CN112379977A - Task-level fault processing method based on time triggering - Google Patents
Task-level fault processing method based on time triggering Download PDFInfo
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- 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
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- G06F9/4831—Task transfer initiation or dispatching by interrupt, e.g. masked with variable priority
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- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
- G06F11/0706—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment
- G06F11/0715—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment in a system implementing multitasking
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Abstract
The invention relates to a hard real-time and soft real-time task scheduling method based on time triggering. However, in a safety-critical system, there are tasks that require an incident response in addition to the colleagues in which the deterministic task exists, and there is no requirement that the execution be completed within a certain time window. For the tasks, the time-triggered operating system adds soft real-time task scheduling on the basis of the original hard real-time task, can simultaneously meet the requirements of two task scheduling, and effectively improves the flexibility of meeting the event-type task scheduling by the system while ensuring the system certainty.
Description
Technical Field
The invention relates to the field of embedded safety key system fault processing, in particular to a task-level fault processing method based on time-triggered scheduling.
Background
The time trigger operating system can provide deterministic task scheduling for the application and a space isolation partition running environment, and brings good certainty for users. When a task fails, the time-triggered operating system can isolate the fault within a certain range to avoid the spread of the fault, and at the moment, if the fault is timely processed, the system is restarted or reconstructed, so that the functional integrity of the system can be greatly improved. For the task fault, the system-level fault processing can be used, and the task fault can be responded quickly and timely.
However, the system-level fault handling is operated in the privileged state of the processor, and has the use authority for all resources of the processor. If the fault processing process cannot be handled by itself, the fault may spread, and the whole system may be crashed. And if the system level fault processing consumes too long time, the normal tasks of other partitions can be damaged, so that the system functions are polluted in time. Therefore, a fault handling process is limited to the user-mode authority of the processor, and a time-deterministic trigger scheduling principle is followed, and an original system-level fault handling method is not damaged, so that the safety and reliability of the system are effectively improved.
In patent CN106528276B, under the method proposed by the related invention, each fault processing task can only process a fault occurring in one specific task, and if it is desired to ensure that the faults of all application tasks in a partition can operate in a processor user mode authority, multiple fault processing tasks need to be created, so that the related method consumes more system resources and increases the difficulty in use for users.
In patent CN106293986B, although the method proposed in the related invention can make the fault handling process run under the user mode authority of the processor, the method does not consider a scenario in which a plurality of hard real-time tasks and soft real-time tasks share a time window, and cannot implement time isolation of the fault handling process in the scenario.
Disclosure of Invention
The purpose of the invention is: when a task fails under a time-triggered operating system, in order to ensure that the normal task operation of other partitions cannot be influenced in the fault processing process of the failed task, a task-level fault processing method meeting the time-triggered certainty is provided.
In order to solve the technical problem, the technical scheme of the invention is as follows: providing a time-triggered task level
A method of fault handling, the method comprising the steps of:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access; each partition is provided with a fault processing task, and the task type of the fault processing task is a soft real-time task;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system; the fault processing task monitors all hard real-time tasks and soft real-time tasks in the corresponding partitions;
when a fault that a hard real-time task window is overtime, a hard real-time task budget is overtime or a soft real-time task budget is overtime occurs in the current period, the task operation monitor reports a task overtime fault corresponding to the system and generates fault information to the fault processing task, and the fault processing task is queued and sequenced in the next period before the task reporting the overtime fault. Therefore, the fault processing task does not occupy the execution of other time window tasks.
Further, when a task in the current period has a non-timeout fault, the task running monitor reports the non-timeout fault of the task corresponding to the system, and generates fault information to the fault processing task, and the fault processing task is directly executed. So that task failure processing is performed immediately if the time window has remaining time.
Further, when the fault processing task arranged in the previous window is not completed and the window time is finished, the current execution context of the fault processing task is saved and the next period for continuing the execution is carried out. Therefore, the problem that the normal task execution is influenced by the interlocking of the fault reporting is avoided to a certain extent.
Further, if the task processed by the fault processing task is the overtime fault task, in the next period, according to the execution result of the fault processing task, the task with the overtime fault is directly executed after the fault processing task is executed. Thereby ensuring that the overtime task after the fault processing is executed immediately.
Further, if the task processed by the fault processing task is a non-overtime fault task, in the next period after the fault processing task is executed, the task with the non-overtime fault is executed according to the result of the fault processing task. Thereby ensuring that non-timeout faults are not executed twice in a cycle.
Further, the fault processing task acquires fault information from the partition fault message queue. After a plurality of faults occur, each fault information can be responded.
Further, the fault processing task selects a corresponding fault processing strategy according to the fault task name and the fault type in the fault information. So as to ensure that a proper fault processing strategy can be used according to the influence range of the fault task and the fault type.
Further, if the fault processing task has a non-overtime fault, processing according to a system fault processing strategy. Thereby ensuring that the fault of the fault handling task can be handled.
Further, if the execution time of the fault processing task exceeds the task budget time, the fault processing task is in an overtime state and is processed according to a system fault processing strategy. Thereby ensuring that the fault of the fault handling task can be handled.
Further, if the fault processing task fails and is in a fault state, the task fails again in the partition, and the processing is performed according to the system fault processing strategy. Therefore, partition faults can be processed under the condition of ensuring fault processing faults.
Further to the present invention, the fault handling policy includes: fault ignoring, fault recording and then ignoring, fault task suspending, fault task restarting, time schedule reconstruction or system restarting.
Further, for the present invention, it is also required that: the system adopts a single-core processor.
The invention has the advantages and beneficial effects that: by the time-triggered task level fault processing method, the fault processing process of the task in the partition can be limited in the fault processing task which is enabled in the partition, so that the fault processing process is prevented from being mistaken in time and space, the influence on an operating system and the task operation of other normal partitions in the system is avoided, and the partition isolation is improved. In addition, each partition is provided with a fault processing task, so that different partitions can define proper fault processing procedures according to the characteristics of the partitions.
Drawings
FIG. 1 is a schematic process flow diagram of the present invention;
FIG. 2 is an exemplary diagram of task scheduling under normal system conditions;
FIG. 3 is a diagram showing an example of task scheduling for normal execution of a fault handling task in embodiment 2;
FIG. 4 is a diagram showing an example of task scheduling in a time-out window of a fault handling task in embodiment 3;
FIG. 5 is a diagram showing an example of task scheduling for normal execution of a fault handling task in embodiment 4;
fig. 6 is a diagram showing an example of task scheduling for normal execution of a fault handling task in embodiment 5.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings.
Example 1
Referring to fig. 2, the method as above is a task-level fault handling method based on time triggering, and the method
The method comprises the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access; each partition is provided with a fault processing task, and the task type of the fault processing task is a soft real-time task;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system; the fault processing task monitors all hard real-time tasks and soft real-time tasks in the corresponding partitions;
when a fault that a hard real-time task window is overtime, a hard real-time task budget is overtime or a soft real-time task budget is overtime occurs in the current period, the task operation monitor reports a task overtime fault corresponding to the system and generates fault information to the fault processing task, and the fault processing task is queued and sequenced in the next period before the task reporting the overtime fault. Therefore, the fault processing task does not occupy the execution of other time window tasks.
In this embodiment, when a task in the current period has a non-timeout fault, the task running monitor may report the non-timeout fault of the task corresponding to the system, and generate fault information to the fault processing task, and the fault processing task is directly executed.
Example 2
Referring to fig. 3, a task-level fault handling method based on time triggering includes the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access; each partition is provided with a fault processing task, and the task type of the fault processing task is a soft real-time task;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system; the fault processing task monitors all hard real-time tasks and soft real-time tasks in the corresponding partitions;
when a fault that a hard real-time task window is overtime, a hard real-time task budget is overtime or a soft real-time task budget is overtime occurs in the current period, the task operation monitor reports a task overtime fault corresponding to the system and generates fault information to the fault processing task, and the fault processing task is queued and sequenced in the next period before the task reporting the overtime fault. Therefore, the fault processing task does not occupy the execution of other time window tasks.
In this embodiment, when the failure processing task ranked in the previous window is not completed and the window time has ended, the current execution context of the failure processing task is saved, and the execution is continued in the next period.
Example 3
Referring to fig. 4, a task-level fault handling method based on time triggering includes the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access; each partition is provided with a fault processing task, and the task type of the fault processing task is a soft real-time task;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system; the fault processing task monitors all hard real-time tasks and soft real-time tasks in the corresponding partitions;
when a fault that a hard real-time task window is overtime, a hard real-time task budget is overtime or a soft real-time task budget is overtime occurs in the current period, the task operation monitor reports a task overtime fault corresponding to the system and generates fault information to the fault processing task, and the fault processing task is queued and sequenced in the next period before the task reporting the overtime fault. Therefore, the fault processing task does not occupy the execution of other time window tasks.
In this embodiment, if the task processed by the fault processing task is the overtime fault task, in the next cycle, the task with the overtime fault is directly executed after the fault processing task is executed according to the execution result of the fault processing task.
Example 4
Referring to fig. 5, a task-level fault handling method based on time triggering includes the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access; each partition is provided with a fault processing task, and the task type of the fault processing task is a soft real-time task;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system; the fault processing task monitors all hard real-time tasks and soft real-time tasks in the corresponding partitions;
when a fault that a hard real-time task window is overtime, a hard real-time task budget is overtime or a soft real-time task budget is overtime occurs in the current period, the task operation monitor reports a task overtime fault corresponding to the system and generates fault information to the fault processing task, and the fault processing task is queued and sequenced in the next period before the task reporting the overtime fault. Therefore, the fault processing task does not occupy the execution of other time window tasks.
In this embodiment, if the task processed by the fault processing task is a non-timeout fault task, in the next cycle after the fault processing task is executed, the task having the non-timeout fault is executed according to the result of the fault processing task.
Example 5
Referring to fig. 6, a task-level fault handling method based on time triggering includes the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access; each partition is provided with a fault processing task, and the task type of the fault processing task is a soft real-time task;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system; the fault processing task monitors all hard real-time tasks and soft real-time tasks in the corresponding partitions;
when a fault that a hard real-time task window is overtime, a hard real-time task budget is overtime or a soft real-time task budget is overtime occurs in the current period, the task operation monitor reports a task overtime fault corresponding to the system and generates fault information to the fault processing task, and the fault processing task is queued and sequenced in the next period before the task reporting the overtime fault. Therefore, the fault processing task does not occupy the execution of other time window tasks.
In this embodiment, if the task processed by the fault processing task is a non-timeout fault task, in the next cycle after the fault processing task is executed, the task having the non-timeout fault is executed according to the result of the fault processing task.
Claims (10)
1. A task-level fault processing method based on time triggering is characterized in that:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access; each partition is provided with a fault processing task, and the task type of the fault processing task is a soft real-time task;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system; the fault processing task monitors all hard real-time tasks and soft real-time tasks in the corresponding partitions;
when a fault that a hard real-time task window is overtime, a hard real-time task budget is overtime or a soft real-time task budget is overtime occurs in the current period, the task operation monitor reports a task overtime fault corresponding to the system and generates fault information to the fault processing task, and the fault processing task is queued and sequenced in the next period before the task reporting the overtime fault.
2. The task-level fault handling method based on time triggering according to claim 1, wherein: when the task in the current period has a non-overtime fault, the task running monitor reports the non-overtime fault of the task corresponding to the system, and generates fault information to the fault processing task, and the fault processing task is directly executed.
3. The task-level fault handling method based on time triggering according to claim 1, wherein: when the fault processing task arranged in the previous window is not completed and the window time is finished, the current execution context of the fault processing task is saved and the execution is continued in the next period.
4. The task-level fault handling method based on time triggering according to claim 3, wherein: if the task processed by the fault processing task is the overtime fault task, in the next period, according to the execution result of the fault processing task, the task with overtime fault is directly executed after the fault processing task is executed.
5. The task-level fault handling method based on time triggering according to claim 3, wherein: and if the task processed by the fault processing task is the non-overtime fault task, in the next period, executing the task with the non-overtime fault according to the result of the fault processing task in the next period after the fault processing task is executed.
6. A time-triggered task-level fault handling method according to any one of claims 1 to 5, characterized in that: and the fault processing task acquires fault information from the partition fault message queue.
7. The task-level fault handling method based on time triggering according to claim 6, wherein: and the fault processing task selects a corresponding fault processing strategy according to the fault task name and the fault type in the fault information.
8. A time-triggered task-level fault handling method according to any one of claims 1 to 7, characterized in that: and if the fault processing task has non-overtime faults, processing according to a system fault processing strategy.
9. A time-triggered task-level fault handling method according to any one of claims 1 to 8, characterized in that:
and if the execution time of the fault processing task exceeds the task budget time, the fault processing task is in an overtime state and is processed according to a system fault processing strategy.
10. The task-level fault handling method based on time triggering according to claim 1, wherein: and if the fault processing task fails and is in a fault state, the task fails again in the partition, and processing is carried out according to a system fault processing strategy.
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