JPH0756773A - Method for diagnosing control device - Google Patents

Abstract

PURPOSE:To provide a method for diagnosing the normal operation of i processing tasks in software processing based upon a real time OS loaded on a control device. CONSTITUTION:In the control device 2 loading the real time OS, a diagnostic event message is transferred from a diagnostic task 3 to be started by the interruption of a periodical diagnosis timer 5 to plural processing tasks 4a to 4n for attaining the software function of the control device 2, respective processing tasks 4a to 4n write their self-operation states in the message, and after circulating the message through the tasks 4a to 4n, the task 3 stores the operation states of the tasks 4a to 4n as judged results and returns a respose to a diagnostic command from a managing device 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device diagnosis for confirming a normal operation of software processing in a control device which performs software processing under the control of a real-time operating system (hereinafter referred to as a real-time OS). Regarding the method.

[0002]

2. Description of the Related Art FIG. 3 shows a conventional controller diagnosis method for diagnosing the normality of software processing of a controller implementing real-time.

In FIG. 3, when the management device 1 gives a diagnostic instruction to a diagnostic task 8 operating on a real-time OS in the control device 7, the diagnostic task 8 executes software processing in the control device 7 in response to the diagnostic instruction. If the diagnostic result of 1 is normal, a response is notified to the management device 1. The various software processes in the control device 7 are executed by a plurality of process tasks under the control of a task scheduler by a real-time OS.

When a plurality of processing tasks are executed according to the task scheduler, the diagnostic task 8 sends a response to the management device 1.

Further, if any of the plurality of processing tasks is not task-scheduled within a fixed time, the diagnostic task 8 cannot respond to the management device 1.

When the management device 1 gives the above-mentioned diagnosis instruction to the control device 7, at the same time, it activates a monitoring timer. If there is no response within the predetermined time, it means that an abnormality has occurred in the software processing of the control device 7. to decide.

As described above, the above-mentioned conventional control device diagnosis method can also diagnose the normality of the software processing of the control device which operates in real time.

[0008]

However, in the above-mentioned conventional controller diagnosis method, when the task scheduling is abnormal, it is necessary to confirm whether or not the processing tasks other than the diagnosis task of the controller 7 can operate normally. There was a problem that I could not do it.

If the diagnostic task is normal and the task scheduling is normally executed, it is determined that all the software processing of the control unit 7 will operate normally even if the processing task is abnormal. There was a problem of being lost.

Furthermore, even if each processing task is normal,
Even if an abnormality occurs in the diagnostic task, no response is given and the management device 1 cannot thereafter take effective measures.

The present invention solves such a conventional problem, and an object of the present invention is to provide a control device diagnosing method capable of accurately diagnosing an operating state of software processing of a control device mounting a real-time OS. It is what

[0012]

In order to achieve the above-mentioned object, a method for diagnosing a control device according to the present invention is a software process for a control device executed by a plurality of processing tasks under the control of a real-time operating system. In the operation diagnosis, the diagnostic task under the real-time operating system includes a diagnostic event sending means for sending a diagnostic event message to a processing task and a diagnostic event determining means for receiving and analyzing the diagnostic event message from the processing task. And each processing task is provided with a diagnostic event transfer means for transmitting and receiving the diagnostic event message, so that the diagnostic task starts transmitting the diagnostic event message by a periodic timer interrupt, and at the same time diagnoses Activate the watch timer The diagnostic tasks are transferred between processing tasks according to a predetermined transfer order, each processing task records its own operating state in the diagnostic event message, and the diagnostic task is transferred between the processing tasks in accordance with the transfer order. The operating state of the processing task is diagnosed by the diagnostic event determining means for the event message.

Further, the diagnostic monitoring timer of the control device may be set with a timer time for each processing priority of the processing task.

[0014]

According to the present invention, with the above configuration, the diagnostic task constantly monitors the operating states of the respective processing tasks by regularly activating the diagnostic task, and can notify the management device of the occurrence of an abnormality in the control device. It will be possible.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1A shows the structure of an embodiment of the present invention. The management device 1 monitors the operating state of the control device 2 equipped with the real-time OS.

The control device 2 has a diagnostic task 3 under the management of the real-time OS and a plurality of other tasks (hereinafter referred to as processing tasks) 4a, 4b, ..., 4n. Figure 1
(B) is a configuration diagram of the diagnostic task 3, which is composed of software processing routines of the diagnostic event transmitting means 3a, the diagnostic event receiving means 3b, and the diagnostic event determining means 3c.

The diagnostic task 3 is a diagnostic event transmitting means 3a for transmitting a diagnostic event message each time a periodic timer interrupt from the regular diagnostic timer 5 in the control unit 2 occurs, and a diagnostic event message from the processing task. It has diagnostic event receiving means 3b for receiving, and diagnostic event determining means 3c for analyzing and determining the diagnostic event message received by the diagnostic event receiving means 3b. When the diagnostic task 3 sends a diagnostic event message, it activates the diagnostic watch timer 6.

Next, the operation of the above embodiment of the present invention will be described. FIG. 3 shows a processing flow of the diagnostic task 3.

In FIG. 1, the identification sequence numbers that determine the transfer sequence of diagnostic event messages between processing tasks are 4a, 4b, ..., 4n, with 4a being the lowest, and 4n being the highest.

It is assumed that the processing tasks 4a, 4b ..., 4n are executing predetermined software processing based on the management of a task scheduler of a real-time OS (particularly not shown).

Each time a periodic timer interrupt is generated from the periodic diagnosis timer 5 in the control device 2 (step S
1), a diagnostic event message is transmitted to the processing task 4a (step S2). At this time, the diagnostic monitoring timer 6 is started (step S3). The set time of the diagnostic monitoring timer 6 is set to the maximum required time of the software processing executed by the processing task based on the management of the task scheduler of the real-time OS.

The processing task 4a which has received the diagnostic event message writes its operating state in the diagnostic event message, and then transmits it to the processing task 4b having the next identification sequence number 4b by the diagnostic event transfer means 3a.

Hereinafter, when the diagnostic event messages are transferred in the order of the identification sequence numbers 4b, ..., 4n, each processing task writes its own processing operation state in the diagnostic event message and transfers it to the next processing task. The diagnostic event message is returned to the diagnostic task 3 from the processing task with the highest identification sequence number 4n and received by the diagnostic event receiving means 3b. At this time, the diagnostic monitoring timer 6
It is determined whether the time has passed (step S4).

At this point, the diagnostic event determination means 3c of the diagnostic task 3 analyzes the diagnostic event message returned from the processing task with the highest identification sequence number 4n to determine whether the processing operation state of each processing task is normal. It can be determined whether or not.

In the transfer processing of the diagnostic event message between the processing tasks, when the execution of the processing task having the high processing priority occurs, the transfer processing is interrupted and the processing task having the high processing priority is executed. After the execution of (1), the transfer processing of the diagnostic event message is restarted from the processing task that interrupted the transfer processing.

If the above-mentioned diagnostic event message is returned from the processing task with the highest identification sequence number 4n to the diagnostic task 3 before the diagnostic monitoring timer 6 times out (Yes in step S4), the identification sequence number 4a, 4b
...... By the processing task 4n, it is determined that the software function of the control device can operate normally and the above diagnosis result is held (step S5), and when the management device issues a diagnosis instruction to the control device, the above diagnosis result is managed. Respond to the device (step S6).

If the diagnostic monitoring timer 6 times out before the above-mentioned diagnostic event message is returned from the processing task with the highest identification sequence number 4n (No in step S4), the diagnostic task is the diagnostic event determining means 3
The diagnostic event message is analyzed by c (step S7), and the processing operation state of the processing task with the identification sequence number 4a, 4b, ..., 4n is determined.

If any of the processing tasks is abnormal (No in step S8), the diagnostic task 3 immediately notifies the management device 1 of the analysis result of the diagnostic event message (step S9).

Even when the diagnostic monitoring timer 6 times out, if the processing tasks of the identification sequence numbers 4a, 4b, ..., 4n are normal in the above determination result (Yes in step S8), the control device It is determined that the software function can operate normally, but the congestion state between the processing tasks has occurred, and the management device 1 is immediately notified (step S10).

Furthermore, when the response from the control device 2 is no response to the diagnostic instruction from the management device 1, it is determined that the diagnostic task of the control device is abnormal.

As described above, according to the above embodiment, since the operations of all the processing tasks 4a, 4b, ..., 4n of the control device can be confirmed, the software function of the control device can be accurately diagnosed. When the presence of the abnormal processing task is detected, the management device can be immediately notified.

Further, according to the above embodiment, the return of the diagnostic event message from the processing task and the notification of the diagnostic result to the management device are performed at different timings, and the diagnostic event / message processing tasks 4a and 4b are performed. ........ While transferring between 4n, the execution right of the processing task is given to the processing task of higher priority each time, so that the normality diagnosis processing of the processing task is performed without impairing the real-time property of the control device. You can

In the above embodiment, the diagnostic result held by the diagnostic task is notified to the management device by the diagnostic instruction from the management device. However, the periodical timer interruption in the control device immediately notifies the management device of the diagnostic result. Notification may be given.

In the above embodiment, the number of diagnostic monitoring timers is one. However, a plurality of diagnostic monitoring timers are provided to set a plurality of abnormal levels of processing tasks according to the load of the processing tasks of the diagnostic device. Good. In the case of multiple cases, more detailed diagnosis can be performed.

[0035]

As is apparent from the above-described embodiment, the present invention not only confirms the operation of the diagnostic task, but also confirms the software function in the control unit when diagnosing the software function of the control unit which mounts the real-time OS. Since the operation of all processing tasks as a unit is confirmed, it is possible to detect the occurrence of an abnormality in a processing task that is rarely used. Further, when a specific processing task is in a congestion state, it is possible to immediately notify the management device.

Therefore, it becomes possible for the management apparatus to take more appropriate measures against the failure of the control apparatus quickly and accurately.

[Brief description of drawings]

FIG. 1A is a configuration diagram of a control device diagnosis method according to an embodiment of the present invention. FIG. 1B is a configuration diagram of a diagnostic task in the control device diagnosis method.

FIG. 2 is a processing flow chart of a diagnostic task in the control device method.

FIG. 3 is a block diagram of a conventional controller diagnosis method.

[Explanation of symbols]

 1 Management device 2 Control device 3 Diagnostic task 4a, 4b, 4c, ..., 4n Processing task 5 Periodic diagnostic timer 6 Diagnostic monitoring timer

Claims (2)

[Claims] 1. In the operation diagnosis of software processing of a control device executed by a plurality of processing tasks under the control of the real-time operating system, the diagnosis task under the real-time operating system is diagnosed as a processing task. Diagnostic event sending means for sending an event message and diagnostic event judging means for receiving and analyzing the diagnostic event message from the processing task are provided, and diagnostic event transfer for sending and receiving the diagnostic event message to each processing task. By providing means, the diagnostic task initiates the transmission of the diagnostic event message by a periodic timer interrupt and at the same time activates the diagnostic monitoring timer,
The diagnostic tasks are transferred between processing tasks according to a predetermined transfer order, each processing task records its own operating state in the diagnostic event message, and the diagnostic task is transferred between the processing tasks in accordance with the transfer order. Event
A method for diagnosing a control device comprising diagnosing a message for the operating state of the processing task by the diagnostic event determining means. 2. The method for diagnosing a control device according to claim 1, wherein the diagnostic monitoring timer of the control device sets a timer time for each processing priority of a processing task.