CN1327349C - Task level resource administration method for micro-kernel embedded real-time operation systems - Google Patents
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Abstract
The present invention relates to a task-grade resource managing method of a micro-kernel embedded real-time operating system. Resources are divided into two parts which are an internal resource and external resources, wherein the internal resource does not need to be obtained and released through an invoking system API; the external resources need to be obtained and released through a specific application program interface of the invoking system, so the external resources are appropriate to be used in tasks with complex functions. One task can at most occupy one internal resource; when the task enters an operation state, the resource is obtained automatically; when the task is finished automatically or dispatched forcibly and actively and quits the operation state, the internal resource is released automatically. One task can occupy a plurality of external resources, and the external resources are occupied and released according to the sequence of first-in and last-out. The present invention has the advantages that the use and the management of the resources are more convenient, time consumption and space consumption which are required for realizing the task-grade resource management are low, and the resource management can be combined with particular dispatching strategies.
Description
Technical field
The present invention relates to the embedded real-time operating system technology, mainly is the task level resource administration method of realizing a kind of micro-kernel embedded real-time operation systems.
Background technology
Resource management is the important component part of embedded real-time operating system.Task level resource administration is to be used for coordinating the visit of a plurality of priority different tasks to shared resource, such as, management entity (scheduler), agenda, internal memory, hardware, peripheral hardware etc.Task level resource administration must guarantee that two tasks can not occupy identical resource at synchronization, and priority counter-rotating (Priority Inversion) can not take place, and deadlock can not take place when using resource.
At present, occupation rate has VxWorks, PSOS, QNX, LynxOS, VRTX than higher commercial real time operating system on the market,, Windows CE etc.These numerous real time operating system overwhelming majority are the structures of the real-time micro-kernel of multitask, but the preemption scheduling strategy that is based on priority of employing.System is right of priority of each Task Distribution, and scheduler program guarantees that the process of current operation is the highest process of right of priority.Most real time operating system has adopted a kind of mechanism that is called semaphore (semaphore) to realize management to shared resource.But, a kind of relatively stranger phenomenon sometimes can appear: because the multi-process shared resource, process with highest priority is blocked by low priority process, process with medium priority is carried out prior to the process of high priority, cause the collapse of system, so-called priority counter-rotating that Here it is, concrete example is as follows:
Suppose that 4 tasks are arranged in a real-time embedded operating system of seizing entirely (T1, T2, T3, T4), T4 priority is lower, occupies semaphore S1.T1 priority is the highest, seizes T4 and asks identical semaphore.Because semaphore S1 is occupied, T1 enters waiting status.At this moment, the T4 of low priority is interrupted by the task (T2 or T3) of a priority between T1 and T4 and seizes.T1 only could carry out after low priority task is finished, because semaphore S1 just can be released at that time.Though T2 and T3 do not use semaphore S1, postponed T1 their working time.
Another common problem in the synchronization mechanism of task level resource administration is exactly the deadlock problem.In this case, deadlock means task unconfined wait owing to mutual lock resource, thereby task also just can't be moved.
(T1, T2), the task T1 of high priority occupies semaphore S1, can't move owing to wait for an incident to suppose to have in system two tasks.The task T2 of low priority occupies semaphore S2, changes running status over to.If T1 enters ready state again and attempts to occupy semaphore S2, it can advance waiting status again.At this moment, the T2 operation, if T2 attempts to occupy semaphore S1, T1 and T2 wait for the semaphore that the other side occupies mutually like this, have just caused deadlock.
Summary of the invention
The present invention will solve the defective that above-mentioned existing task level resource administration exists, and a kind of task level resource administration method of micro-kernel embedded real-time operation systems is provided.
The technical solution adopted for the present invention to solve the technical problems.The task level resource administration method of this micro-kernel embedded real-time operation systems is divided into two parts to the resource in the micro-kernel embedded real-time operation systems: internal resource and external resource.The two effect is consistent, and fundamental difference is exactly that internal resource does not need to obtain and discharge by calling system API, and for the user, internal resource is easy to use, and expense is little.External resource need be obtained and discharges by the specific application programming interfaces of calling system (API), uses proper in the comparatively complicated task of function.A task can only be occupied an internal resource at most.When task entered running status, resource was obtained automatically; When task finished automatically or initiatively take place to force scheduling and state out of service, its internal resource was discharged automatically.A task can be occupied a plurality of external resources, occupies and discharges external resource and must carry out according to the order of (FILO) first-in last-out.
The present invention solves the problem of priority counter-rotating and deadlock with resource prioritization top set scheme.In resource prioritization top set scheme, system distributes a priority for each resource (comprising inside and outside), and this priority equals to use the limit priority of all tasks of this resource.
The concrete steps that the present invention realizes are as follows:
One, sets up the ready queue of priority;
Two, design objective controll block (TCB), the task control block pointer of required preservation when the pointer of increase external resource and the priority of internal resource and internal resource use;
Three, set up task control block (TCB) array and with the task control block (TCB) array of pointers of its priority index;
Four, design the controll block (RCB) of external resource, comprise the task control block pointer of priority, external resource chained list, required preservation;
Five, the design internal resource obtains and release function.If task T1 attempts to obtain internal resource R1, then before T1 moves, the priority of internal resource R1 is put into ready queue, then the value in the TCB array of pointers of the priority correspondence of R1 is kept among the TCB of T1, at last the value in the TCB array of pointers of the priority correspondence of R1 is changed to T1.When task T1 discharged internal resource R1, the TCB that will preserve in the TCB of T1 earlier recovered, and resets ready queue then;
Six, the application programming interfaces of design external resource, the main realization obtained and release function.When task T2 obtains external resource R2, the priority of R2 is put into ready queue, then the value in the TCB array of pointers of the priority correspondence of R2 is kept among the RCB of R2, then the value in the TCB array of pointers of the priority correspondence of R2 is changed to T2, at last its external resource R2 and the original resource of T2 are formed the storehouse chained list, and the storehouse linked list head is kept among the TCB of T2.When task T2 discharges resource R2, earlier R2 is deleted from its storehouse chained list, and the resource among the TCB of replacement T2, then the TCB that preserves among the RCB with R2 recovers, and ready queue is set at last.
In the present invention, (T1, T2 when T3) attempting to occupy same internal resource R1, after low priority task T1 brings into operation, are changed to the priority of T1 itself priority of resource R1 when multitask.Other want to attempt to occupy the task (T2, T3) of resource R1 because priority all is less than or equal to the priority (priority of the operation of task T1) of resource R1, so other tasks can't be seized it before task T1 discharges resource, when task T1 finishes automatically or initiatively take place to force scheduling and state out of service, just discharge internal resource R1 and have only, after just having only task T1 initiatively to finish (promptly discharging internal resource), thereby other want that the task T2 and the T3 that occupy resource R1 just might move acquisition resource R1.
(when T3) attempting to occupy same external resource R2, after low priority task T1 brought into operation, after T1 called corresponding application interface (API) and obtains resource R2, the priority of task T1 was the priority of R2 for T1, T2 when multitask.After task T1 occupies resource, other want to attempt to occupy the task of same asset R2 because its priority is lower than the priority of the operation of task T1, and T1 can not enter waiting status because of waiting for other incidents to take place, so other want that the task of occupying resource R2 can't seize it before task T1 initiatively discharges resource, this has just been avoided the generation of caused priority counter-rotating of task with traditional level resource administration method and deadlock.
The present invention has following advantage:
1. the present invention is divided into internal resource and external resource to resource, makes using and manage convenient resource.If certain task is only just meaningful after obtaining resource, the resource that just can this task will obtain is set to internal resource, when bringing into operation, this task just occupies this resource, task initiatively finishes just to discharge this resource, and task itself does not just need to show that calls application interface obtains and discharge resource again.
2. in the present invention, the needed time overhead of realization task level resource administration and space expense are seldom.The expense that task is carried out during basically with No Assets when using internal resource is close, and is fit to very much micro-kernel embedded real-time operation systems.
3. the task level resource administration among the present invention can combine with concrete scheduling strategy, can apply in a flexible way in various scheduling occasions, such as seizing scheduling entirely, mixing and to seize scheduling, non-ly seize scheduling entirely.
4. the present invention has prevented that effectively the priority that exists in the task level resource administration from reversing and the generation of deadlock.
Description of drawings
The example of the priority counter-rotating in the resource management of Fig. 1 prior art;
Deadlock example in the resource management of Fig. 2 prior art;
Transformational relation between Fig. 3 task status of the present invention and the state;
Fig. 4 internal resource of the present invention initiatively obtain process flow diagram;
Fig. 5 task level external resource of the present invention obtain process flow diagram;
Fig. 6 internal resource of the present invention initiatively discharge process flow diagram;
The release process flow diagram of Fig. 7 task level external resource of the present invention;
The example of Fig. 8 task level external resource management of the present invention;
The example of Fig. 9 internal resource management of the present invention;
Embodiment
The invention will be described further below in conjunction with accompanying drawing and example:
Fig. 3 points out the state of task and the transformational relation between the state.That task status is divided into is ready, operation, hang up, wait for one of four states.Task is when ready, if its priority is the highest, then enters running status.During task run, three kinds of state transitions situations are arranged:
1. when task took place owing to certain incident of wait, this task just entered waiting status.If the incident in its wait of task of waiting status takes place, then enter ready state;
2. when task during by the task preemption of other high priorities, this task just enters ready state;
3. when task oneself initiatively finished, this task just entered suspended state.Hanging up of task can enter ready state by being activated.
The priority of the task of ready state all is reflected in the priority ready queue of system.The priority ready queue uses the long number to represent, is ready state if the n position is the task of n priority correspondence of 1 expression, and is 0 to represent that its corresponding task is not a ready state.
The micro-kernel embedded real-time operation systems that runs on the MPC555 platform mainly comprises task module, resource module, interrupt module, event module, timer module.Task module is the nucleus module of operating system, and the realization of task level resource administration function is also based on task module.By increasing corresponding attribute in task control block (TCB) TCB array and TCB array of pointers, designing the needs that specific data structure satisfies task level resource administration, wherein TCB array of pointers use priority index is the key data structure that resource prioritization top set scheme realizes.
Fig. 4 has pointed out the process flow diagram that obtains automatically of internal resource of the present invention, and is specific as follows:
1. find priority the highest task control block (TCB) HighPrioTCB, and obtain the priority RPrio that it wants the internal resource R that occupies;
2. find the TCB pointer of priority RPrio correspondence, and it is saved among the HighPrioTCB;
3. the value in the TCB array of pointers of RPrio index is changed to HighPrioTCB;
4. at last RPrio is put into ready queue.
5. change the priority value of current operation.
After setting up the priority variation after internal resource obtains, just can start this task.
Fig. 5 has pointed out behind task run, and is to the process flow diagram of outside resource acquisition, specific as follows:
1. find the controll block RCB of the external resource R that will obtain, and obtain the priority RPrio of R;
2. the TCB pointer of priority RPrio correspondence is saved among the RCB;
3. the value in the TCB array of pointers of RPrio index is changed to the task pointer of current operation;
4. RPrio is put into ready queue;
5. RCB is put into the gauge outfit of the external resource storehouse chained list that the task of current operation occupied;
6. change the priority value of current operation.
Fig. 6 has pointed out the process flow diagram of the automatic release of internal resource of the present invention, and is specific as follows:
1. obtain the priority RPrio of the internal resource that current task occupies;
2. the value of the TCB array of pointers of RPrio index is set at the value among the TCB that is kept at current operation task;
3. whether the task of judging the RPrio correspondence, just takes out this priority RPrio if not in ready state in ready state from ready queue;
4. the priority of current operation is reverted to the priority of current task.
After having discharged internal resource, task just can enter to be waited for or suspended state.
Fig. 7 has pointed out the release process flow diagram of task level external resource of the present invention, and is specific as follows:
1. from the TCB of current task, obtain the gauge outfit RCB of external resource storehouse chained list, and obtain its priority RPrio;
2. the value with the TCB array of pointers of RPrio index is set at the value that is kept among the RCB;
3. whether the task of judging the RPrio correspondence, just takes out this priority RPrio if not in ready state in ready state from ready queue;
4. from the external resource storehouse chained list of TCB, RCB is deleted;
5. whether the external resource storehouse chained list of judging TCB is empty, if be empty, the priority of current operation reverted to the priority of current task, otherwise the priority of current operation is changed to the priority of outside resource heap stack chained list gauge outfit among the TCB.
Fig. 8 has illustrated the concrete application that present invention is directed at external resource.Task T0 priority is the highest, and task T4 priority is minimum.Task T1 will visit identical external resource with task T4.T4 occupies external resource earlier, forms top set priority, and T1, T2, T3 can't seize T4 at this moment, have only T0 to seize, behind the T0 end of run, the T4 of this moment also occupies resource, so take turns to the T4 operation again, after T4 release resource, its priority is recovered, and has the T1 operation of limit priority this moment in ready state, after T1 occupies resource, form top set priority, after waiting T1 to discharge resource automatically and finishing, T2, T3 could move successively.This has just been avoided the appearance of priority counter-rotating.Can not enter waiting status owing to occupy the task of external resource again, all have also avoided the generation of deadlock.
Fig. 9 has illustrated the concrete application that present invention is directed at internal resource.Task T0 priority is the highest, and task T4 priority is minimum.Task T2 will visit identical internal resource with task T4.T4 occupies internal resource earlier, forms top set priority, and all can't seize T4 at T1, T2, the T3 of ready state this moment.T4 is because waiting event E1 and after entering waiting status, and T4 recovers original priority, and then T1 operation after T0 activates, moves with regard to having seized T1, and is provided with incident E1, makes T4 enter ready state again.Behind the T0 end of run, the T1 priority of this moment is the highest, so enter running status.After T1 initiatively finishes, T2 operation because T2 occupies internal resource, thus enter top set priority at once, wait T2 initiatively to finish after, T3, T4 be operation successively, initiatively occupies internal resource during the T4 operation again, formation priority top set.This has just been avoided the generation of priority counter-rotating and deadlock.
Claims (3)
1, a kind of task level resource administration method of micro-kernel embedded real-time operation systems, it is characterized in that: the resource in the micro-kernel embedded real-time operation systems is divided into two parts: do not need the internal resource that obtains and discharge by calling system API, the external resource of obtaining and discharging by calls application interface; A task can only be occupied an internal resource at most, and when task entered running status, resource was obtained automatically, and when task finished automatically or initiatively take place to force scheduling and state out of service, its internal resource was discharged automatically; A task is occupied a plurality of external resources, occupies and discharges external resource and must carry out according to order first-in last-out; System distributes a priority for each internal resource or external resource, and this priority equals to use the limit priority of all tasks of this resource; Concrete steps are as follows:
1), sets up the ready queue of priority; 2), design objective controll block, the task control block pointer of required preservation when increasing the priority of the pointer of external resource and internal resource and internal resource and using; 3), set up task control block (TCB) array and with the task control block (TCB) array of pointers of its priority index; 4), the controll block of design external resource, comprise the task control block pointer of priority, external resource chained list, required preservation; 5), obtaining and release function of design internal resource: if task T1 attempts to obtain internal resource R1, then before T1 moves, the priority of internal resource R1 is put into ready queue, then the value in the task control block (TCB) array of pointers of the priority correspondence of R1 is kept in the task control block (TCB) of T1, at last the value in the task control block (TCB) array of pointers of the priority correspondence of R1 is changed to T1; When task T1 discharged internal resource R1, the task control block (TCB) that will preserve in the task control block (TCB) of T1 earlier recovered, and resets ready queue then; 6), the design external resource obtain application programming interfaces with release function: when task T2 obtains external resource R2, the priority of R2 is put into ready queue, then the value in the task control block (TCB) array of pointers of the priority correspondence of R2 is kept in the controll block of external resource of R2, then the value in the task control block (TCB) array of pointers of the priority correspondence of R2 is changed to T2, at last its external resource R2 and the original resource of T2 are formed the storehouse chained list, and the storehouse linked list head is kept in the task control block (TCB) of T2; When task T2 discharges resource R2, earlier R2 is deleted from its storehouse chained list, and the resource in the task control block (TCB) of replacement T2, then the task control block (TCB) of preserving in the controll block with the external resource of R2 recovers, and ready queue is set at last.
2, the task level resource administration method of micro-kernel embedded real-time operation systems according to claim 1, it is characterized in that: as multitask T1, T2, when T3 attempts to occupy same internal resource R1, after low priority task T1 brings into operation, the priority of T1 itself is changed to the priority of resource R1, other want to attempt to occupy the task T2 of resource R1, T3 is because priority all is less than or equal to the priority of resource R1, so other tasks can't be seized it before task T1 discharges resource, when task T1 finishes automatically or initiatively take place to force scheduling and state out of service, just discharge internal resource R1 and have only, just have only task T1 initiatively to finish, after promptly discharging internal resource, thereby other want that the task T2 and the T3 that occupy resource R1 just might move acquisition resource R1.
3, the task level resource administration method of micro-kernel embedded real-time operation systems according to claim 1, it is characterized in that: as multitask T1, T2, when T3 attempts to occupy same external resource R2, after low priority task T1 brings into operation, after T1 called the corresponding application interface and obtains resource R2, the priority of task T1 was the priority of R2; After task T1 occupies resource, other want to attempt to occupy the task of same asset R2 because its priority is lower than the priority of the operation of task T1, and T1 can not be because waiting for that other incidents take place and enter waiting status, so other want that the task of occupying resource R2 can't seize it before task T1 initiatively discharges resource.
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| CN102110022B (en) * | 2011-03-22 | 2013-04-10 | 上海交通大学 | Sensor network embedded operation system based on priority scheduling |
| CN103164276B (en) * | 2013-03-27 | 2016-03-30 | 北京经纬恒润科技有限公司 | Protected object is carried out to method and the device of Embedded process |
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| CN103699437B (en) * | 2013-12-20 | 2017-06-06 | 华为技术有限公司 | A kind of resource regulating method and equipment |
| CN104636205B (en) * | 2014-12-26 | 2019-02-05 | 北京奇艺世纪科技有限公司 | A kind of method and apparatus that task is seized |
| CN105573763B (en) * | 2015-12-23 | 2018-07-27 | 电子科技大学 | A kind of Embedded System Modeling method for supporting RTOS |
| CN107291552A (en) * | 2017-06-27 | 2017-10-24 | 郑州云海信息技术有限公司 | A kind of data processing method and device |
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