CN113608883B - Encapsulation method based on VxWorks real-time operating system - Google Patents
Encapsulation method based on VxWorks real-time operating system Download PDFInfo
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- CN113608883B CN113608883B CN202110686079.8A CN202110686079A CN113608883B CN 113608883 B CN113608883 B CN 113608883B CN 202110686079 A CN202110686079 A CN 202110686079A CN 113608883 B CN113608883 B CN 113608883B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000005538 encapsulation Methods 0.000 title claims abstract description 5
- 238000012545 processing Methods 0.000 claims abstract description 57
- 238000004806 packaging method and process Methods 0.000 claims abstract description 5
- 238000007726 management method Methods 0.000 claims description 55
- 230000006870 function Effects 0.000 claims description 40
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000011161 development Methods 0.000 abstract description 3
- 238000003672 processing method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011423 initialization method Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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
- G06F9/54—Interprogram communication
- G06F9/546—Message passing systems or structures, e.g. queues
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2209/00—Indexing scheme relating to G06F9/00
- G06F2209/54—Indexing scheme relating to G06F9/54
- G06F2209/548—Queue
Abstract
A packaging method based on VxWorks real-time operation system includes designing message queue management structure; then defining global array management information, and using array elements as information queue management structure body; in the message queue sending function, applying for pointer variables for a message queue management structure body to realize application space for message contents to be transferred; and assigning pointer variables of the message queue management structure body; the message queue management structure body is sent out through an operation system message queue sending function, and the space of pointer variables of the message queue management structure body is released; and correlating the sending thread and the receiving thread of the message, acquiring a received message queue management structure body from the receiving thread, analyzing and processing the content of the message queue management structure body, and finishing encapsulation. The invention further encapsulates the task and the message queue of the real-time operating system, and then directly invokes the encapsulated framework for development, thereby improving the efficiency and ensuring the safety of the operating system.
Description
Technical Field
The invention belongs to the field of computer operating systems, and relates to a packaging method based on a VxWorks real-time operating system.
Background
The real-time operating system belongs to an operating system based on task priority, tasks and message queues are two core characteristics of the real-time operating system, data transmission between tasks is usually completed by using the message queues of the operating system, and the tasks and the message queues are usually tightly combined together.
The real-time operating system belongs to an operating system based on task priority, and in the running process of the system, the tasks are often required to be transmitted, the length of the message is generally not fixed, the length value of the message in the message queue is set to be very large when the message queue is created, in addition, a large enough array variable is applied for temporarily storing the message to be transmitted, or message queues with different lengths are defined in different tasks, and the array temporary variable with different lengths is applied for storing the message to be transmitted. Disadvantages of the conventional design method: the memory space waste is relatively large, the transmission efficiency of the messages between the tasks is relatively low, and when various types of data are transmitted between the two tasks, the content of the message type is added into the data content, so that the integrity of the whole message is not guaranteed. At the same time, when the types of the received messages are increased, the processing efficiency of the processing functions is reduced due to the increase of the processing functions of the messages.
Disclosure of Invention
The invention solves the technical problems that: the packaging method based on the VxWorks real-time operating system is provided, and overcomes the defects of the prior art.
The solution of the invention is as follows:
in a first aspect, the present invention provides a method for encapsulating a VxWorks-based real-time operating system, where the method includes the steps of:
step one, designing a message queue management structure body, wherein the message queue management structure body comprises a structure state, a message type, a message feature code, a message length and a data pointer;
defining a global array management message, wherein array elements are message queue management structures, initializing all elements in the global array, and marking the structure state of each element in the message queue management structure of the array as unoccupied;
step three, in the message queue sending function, applying for pointer variables for the message queue management structure body to realize the application space for the message content to be transferred;
step four, assigning the pointer variable of the message queue management structure body applied in the step three;
step five, the message queue management structure body is sent out through the message queue sending function of the operating system, and the space of pointer variables of the message queue management structure body is released;
step six, associating the sending thread and the receiving thread of the message, acquiring a received message queue management structure body from the receiving thread, wherein a data pointer in the message queue management structure body received by the receiving thread and a data pointer in the message queue management structure body sent by the sending thread point to the same address, and entering a step seven after the data acquisition is successful;
and step seven, analyzing and processing the content of the message queue management structure body to finish the encapsulation of the VxWorks real-time operating system.
In the first step, the structure state indicates whether the message structure is occupied;
the message type represents the physical bus type used for the final delivery of the message;
the message feature codes represent the types of messages and are divided into public messages and private messages according to the system security;
the length information indicates the length of the message;
the data pointer represents the location in the memory heap of the transferred data, and the type is an unsigned character pointer type.
The implementation manner of the third step is as follows:
applying for a pointer variable of a message management structure body in a message queue sending function, applying for a memory of the pointer variable, searching for an element with a structure state marked as unoccupied by traversing elements in a global array, and assigning an address of the element to the pointer variable of the message management structure body.
In the fourth step, the assignment of the pointer variable is implemented as follows:
(1) Assigning the message type to the physical bus type used for transmitting the message at the time;
(2) Assigning the message feature code to the type of the data transmitted at the time;
(3) Assigning the message length to be the data length transmitted by the user;
(4) And assigning the data pointer as a memory space head address corresponding to the length of the message which is dynamically applied.
The implementation manner of the seventh step is as follows:
(1) Applying for a message processing table structure, wherein the content of the structure comprises a message type, a feature code and an unsigned pointer type function pointer;
(2) Defining a message processing table by a user, wherein the message processing table is in a form of a plurality of groups, and each element is in a message processing table structure;
(3) Designing a message processing function, wherein the shape parameters of the message processing function comprise a received message queue management structure body pointer, an address of a message processing table and the number of elements in the message processing table;
(4) Starting from the first element of the message processing table, judging whether the current element in the message processing table meets the following three requirements at the same time:
the message type of the current element in the message processing table is consistent with the message type in the message queue management structure body;
the feature code of the current element in the message processing table is consistent with the message feature code in the message queue management structure body;
the message handling function pointer is not NULL;
if the message queue management structure meets the requirement, processing the message in the message queue management structure according to the message processing function entity pointed by the message processing function pointer;
if the three requirements cannot be met at the same time, judging the next element in the message processing table until the judgment of all the elements is completed.
In the step (1), the message type represents the physical type of the transmitted message at this time; the feature code represents the type of the data sent at this time; the function pointer represents a pointer to a processing function.
In the step (3), the number of elements in the message processing table=the space occupied by the array a/the space occupied by the first element in the array a, where a is the array name of the message processing table.
In the step (2), the content of the message processing table is filled by the user.
In a second aspect, the present invention provides a terminal device, including:
a memory for storing instructions for execution by the at least one processor;
a processor configured to execute instructions stored in a memory to implement the method of the first aspect.
In a third aspect, the present invention provides a computer readable storage medium storing computer instructions which, when run on a computer, cause the computer to perform the method of the first aspect.
Compared with the prior art, the invention has the beneficial effects that: the invention saves the memory space by designing the message queue management structure body and storing the transmitted message into the memory space opened according to the message length, and designs the message type field into the message queue management structure body instead of the message data. The invention manages the processing function by designing the message processing table structure and traversing the matching mode, thereby improving the processing efficiency of the message receiving processing function.
After the VxWorks operating system is packaged according to the method, the message queue in the task transmits data, the method is not limited by the stack size of the task, any variable-length data meeting the length of a system stack can be transmitted, meanwhile, the data transmission between the tasks only needs to provide the head address of the data and the length of a memory, and the convenience of calling a system layer is improved.
Drawings
FIG. 1 is a flow chart of a method of packaging a VxWorks-based real-time operating system;
fig. 2 is a schematic diagram of a message management structure for inter-task transmission.
Detailed Description
The invention is further elucidated below in connection with the accompanying drawings.
In order to solve the problem of more efficient program development under the real-time operating system VxWorks, the invention further encapsulates the tasks and the message queues of the real-time operating system, so that the tasks and the message queues are more tightly coupled, and the development on the real-time operating system does not need to call the operation configuration function of the bottom layer of the system to carry out complex configuration. After the VxWorks real-time operating system is packaged according to the method, the packaged frame is directly called for development, so that the efficiency is improved, and meanwhile, the safety of the operating system is ensured.
Referring to fig. 1, the specific implementation method of the present invention is as follows:
s1: the message Queue management structure, queue_STRU, is designed to manage the information passed by the message Queue. The message Queue management structure body queue_stru includes a structure state StruSta, a message type Queue type, a message feature code ChaCode, length information SizeInfo, and a data pointer pData.
(1) The structure state StruSta indicates whether the message structure is Occupied (including Occupied and unOccupied)
(2) Message type QueueType; indicating the type of physical bus used for the final delivery of the message.
(3) Message feature code ChaCode: the type of the message is represented, and is classified into a public message and a private message according to system security.
(4) Length information SizeInfo: representing the length of the message (in bytes).
(5) Data pointer pData: the type is an unsigned character pointer type, which indicates the location of the transferred data in the memory heap. All contents of the transmission data can be obtained in combination with the length information SizeInfo.
As shown in fig. 2.
S2: and managing the application of the message Queue management structure body pointer by using the message Queue management structure body queue_STRU designed in the S1. The management method is to manage the global array of the structure body queue_STRU by using the message Queue management.
(1) A global array TaskQArray is defined, the array element is a message Queue management structure body, namely, a queue_STRU, and the array length is the maximum message Queue number, namely, MAX_Q_LEN, defined by a system.
(2) And initializing all variables in the global array TaskQArray. The initialization method is to set the structural state StruSta member from the first element in the global array TaskQArray to the MAX_Q_LEN elements as unOccupied and fill all the memory space of the system heap space as zero.
S3: apply for space for message content to be delivered. Applying a message Queue management structure body queue_STRU pointer type message variable pTaskMsg in a message Queue sending function, and applying for memory of the pointer in a global array TaskQArray defined in S2.
(1) Traversing the global array TaskQArray, and inquiring whether the structural state StruSta member in the ith message Queue management structural body queue_STRU element is unOccupied.
(2) If unOccupied, the structure state strosta in the array element (labeled i) is labeled Occupied, the traversal is ended, and the address of the array element is assigned back to the message variable pTaskMsg. Jump to S4
(3) If Occupied, the i+1 elements of the array are directly queried. Until unOccupied. If the last element of the traversal to the array is found, still Occupied, then a NULL pointer NULL is returned to the message variable pTaskMsg and a system error is prompted.
S4: after a successful application to the message variable pTaskMsg pointer in S3, the element pointed to by the message variable pTaskMsg pointer is assigned.
(1) And assigning a message type QueueType, wherein the message type QueueType represents the physical BUS type used for transmitting the message at this time, such as an internal BUS identifier INNER_BUS used in the system, an external CAN BUS identifier CAN_BUS sent to an external serial port use identifier COM_BUS.
(2) The message feature code ChaCode is assigned to indicate the type of DATA transmitted at this time, such as navigation DATA data_nav, station DATA data_radio, etc.
(3) The length information SizeInfo is assigned. The value represents the length LEN of data transferred by the user, and the memory space effective data is determined according to the length.
(4) Assigning a data pointer pData, wherein the data pointer pData points to a memory for transmitting data, and a dynamic memory application method malloc () is used for applying a space with a length LEN, and the applied space head address is assigned to pData; user data is copied to the space pointed by the pData pointer by a memory copy memcpy () method.
S5: and sending the message variable pTaskMsg pointer out through an operating system message queue sending thread SndThd, and releasing the memory of the message variable pTaskMsg.
(1) And calling a message queue sending function at the bottom layer of the Vxworks operating system, converting the message variable pTaskMsg pointer into a non-type pointer void and sending out. And judging whether the return value of the message queue sending function is successful or not.
(2) The space occupied by pTaskMsg is released after success. The shape parameter of the release function is a message Queue management structure body queue_STRU type pointer, in the release function, whether the message variable pTaskMsg pointer is a null pointer or not is firstly judged, if the pointer is null, the pointer is directly returned, if not, whether the member variable message type of the structure pointed by the message variable pTaskMsg is Occupied or not is judged, the mark of the Occupied is rewritten to be UnOccupied UnOccupied, and at the moment, the message variable pTaskMsg pointer is successfully released.
(3) After the message queue sends out the data, the receiving thread RecvThd waits for receiving the message in the task scheduling process.
And S6, associating the sending thread SndTHd and the receiving thread RecvThd of the message, and acquiring a received message variable pTaskMsg pointer from the receiving thread RecvThd. Creating a message Queue processing task, associating a sending message Queue with a receiving message Queue by using a message Queue handle OS_EVENT pointer, storing a received message variable pTaskMsg pointer into a message Queue management structure body queue_STRU type pointer pstMsg, and processing the message according to the received message and a message processing table. The processing method goes to S7.
And S7, analyzing the pointed content of the message variable pTaskMsg, and mapping the pointed content to a corresponding function according to the feature code of the message processing table to perform analysis processing.
(1) Applying for a message processing Table structure Table_STRU, wherein the content of the structure comprises a message type QueueType, a feature code ChaCode, an unsigned pointer type function pointer pFUNC, and (1) the message type QueueType represents the physical type of the transmitted message. (2) The feature code ChaCode assignment indicates the type of data sent this time. (3) The function pointer pFunc represents a function pointer of the processing method.
(2) A message handling Table MsgProcTab is defined by the user, the message handling Table MsgProcTab is in the form of a group, each element is a message handling Table structure Table_STRU, and the content of the handling Table is filled by the user. For example, the message type QueueType may be: the system internal is identified as INNER_BUS. The transmission to the external CAN BUS is identified as can_bus. The external serial port is identified as COM_BUS. The feature code ChaCode is: such as navigation DATA _ NAV, station DATA _ RADIO, etc.
(3) The parameters of the message processing function include the received message queue management structure pointer, the address of the message processing table MsgProcTab, and the number of elements TabSize in the message processing table MsgProcTab, where a is the array name of the message processing table, the number of elements = the space occupied by array a/the space occupied by the first element in array a.
(4) The processing method of the message processing table is to judge whether the message type QueueType and the feature code ChaCode in the message processing table MsgProcTab are consistent with those in the message pstMsg received by the message queue from the first element, and meanwhile, the corresponding processing function pointer is not NULL. And if the matching is successful, processing according to the function entity pointed by the function pointer.
After the VxWorks operating system is packaged according to the method, the message queue in the task transmits data, the method is not limited by the stack size of the task, any variable-length data meeting the length of a system stack can be transmitted, meanwhile, the data transmission between the tasks only needs to provide the head address of the data and the length of a memory, and the convenience of calling a system layer is improved.
The invention provides a terminal device, comprising: a memory for storing instructions for execution by the at least one processor; a processor for executing instructions stored in a memory to implement the steps of the method shown in fig. 1.
The present invention provides a computer readable storage medium storing computer instructions that, when run on a computer, cause the computer to perform the steps of the method shown in figure 1.
The invention is not described in detail in the field of technical personnel common knowledge.
Claims (7)
1. A packaging method based on a VxWorks real-time operating system is characterized by comprising the following steps:
step one, designing a message queue management structure body, wherein the message queue management structure body comprises a structure state, a message type, a message feature code, a message length and a data pointer;
defining a global array management message, wherein array elements are message queue management structures, initializing all elements in the global array, and marking the structure state of each element in the message queue management structure of the array as unoccupied;
step three, in the message queue sending function, applying for pointer variables for the message queue management structure body to realize the application space for the message content to be transferred;
step four, assigning the pointer variable of the message queue management structure body applied in the step three;
step five, the message queue management structure body is sent out through the message queue sending function of the operating system, and the space of pointer variables of the message queue management structure body is released;
step six, associating the sending thread and the receiving thread of the message, acquiring a received message queue management structure body from the receiving thread, wherein a data pointer in the message queue management structure body received by the receiving thread and a data pointer in the message queue management structure body sent by the sending thread point to the same address, and entering a step seven after the data acquisition is successful;
step seven, analyzing and processing the content of the message queue management structure body to finish the encapsulation of the VxWorks real-time operating system;
the implementation manner of the third step is as follows:
applying for a pointer variable of a message management structure body in a message queue sending function, applying for a memory of the pointer variable, searching for an element with a structure state marked as unoccupied by traversing elements in a global array, and assigning an address of the element to the pointer variable of the message management structure body;
in the fourth step, the assignment of the pointer variable is implemented as follows:
(4.1) assigning the message type to the physical bus type used for the transmission of the message at the time;
(4.2) assigning the message feature code to the type of data transmitted at the time;
(4.3) assigning the message length to the data length delivered by the user;
(4.4) assigning the data pointer to be a memory space head address of the corresponding message length applied dynamically;
the implementation manner of the seventh step is as follows:
(7.1) applying for a message handling table structure, the content of the structure comprising message type, feature code, unsigned pointer type function pointer;
(7.2) defining a message handling table by the user, the message handling table being in the form of a plurality of groups, each element being a message handling table structure;
(7.3) designing a message processing function, wherein the shape parameters of the message processing function comprise a received message queue management structure body pointer, an address of a message processing table and the number of elements in the message processing table;
(7.4) starting from the first element of the message handling table, determining whether the current element in the message handling table meets the following three requirements simultaneously:
the message type of the current element in the message processing table is consistent with the message type in the message queue management structure body;
the feature code of the current element in the message processing table is consistent with the message feature code in the message queue management structure body;
the message handling function pointer is not NULL;
if the message queue management structure meets the requirement, processing the message in the message queue management structure according to the message processing function entity pointed by the message processing function pointer;
if the three requirements cannot be met at the same time, judging the next element in the message processing table until the judgment of all the elements is completed.
2. The method according to claim 1, wherein in the first step, the structure status indicates whether the message structure is occupied;
the message type represents the physical bus type used for the final delivery of the message;
the message feature codes represent the types of messages and are divided into public messages and private messages according to the system security;
the length information indicates the length of the message;
the data pointer represents the location in the memory heap of the transferred data, and the type is an unsigned character pointer type.
3. The method according to claim 1, wherein in the step (7.1), the message type indicates the physical type of the transmitted message; the feature code represents the type of the data sent at this time; the function pointer represents a pointer to a processing function.
4. The method according to claim 3, wherein in the step (7.3), the number of elements in the message processing table=the space occupied by the array a/the space occupied by the first element in the array a, where a is the array name of the message processing table.
5. The method of encapsulating a VxWorks-based real-time operating system of claim 4, wherein in step (7.2), the contents of the message handling table are filled by the user.
6. A terminal device, comprising:
a memory for storing instructions for execution by the at least one processor;
a processor for executing instructions stored in a memory to implement the method of any one of claims 1-5.
7. A computer readable storage medium storing computer instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-5.
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