CN112925631A - Task scheduling method and device, electronic equipment and storage medium - Google Patents
Task scheduling method and device, electronic equipment and storage medium Download PDFInfo
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- CN112925631A CN112925631A CN202110377405.7A CN202110377405A CN112925631A CN 112925631 A CN112925631 A CN 112925631A CN 202110377405 A CN202110377405 A CN 202110377405A CN 112925631 A CN112925631 A CN 112925631A
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- 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
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Abstract
The application discloses a task scheduling method, which comprises the following steps: after the timer is started, detecting the number of counting variables of the timer which are 0 continuously from the lowest order according to the sequence from the low order to the high order, and determining the number as the target number; the counting variable of the timer is in a binary form; when the target number is detected to be changed, determining a target period corresponding to the current target number, and calling a task function of the target period to execute a task corresponding to the task function. The method can better utilize the time sequence to control the calling of the task function, effectively reduce the delay or loss proportion of the task, and improve the reliability and stability of the whole system. The application also provides a task scheduling device, an electronic device and a computer readable storage medium, which have the beneficial effects.
Description
Technical Field
The present application relates to the field of task scheduling technologies, and in particular, to a task scheduling method, a task scheduling apparatus, an electronic device, and a computer-readable storage medium.
Background
At present, a simple operating system is often used in an embedded system to implement task scheduling, and the typical periodic task period is 2ms/4ms/8ms … or 2.5ms/5ms/10ms/20ms …. Task scheduling typically uses a counter that calls the task function for the relevant period when a task period, such as 2ms, is reached.
However, in the related art, periodic tasks are not managed, and when the period of each task arrives, the corresponding task is directly executed, and a plurality of tasks need to be executed at the same time or the time sequences of the tasks are very close to each other, which may cause delay or loss of the tasks.
Disclosure of Invention
The task scheduling method can better utilize the time sequence to control the calling of task functions, effectively reduce the proportion of task delay or loss, and improve the reliability and stability of the whole system. The specific scheme is as follows:
in a first aspect, the present application discloses a task scheduling method, including:
after starting the timer, detecting the number of count variables of the timer which are 0 continuously from the lowest order according to the sequence from the lower order to the higher order, and determining the number as a target number; the counting variable of the timer is in a binary form;
when the target number is detected to be changed, determining a target period corresponding to the current target number, and calling a task function of the target period to execute a task corresponding to the task function.
Optionally, when it is detected that the number of the targets changes, determining a target period corresponding to the current number of the targets includes:
when the target number is detected to be changed, determining the current target number N;
according to the target number N, determining that the target period corresponding to the target number N is 2N+1。
Optionally, before starting the timer, the method further includes:
acquiring cycle information of each task;
and determining a factor multiplied by the target period according to the period information.
Optionally, the starting the timer includes:
setting the change times of the counting variable in the unit time of the timer;
and starting the timer after the setting is finished.
In a second aspect, the present application discloses a task scheduling apparatus, including:
the detection module is used for detecting the number of the counting variables of the timer which are 0 continuously from the lowest bit according to the sequence from the low bit to the high bit after the timer is started, and determining the number as the target number; the counting variable of the timer is in a binary form;
and the calling module is used for determining a target period corresponding to the current target number and calling a task function of the target period to execute a task corresponding to the task function when the target number is detected to be changed.
Optionally, the invoking module includes:
the first determining unit is used for determining the current target number N when the target number is detected to be changed;
a second determining unit, configured to determine, according to the target number N, that a target period corresponding to the target number N is 2N+1。
Optionally, the method further includes:
the acquisition module is used for acquiring the period information of each task;
and the determining module is used for determining a factor multiplied by the target period according to the period information.
Optionally, the detection module includes:
a setting unit for setting the number of times of change of the count variable in a unit time of the timer;
and the starting unit is used for starting the timer after the setting is finished.
In a third aspect, the present application discloses an electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the task scheduling method when executing the computer program.
In a fourth aspect, the present application discloses a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the task scheduling method as described above.
The application provides a task scheduling method, which comprises the following steps: after starting the timer, detecting the number of count variables of the timer which are 0 continuously from the lowest order according to the sequence from the lower order to the higher order, and determining the number as a target number; the counting variable of the timer is in a binary form; when the target number is detected to be changed, determining a target period corresponding to the current target number, and calling a task function of the target period to execute a task corresponding to the task function.
Therefore, the number of the continuous 0 from the lowest bit is detected, when the number of the continuous 0 from the lowest bit is changed, the target period corresponding to the current continuous 0 number is determined, and then the task function corresponding to the target period is called to execute the corresponding task. According to the method and the device, when the number of the task functions continuously changing from the low level to 0 is detected, the task functions of the corresponding target periods are called, the binary characteristic can be well utilized, time resources are controlled to call the task functions, the problem that a plurality of tasks need to be executed at the same moment due to the fact that the task functions of the periods are not managed in the related technology is solved, and the task delay or loss defect can be caused. The application also provides a task scheduling device, an electronic device and a computer readable storage medium, which have the beneficial effects and are not described herein again.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a task scheduling diagram according to an embodiment of the present application;
FIG. 2 is a task scheduling diagram of another embodiment provided by an embodiment of the present application;
fig. 3 is a flowchart of a task scheduling method according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating task scheduling of software control based on embedded task invocation according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating a flow of timer interrupt logic of task scheduling software logic according to an embodiment of the present application;
FIG. 6 is a flowchart illustrating task scheduling of task scheduling software logic according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a task scheduling device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
With the development of embedded design technology, the application fields of embedded systems are more and more, the requirements of users on electronic reliability are higher and higher, and safety standards are also put forward in various fields, such as the safety requirements of the IOS26262 whole vehicle functions, wherein the safety requirements of the embedded systems belong to very important evaluation indexes, and particularly, the safety and stability of products are affected by task loss or task delay in task scheduling. The task scheduling is not managed in the current embedded system, and a plurality of tasks need to be executed or the execution time of the tasks is very close to each other at the same time, so that the tasks are delayed or lost. Fig. 1 is a task scheduling diagram according to an embodiment provided in this embodiment. As can be seen from the task scheduling graph, when a plurality of tasks need to be executed at the same time in task scheduling, a delay of the tasks or a loss of the task request may be caused. Fig. 2 is a task scheduling diagram of another embodiment provided by this embodiment. It can be seen that the periodic tasks of 8ms _1 and 16ms _3 are 1ms away from the time of the 4ms periodic task, and if the sum of the execution time and the interrupt time of the task of 8ms _1 is greater than 1ms, the next task is certainly delayed to be executed. If the task execution time exceeds 2ms, the next task to be executed is missed. In addition, if tasks in other periods are used in the task scheduling, two tasks must be executed at the same time.
Based on the above technical problems, this embodiment provides a task scheduling method, which can better utilize a time sequence to control the invocation of a task function, effectively reduce the proportion of task delay or loss, and improve the reliability and stability of the entire system, specifically refer to fig. 3, where fig. 3 is a flowchart of a task scheduling method provided in this embodiment of the present application, and specifically includes:
s101, after the timer is started, detecting the number of count variables of the timer, which are 0 continuously from the lowest bit, according to the sequence from the lower bit to the higher bit, and determining the number as a target number; the counting variable of the timer is in binary form.
In this embodiment, a timer is used to implement time scheduling management for each task, and the counting variable of the timer is automatically increased or decreased to control the time sequence change of the timer. The counting variable of the timer in this embodiment takes a binary form, i.e. only 0 and 1. It is understood that in the present embodiment, after the timer is started, the counting variable is changed incrementally until the maximum value is reached, and the counting can be continued from 0. It is understood that the number of consecutive 0's from the lowest bit, i.e. 0 th bit, is counted, for example, the number of consecutive 0's is 2, and then the value of 2 nd bit is 1. In this embodiment, the number of 0 'S in the lowest order is detected in the order from the lower order to the upper order, and the number of 0' S in succession is set as the target number, so that the step S102 is executed according to the target number.
S102, when the target number is detected to be changed, determining a target period corresponding to the current target number, and calling a task function of the target period to execute a task corresponding to the task function.
It is understood that the target number may be changed to increase or decrease in the present embodiment. For example, if the current count variable has a value of 01, then the count variables at subsequent times are 10,11, 100,101,110,111,1000, respectively. It can be seen that the number of successive 0's from the lowest bit is constantly changing, and then when the counting variable is 10, the target number is 1, i.e. the task function of the target period corresponding to the target number 1 can be called; when the counting variable is 100, the number of the targets is 2, namely, the task functions of the target periods corresponding to the number of the targets of 2 can be called; when the counting variable is 1000, the number of the targets is 3, that is, the task functions of the target period corresponding to the target number of 3 can be called, and so on. That is, the task functions in this embodiment correspond to the target periods, and the target periods correspond to the target number and are determined according to the target number. The embodiment does not limit the specific content of the task, and the corresponding task function can be set according to the actual requirement.
In this embodiment, the specific process of determining the target period according to the target number is not limited, and in a specific embodiment, when it is detected that the target number changes, determining the target period corresponding to the current target number may include:
when the change of the number of the targets is detected, determining the number N of the current targets;
according to the target number N, determining the target period corresponding to the target number N to be 2N+1。
That is, in this embodiment, when it is detected that the target number changes, the current target number is determined and recorded as N, and then the target period corresponding to the target number N is 2N+1. For example, when N is 0, then the target period is 2 ms; when N is 1, then the target period is 4 ms; when N is 2, then the target period is 8 ms.
It is understood that, in the present embodiment, the target period with a long target period is obtained by multiplying the target period by 2. In this embodiment, the minimum task period corresponding to each task function is not limited, and may be 2ms, or may be 2.5 ms. The present embodiment does not limit a specific manner of determining the factor multiplied by the target period. In a specific embodiment, before starting the timer, the method may further include:
acquiring cycle information of each task;
from the period information, a factor by which the target period is multiplied is determined.
That is, in the present embodiment, the period information of each task is first acquired, and the specific content of the period information is not limited in the present embodiment, and may be 2ms/4ms/8ms …, or 5ms/10ms/20ms …. After the period information is obtained, the factor multiplied by the target period can be determined according to the period information. Specifically, for example, when the period information is 2ms/4ms/8ms …, setting N equal to 0, the corresponding target period is 2ms, and the minimum period in the period information is 2ms, so that the factor multiplied by the target period is 1; when the period information is 5ms/10ms/20ms …, if N is set equal to 0, the corresponding target period is 2ms, and the minimum period in the period information is 5ms, then the factor multiplied by the target period is 2.5.
The embodiment does not limit the specific process of starting the timer. In a specific embodiment, starting the timer may include:
setting the change times of a counting variable in unit time of a timer;
and starting a timer after the setting is finished.
In this embodiment, the number of times of change of the count variable in the unit time of the timer is set according to the period information, and this embodiment does not specifically limit the number of times of change of the count variable in the unit time of the timer. The count variable may change 1 time every 1ms, or the count variable may change 1 time every 2 ms. After the corresponding relation between the unit time of the timer and the change times of the counting variable is set, the timer can be started for timing.
Based on the technical scheme, when the number of the low-order continuous 0 is detected to be changed, the task function of the corresponding target period is called, so that the binary characteristic can be well utilized, the time resource is controlled to call the task function, the calling of the time sequence control task function can be better utilized, the delay or loss proportion of the task is effectively reduced, the time resource of the controller can be better utilized, the time sequence control is completed, and the reliability and the stability of the whole system are improved.
The following is a software control method for embedded task invocation provided by this embodiment. The software may include three main parts: task scheduling management, task scheduling software implementation and task calling module.
1. Task scheduling management
Fig. 4 is a schematic diagram of task scheduling based on software control of embedded task invocation according to this embodiment. Firstly, the task period includes 4ms, 8ms, 16ms and 32ms, but can also extend to 64ms and 128ms …, the number of tasks is more, and the tasks with different priorities can be processed more flexibly. It should be noted that, in the embedded task call, events with longer execution time and lower priority are generally executed in tasks with longer period, while tasks with shorter execution time and higher priority are often executed in tasks with shorter period.
Secondly, it can be seen from fig. 4 that the time interval between any two tasks is not less than 2ms, which means that if the task execution time is less than 2ms, the next task to be executed will not be affected.
Finally, the minimum interval time between the 32ms periodic task and the 16ms periodic task is 8ms, while the minimum interval time between the 16ms periodic task and the 8ms periodic task is 4ms, and according to the event with the shortest execution time and the highest priority, the event with the longest execution time and the lowest priority needs to be executed in the task with the longest period. It can be seen that the time interval between the 16 ms-period task and the 32 ms-period task, which have relatively long execution times, is 8ms, and the two tasks do not affect each other, and the tasks are all connected with the task with the shortest execution time and the highest priority (the 4 ms-period task), and the two tasks are executed together, and the possibility that the execution times of the two tasks exceed the critical value at the same time is low, and even if an emergency occurs, the stability of the system can ensure that all tasks are not missed.
2. Task calling module
When the product is managed by using the timer, the counting variable is increased by one every 1ms, and the relevant time point of the task executor sets the task state to be in a ready state. Then the correspondence of time, the value of the timer variable, and the binary value of the timer variable may be: 0ms, 0, 0; 1ms, 1, 01; 2ms, 2, 10; 3ms, 3, 11; 4ms, 4, 100; 5ms, 5, 101; 6ms, 6, 110; 7ms, 7, 111; 8ms, 8, 1000 ….
Then, the time interval with the lower two bits 10 is 4 ms:
binary number 10 equals 1 left shifted by 1 bit, (4ms ═ 21+1ms)。
The time interval for the lower three bits to be 100 is 8 ms:
binary 100 equals 1 left shifted by 2 bits, (8ms 2)2+1ms)。
The time interval for the lower four bits to be 1000 is 16ms,
binary number 1000 equals 1 left shifted by 3 bits, (16ms ═ 23+1ms)。
The time interval with 10000 lower five bits is 32 ms:
binary number 10000 is equal to 1 left shifted by 4 bits, (32ms ═ 24+1ms)。
The time interval of 100000 lower six bits is 64 ms:
binary number 100000 equal to 1 shifted 5 bits left, (64ms 2)5+1ms)。
3. Task scheduling software implementation
FIG. 5 is a schematic diagram illustrating a logic flow of a timer interrupt of task scheduling software logic according to this embodiment; fig. 6 is a schematic flowchart of task scheduling of the task scheduling software logic in this embodiment. The counting variable of the timer, namely the value of the timer variable, is accumulated once every 1ms, the embedded system judges whether the value of the counting variable of the timer is changed, if so, the embedded system judges the number of the timer variable which is continuously 0 from the lowest bit, and if the number of 0 is x, the starting period is 2x+1A task of milliseconds.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a task scheduling device according to an embodiment of the present application, where the task scheduling device described below and the task scheduling method described above are referred to in a corresponding manner, and the relevant modules are all disposed in the task scheduling device, and the task scheduling device includes:
in some specific embodiments, the method specifically includes:
a detecting module 701, configured to, after the timer is started, detect, according to an order from a low bit to a high bit, a number of count variables of the timer that are 0 continuously from the lowest bit, and determine the number as a target number; the counting variable of the timer is in a binary form;
the invoking module 702 is configured to determine a target period corresponding to the current target number when it is detected that the target number changes, and invoke a task function of the target period to execute a task corresponding to the task function.
In some specific embodiments, the invoking module 702 includes:
the first determining unit is used for determining the number N of the current targets when the change of the number of the targets is detected;
a second determining unit, configured to determine, according to the target number N, that the target period corresponding to the target number N is 2N+1。
In some specific embodiments, the method further comprises:
the acquisition module is used for acquiring the period information of each task;
and the determining module is used for determining a factor multiplied by the target period according to the period information.
In some specific embodiments, the detecting module 701 includes:
a setting unit for setting the number of times of change of the count variable in a unit time of the timer;
and the starting unit is used for starting the timer after the setting is finished.
Since the embodiment of the task scheduling device portion corresponds to the embodiment of the task scheduling method portion, please refer to the description of the embodiment of the task scheduling method portion for the embodiment of the task scheduling device portion, which is not repeated here.
In the following, an electronic device provided by an embodiment of the present application is introduced, and the electronic device described below and the task scheduling method described above may be referred to correspondingly.
The application also discloses an electronic device, including:
a memory for storing a computer program;
a processor for implementing the steps of the task scheduling method as described above when executing the computer program.
Since the embodiment of the electronic device portion corresponds to the embodiment of the task scheduling method portion, please refer to the description of the embodiment of the task scheduling method portion for the embodiment of the electronic device portion, which is not repeated here.
In the following, a computer-readable storage medium provided by an embodiment of the present application is introduced, and the computer-readable storage medium described below and the task scheduling method described above may be referred to correspondingly.
The application also discloses a computer readable storage medium, on which a computer program is stored, which, when being executed by a processor, realizes the steps of the task scheduling method.
Since the embodiment of the computer-readable storage medium portion corresponds to the embodiment of the task scheduling method portion, please refer to the description of the embodiment of the task scheduling method portion for the embodiment of the computer-readable storage medium portion, which is not repeated here.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The task scheduling method, the task scheduling device, the electronic device, and the computer-readable storage medium provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (10)
1. A method for task scheduling, comprising:
after starting the timer, detecting the number of count variables of the timer which are 0 continuously from the lowest order according to the sequence from the lower order to the higher order, and determining the number as a target number; the counting variable of the timer is in a binary form;
when the target number is detected to be changed, determining a target period corresponding to the current target number, and calling a task function of the target period to execute a task corresponding to the task function.
2. The task scheduling method according to claim 1, wherein when it is detected that the target number changes, determining a target period corresponding to the current target number comprises:
when the target number is detected to be changed, determining the current target number N;
according to the target number N, determining that the target period corresponding to the target number N is 2N+1。
3. The task scheduling method according to claim 2, further comprising, before starting the timer:
acquiring cycle information of each task;
and determining a factor multiplied by the target period according to the period information.
4. The task scheduling method according to claim 2, wherein the starting the timer comprises:
setting the change times of the counting variable in the unit time of the timer;
and starting the timer after the setting is finished.
5. A task scheduling apparatus, comprising:
the detection module is used for detecting the number of the counting variables of the timer which are 0 continuously from the lowest bit according to the sequence from the low bit to the high bit after the timer is started, and determining the number as the target number; the counting variable of the timer is in a binary form;
and the calling module is used for determining a target period corresponding to the current target number and calling a task function of the target period to execute a task corresponding to the task function when the target number is detected to be changed.
6. The task scheduler of claim 5, wherein the invoking module comprises:
the first determining unit is used for determining the current target number N when the target number is detected to be changed;
a second determining unit, configured to determine, according to the target number N, that a target period corresponding to the target number N is 2N+1。
7. The task scheduler of claim 6, further comprising:
the acquisition module is used for acquiring the period information of each task;
and the determining module is used for determining a factor multiplied by the target period according to the period information.
8. The task scheduler of claim 6, wherein the detection module comprises:
a setting unit for setting the number of times of change of the count variable in a unit time of the timer;
and the starting unit is used for starting the timer after the setting is finished.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the task scheduling method according to any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the task scheduling method according to any one of claims 1 to 4.
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| CN113985818A (en) * | 2021-10-25 | 2022-01-28 | 西安热工研究院有限公司 | Task scheduling method and system for steam turbine servo card and steam turbine servo card |
| CN117421106A (en) * | 2023-12-11 | 2024-01-19 | 湖南行必达网联科技有限公司 | Task scheduling method, system and equipment for embedded software |
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