the last update starting timestamp, determining abnormal net running time according to the specific timestamp and the entry timestamp of the task, and storing a task identifier of the task in association with the abnormal net running time to be used as an abnormal record for problem positioning.
Specifically, since after the final execution of each task is completed, the starting timestamp of the task is set to be a default value, when abnormal interruption is monitored, a task timestamp record table is searched for each task in the real-time operating system to be tested according to a task identifier of a certain task, the starting timestamp value after the last update of the task can be obtained, and if the starting timestamp after the last update of the task is the default value, the task is normally operated; if the starting time stamp after the last update of the task is not a default value, the starting time stamp represents the running abnormality of the task, after the running abnormality of the task is determined, the specific time stamp corresponding to the time stamp of the last update of the starting time of the task is determined, then the abnormal net running time of the task can be obtained according to the specific time stamp of the task and the entering time stamp of the task, the task identifier of the task and the abnormal net running time of the task are stored in a task time stamp record table in a related manner and serve as abnormal record information, so that a technician can conveniently check the abnormal record information in the task time stamp record table at any time, and the abnormal can be rapidly positioned according to the abnormal record information, so that the time is saved.
Example III
Fig. 3 is a flowchart of a device for determining task time parameters in a real-time operating system according to a third embodiment of the present invention, where, as shown in fig. 3, the device may include:
the call relation establishing module 301 is configured to establish a call relation between a real-time operating system to be tested and a set task entry monitoring function and a task exit monitoring function through an external call interface, where each task deployed in the real-time operating system to be tested has a preset task identifier corresponding to the task;
the record table obtaining module 302 is configured to obtain a task timestamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
and the parameter information determining module 303 is configured to determine task time parameter information of the task to be analyzed according to the task identifier of the task to be analyzed in combination with the task timestamp recording table.
According to the technical scheme provided by the embodiment, firstly, the calling relation between a real-time operation system to be tested and a set task entry monitoring function and a task exit monitoring function is established through an external calling interface, preset task identifiers exist for all tasks deployed in the real-time operation system to be tested correspondingly, then a task timestamp recording table formed by the task entry monitoring function and the task exit monitoring function when the real-time operation system to be tested runs is obtained, finally task time parameter information of the task to be analyzed is determined according to the task timestamp recording table in combination with the task identifiers of the selected task to be analyzed, monitoring of various tasks is not needed by a third-party monitoring tool, accurate calculation of task time parameters with nested tasks or interrupt tasks can be achieved through the two calling functions, accordingly real execution time of the selected task to be analyzed can be reflected, and occupation of more system resources is avoided.
Further, the device for determining the task time parameter in the real-time operating system may further include:
entering a monitoring function execution module, wherein the starting time stamp of each task is preset to be a default value; marking a task which monitors the current entering as a current entering task, acquiring a task identifier of the current entering task as an entering task identifier, and acquiring a previous starting time stamp of a previous entering task; if the previous starting time stamp is a default value, determining that the current entering task is the normal entering of the task, and controlling a preset identification state to be in a default state; updating the current entering moment to be a starting time stamp of the current entering task and an entering time stamp serving as the current entering task, and recording an entering task identifier, a corresponding starting time stamp and an entering time stamp, and the identifier state association in the task time stamp recording table; otherwise, determining the current entering task as the preemption of the previous entering task, and controlling the identification state to be in a preemption state; determining the task identifier of the previous task as a preempted task identifier, and updating the current entering moment to be the starting time stamp of the current entering task and taking the starting time stamp as the entering time stamp of the current entering task; and recording the entering task identifier, the corresponding starting time stamp, the entering time stamp, the preempted task identifier and the identifier state association in a task time stamp recording table.
Further, the device for determining the task time parameter in the real-time operating system may further include:
the exit monitoring function executing module is used for marking the task which is monitored to be currently exited as a current exit task, obtaining a task identifier of the current exit task and marking the task identifier as an exit task identifier, taking the current moment as an exit time stamp of the current exit task and recovering a starting time stamp of the current exit task as a default value; storing the exit task identifier and the exit time stamp in a task time stamp record table in association with the updated start time stamp; searching a target entering task identifier which is the same as the exiting task identifier in the task timestamp recording table, and acquiring an identification state corresponding to the target entering task identifier; if the identification state is in the preemption state, acquiring a target preempted task identification corresponding to a target entering task identification, updating a starting time stamp of a preempted task corresponding to the target preempted task identification to the current time, and controlling the identification state to be in a default state; and recording the mark of the target preempted task and the updated starting time stamp in a task time stamp recording table in association with the mark state.
Further, the parameter information determining module 303 may be specifically configured to:
the task identification of the currently selected task to be analyzed is marked as the task identification to be analyzed; traversing the task timestamp record table, searching all matched entering task identifiers and all matched exiting task identifiers which are the same as the task identifiers to be analyzed, and forming at least one group of task operation sections; aiming at each group of task operation sections, acquiring a matching entry time stamp and a matching exit time stamp respectively associated with a matching entry task identifier and a matching exit task identifier in the task operation sections; and determining the single net running time of the task to be analyzed according to the matched entering time stamp, the matched exiting time stamp and the local time stamp information between the matched entering time stamp and the matched exiting time stamp, and taking the single net running time as one parameter item in the corresponding task time parameter information.
Further, the device for determining the task time parameter in the real-time operating system may further include:
the execution time determining module is used for counting all single net running time of the task to be analyzed and obtaining accumulated running time of the task to be analyzed; and determining the average execution time of the task to be analyzed according to the total group number of the task operation sections corresponding to the task to be analyzed and the accumulated operation time, and taking the average execution time as one parameter item in the corresponding task time parameter information.
Further, the device for determining the task time parameter in the real-time operating system may further include:
the abnormal recording module is used for searching the task time stamp recording table according to the task identification of each task in the real-time operating system to be detected through an abnormal interrupt service routine when abnormal interrupt is detected, and determining whether the starting time stamp after last update of the task is a default value or not; if not, determining that the task runs abnormally, determining a specific timestamp corresponding to the last update starting timestamp, determining abnormal net running time according to the specific timestamp and the entry timestamp of the task, and storing a task identifier of the task in association with the abnormal net running time to be used as an abnormal record for problem positioning.
Further, the tasks to be analyzed comprise system tasks which are pre-written in the real-time operating system to be analyzed and temporary tasks which are formed by any two time points pre-selected in the real-time operating system to be analyzed.
The device for determining the task time parameter in the real-time operating system provided by the embodiment of the invention can be applied to the method for determining the task time parameter in the real-time operating system provided by any embodiment, and has corresponding functions and beneficial effects.
Example IV
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, and as shown in fig. 4, the vehicle includes a processor 401, a storage device 402, and a communication device 403; the number of processors 401 in the vehicle may be one or more, one processor 401 being exemplified in fig. 4; the processor 401, the storage device 402 and the communication device 403 in the vehicle may be connected by a bus or other means, in fig. 4 by way of example.
The storage device 402 is used as a computer readable storage medium, and may be used to store a software program, a computer executable program, and a module (for example, the call relation establishing module 301, the record table obtaining module 302, and the parameter information determining module 303) corresponding to a method for determining a task time parameter in a real-time operating system according to an embodiment of the present invention. The processor 401 executes various functional applications of the vehicle and data processing by running software programs, instructions and modules stored in the storage device 402, i.e. implements the above-described method for determining task time parameters in a real-time operating system.
The storage device 402 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the terminal, etc. In addition, the storage 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the storage device 402 may further include memory remotely located with respect to the processor 401, which may be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Communication means 403 for implementing a network connection or a mobile data connection between the servers.
The vehicle provided by the embodiment can be used for executing the method for determining the task time parameters in the real-time operating system provided by any embodiment, and has corresponding functions and beneficial effects.
Example five
A fifth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for determining task time parameters in a real-time operating system, the method comprising:
establishing a call relation between a real-time operating system to be tested and a set task entering monitoring function and a task exiting monitoring function through an external call interface, wherein preset task identifiers exist corresponding to each task deployed in the real-time operating system to be tested;
acquiring a task time stamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
and determining task time parameter information of the task to be analyzed according to the task timestamp record table and the task identification of the selected task to be analyzed.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the above-described method operations, and may also perform the related operations in the method for determining the task time parameter in the real-time operating system provided in any embodiment of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the task time parameter determining apparatus in the real-time operating system, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A method for determining a task time parameter in a real-time operating system, comprising:
establishing a call relation between a real-time operating system to be tested and a set task entering monitoring function and a task exiting monitoring function through an external call interface, wherein preset task identifiers exist corresponding to each task deployed in the real-time operating system to be tested;
acquiring a task time stamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
Determining task time parameter information of the task to be analyzed according to the task timestamp record table and the task identification of the selected task to be analyzed;
the starting time stamp of each task is preset to be a default value;
the task entering monitoring function executing step comprises the following steps:
marking a task which monitors the current entering as a current entering task, acquiring a task identifier of the current entering task as an entering task identifier, and acquiring a previous starting time stamp of a previous entering task;
if the previous starting timestamp is a default value, then
Determining the current entering task as the normal entering of the task, and controlling a preset identification state to be in a default state;
updating the current entering moment to be a starting time stamp of the current entering task and an entering time stamp as the current entering task,
recording an entering task identifier, a corresponding starting time stamp, an entering time stamp and the identifier state association in the task time stamp recording table; otherwise the first set of parameters is selected,
determining the current entering task as the preemption of the previous entering task, and controlling the identification state to be in a preemption state;
determining the task identifier of the previous entering task as a preempted task identifier, and updating the current entering moment to be the starting time stamp of the current entering task and taking the starting time stamp as the entering time stamp of the current entering task;
Recording the entering task identifier, the corresponding starting time stamp, the entering time stamp, the preempted task identifier and the identifier state association in the task time stamp recording table;
the task exit monitoring function executing step comprises the following steps:
the task which is monitored to be currently exited is recorded as a current exited task, the task identification of the current exited task is obtained and recorded as an exited task identification,
taking the current moment as the exit time stamp of the current exit task and restoring the start time stamp of the current exit task to a default value;
storing the exit task identifier and the exit timestamp in association with the updated start timestamp in the task timestamp recording table;
searching a target entering task identifier which is the same as the exiting task identifier in the task timestamp recording table, and acquiring an identification state corresponding to the target entering task identifier;
if the identification state is in the preemption state, then
Acquiring a target preempted task identifier corresponding to a target entering task identifier, updating a starting time stamp of a preempted task corresponding to the target preempted task identifier to the current time, and controlling the identifier state to be in a default state;
And recording the mark of the target preempted task and the updated starting time stamp in the task time stamp recording table in association with the mark state.
2. The method according to claim 1, wherein determining task time parameter information of the task to be analyzed according to the task timestamp recording table in combination with the task identification of the selected task to be analyzed comprises:
the task identification of the currently selected task to be analyzed is marked as the task identification to be analyzed;
traversing the task timestamp record table, searching all matched entering task identifiers and all matched exiting task identifiers which are the same as the task identifiers to be analyzed, and forming at least one group of task operation sections;
aiming at each group of task operation sections, acquiring a matching entry time stamp and a matching exit time stamp respectively associated with a matching entry task identifier and a matching exit task identifier in the task operation sections;
and determining the single net running time of the task to be analyzed according to the matched entering time stamp, the matched exiting time stamp and the local time stamp information between the matched entering time stamp and the matched exiting time stamp, and taking the single net running time as one parameter item in the corresponding task time parameter information.
3. The method as recited in claim 2, further comprising:
counting all single net running time of the task to be analyzed, and obtaining accumulated running time of the task to be analyzed;
and determining the average execution time of the task to be analyzed according to the total group number of the task operation sections corresponding to the task to be analyzed and the accumulated operation time, and taking the average execution time as one parameter item in the corresponding task time parameter information.
4. The method as recited in claim 1, further comprising:
when abnormal interruption is monitored, searching the task time stamp recording table according to the task identification of each task in the real-time operating system to be detected through an abnormal interruption service program, and determining whether the starting time stamp after last update of the task is a default value or not;
if not, determining that the task runs abnormally, determining a specific timestamp corresponding to the last update starting timestamp, determining abnormal net running time according to the specific timestamp and the entry timestamp of the task, and storing a task identifier of the task in association with the abnormal net running time to be used as an abnormal record for problem positioning.
5. The method according to any one of claims 1 to 4, wherein the tasks to be analyzed include a system task pre-written in the real-time operating system to be tested and a temporary task formed by any two pre-selected time points in the real-time operating system to be tested.
6. A device for determining a task time parameter in a real-time operating system, comprising:
the system comprises a calling relation establishing module, a task exit monitoring function and a task entry monitoring function, wherein the calling relation establishing module is used for establishing a calling relation between a real-time operating system to be tested and a set task entry monitoring function and a task exit monitoring function through an external calling interface, and each task deployed in the real-time operating system to be tested is correspondingly provided with a preset task identifier;
the record table acquisition module is used for acquiring a task time stamp record table formed by the task entry monitoring function and the task exit monitoring function when the real-time operating system to be tested runs;
the parameter information determining module is used for determining task time parameter information of the task to be analyzed according to the task mark of the task to be analyzed combined with the task timestamp recording table;
entering a monitoring function execution module, wherein the starting time stamp of each task is preset to be a default value; marking a task which monitors the current entering as a current entering task, acquiring a task identifier of the current entering task as an entering task identifier, and acquiring a previous starting time stamp of a previous entering task; if the previous starting time stamp is a default value, determining that the current entering task is the normal entering of the task, and controlling a preset identification state to be in a default state; updating the current entering moment to be a starting time stamp of the current entering task and an entering time stamp serving as the current entering task, and recording an entering task identifier, a corresponding starting time stamp and an entering time stamp, and the identifier state association in the task time stamp recording table; otherwise, determining the current entering task as the preemption of the previous entering task, and controlling the identification state to be in a preemption state; determining the task identifier of the previous entering task as a preempted task identifier, and updating the current entering moment to be the starting time stamp of the current entering task and taking the starting time stamp as the entering time stamp of the current entering task; recording the entering task identifier, the corresponding starting time stamp, the entering time stamp, the preempted task identifier and the identifier state association in the task time stamp recording table;
The exit monitoring function executing module is used for marking the task which is monitored to be currently exited as a current exit task, obtaining a task identifier of the current exit task and marking the task identifier as an exit task identifier, taking the current moment as an exit time stamp of the current exit task and recovering a starting time stamp of the current exit task as a default value; storing the exit task identifier and the exit timestamp in association with the updated start timestamp in the task timestamp recording table; searching a target entering task identifier which is the same as the exiting task identifier in the task timestamp recording table, and acquiring an identification state corresponding to the target entering task identifier; if the identification state is in the preemption state, acquiring a target preempted task identification corresponding to a target entering task identification, updating a starting time stamp of a preempted task corresponding to the target preempted task identification to the current time, and controlling the identification state to be in a default state; and recording the mark of the target preempted task and the updated starting time stamp in the task time stamp recording table in association with the mark state.
7. The apparatus as recited in claim 6, further comprising:
The abnormal recording module is used for searching the task time stamp recording table according to the task identification of each task in the real-time operating system to be detected through an abnormal interrupt service routine when abnormal interrupt is detected, and determining whether the starting time stamp after last update of the task is a default value or not;
if not, determining that the task runs abnormally, determining a specific timestamp corresponding to the last update starting timestamp, determining abnormal net running time according to the specific timestamp and the entry timestamp of the task, and storing a task identifier of the task in association with the abnormal net running time to be used as an abnormal record for problem positioning.
8. A vehicle, characterized in that the vehicle comprises:
one or more processors;
a storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining task time parameters in a real-time operating system as claimed in any one of claims 1-5.
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