CN111897635A - Hard real-time and soft real-time task scheduling method based on time triggering - Google Patents
Hard real-time and soft real-time task scheduling method based on time triggering Download PDFInfo
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Abstract
The invention relates to a hard real-time and soft real-time task scheduling method based on time triggering. However, in a safety-critical system, there are tasks that require an incident response in addition to the colleagues in which the deterministic task exists, and there is no requirement that the execution be completed within a certain time window. For the tasks, the time-triggered operating system adds soft real-time task scheduling on the basis of the original hard real-time task, can simultaneously meet the requirements of two task scheduling, and effectively improves the flexibility of meeting the event-type task scheduling by the system while ensuring the system certainty.
Description
Technical Field
The invention relates to the field of deterministic scheduling of safety critical systems, in particular to a hard real-time and soft real-time task scheduling method based on time triggering.
Background
Because the single-core processor has higher application maturity and higher maturity in related scheduling theories, the single-core processor is often used for controlling and resolving an embedded system in the field of safety key application, such as a flight control system of a civil aircraft, an inertial navigation system and a train control system of a high-speed train.
Safety critical systems, require certainty in task scheduling and isolation of faults. Related contents of a time planning table in task scheduling are mentioned in a safety key task scheduling method based on worst execution time analysis and a safety key operating system mixed scheduling strategy based on time triggering, the two documents are published in the first Chinese aviation science congress statement of 2013, and the open time is 9 months in 2013. The time triggers the operating system, the running time of the task is limited within a certain time window, and the task overtime fault is reported when the task exceeds the time window, so that each task function of the application layer is forced to be required to perform static planning on the execution process of the task and the time slice of the system running based on the worst execution time analysis result, the running state of the safety critical task can be predicted at each moment of the system, and the certainty of the system is improved.
In the original method, all tasks are regarded as hard real-time tasks. Hard real-time tasks, i.e., tasks requiring a rigid, unchangeable time limit. The scheduling is triggered based on the time of the hard real-time, so that the flexibility of the system scheduling is reduced while the system is ensured. For tasks with a not so high security critical level in the system, the mandatory requirement for scheduling according to the time-triggered characteristic does not bring much benefit, and can be considered as an over-design.
Therefore, a method needs to be found, soft real-time tasks are introduced under a time-triggered scheduling framework, the scheduling flexibility of long-period and non-hard real-time tasks is realized while the whole time-triggered certainty of a safety key system is not damaged, and therefore the applicable field of a time-triggered operating system is greatly improved. Meanwhile, based on a task budget mode, constraint and monitoring are applied to the hard real-time task and the soft real-time task from the dimension of the actual execution time of the task, and deterministic decoupling of the application task is further guaranteed.
In patent CN106293919B, a time-triggered embedded task scheduling apparatus and method, the scheduling of hard real-time tasks is described, and cross-cycle tasks are scheduled in a non-dead-end manner, but it is not considered that the hard real-time tasks and soft real-time tasks are shared in the same time window, and the execution time of each task is constrained in a time budget manner, so that the utilization rate of a system processor cannot be fully improved while the system certainty is ensured.
Furthermore, in patent CN106471797B, the related invention uses hard real-time and soft real-time controllers to solve the video quality of the camera, but is not used in the safety critical field, and the time certainty of the whole system and the timing relationship between the hard real-time and soft real-time tasks are not defined.
In patent CN102541646A, the hard real-time solution proposed by the related invention is an optimized preemption threshold scheduling method, which is a task scheduling policy with variable priority, and it is difficult to ensure the certainty of the hard real-time task in time.
In the patent CN103455131B, the method proposed by the related invention does not consider the comprehensive use of hard real time and soft real time.
Therefore, a method is needed to be found, which can realize scheduling flexibility for long-period and non-hard real-time tasks without destroying scheduling determinacy of a safety critical system, thereby greatly improving the applicable field of a time-triggered operating system.
Disclosure of Invention
The purpose of the invention is as follows: the safety and reliability of deterministic scheduling when the control systems such as the flight control system, the navigation system, the train control system and the like are single-core processors are very important, especially the deterministic scheduling of the flight control system cannot generate unexpected conditions, otherwise, the flight control system is damaged by people. Therefore, the present invention needs to solve the above technical problem, and provides a method capable of solving the problem that the scheduling flexibility is reduced while the time-triggered scheduling operating system provides certainty for the system.
The technical scheme of the invention is as follows:
the invention provides a time-triggered hard real-time and soft real-time task scheduling method, which comprises the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system;
statically planning a time axis in a period into a plurality of time windows, wherein the time windows are sequentially arranged in a task static time planning table; the plurality of tasks allowed to be executed in each window are also arranged in sequence; in each window time, all tasks to be executed of the window are sequentially arranged in the task ready list; after the task is executed, the task scheduler removes the executed task from the task ready list;
sequentially executing a plurality of tasks in each window according to the window sequence, wherein the tasks in each window are also sequentially executed;
i) when a plurality of tasks in the previous window are executed in sequence and the window time is not finished, running a system background task in the previous window time, and starting to execute a plurality of tasks in the subsequent window in sequence after the previous window time is finished;
ii) when the tasks in the previous window are executed in sequence and the window time is finished, judging the task type of the currently executed task, if the task is a hard real-time task, reporting the overtime fault of the task which is not executed by the system, if the task is a soft real-time task, saving the current execution context of the task, and continuing to execute in the next period; and the task scheduler removes the unexecuted ending tasks of the previous window from the task ready list, and sequentially orders all the tasks of the following window in the task ready list.
Further, after the execution of the hard real-time task is finished, setting corresponding execution budget time for the finished task, judging whether the actual execution time of the finished task is greater than the execution budget time of the finished task, if so, reporting that the execution of the system task is overtime, otherwise, not reporting. Therefore, the hard real-time tasks which are sequenced in the front are ensured to be excessively long in running time, and under the condition that the time of a subsequent task window is overtime, the tasks which are actually overtime and abnormal can be found and processed.
Further, setting corresponding execution budget time for the overtime fault task, and judging whether the actually used execution time of the overtime fault task is greater than the execution budget time of the overtime fault task, if so, reporting that the system task is executed overtime, otherwise, not reporting. Thereby ensuring that tasks with execution times exceeding the budget can be definitely positioned in case of timeout.
Further, after the execution of the soft real-time task is finished, setting corresponding execution budget time for the finished task, judging whether the actual execution time of the finished task is greater than the execution budget time of the finished task, if so, reporting that the execution of the system task is overtime, otherwise, not reporting. Therefore, when the execution of the soft real-time task is finished, the condition that the longest response time of the system function is not satisfied due to the fact that the actual execution time is too long is found when the execution of the soft real-time task is finished.
Further, setting corresponding execution budget time for the soft real-time task storing the current execution context of the task, judging whether the actually used execution time of the soft real-time task is greater than the execution budget time of the soft real-time task, if so, reporting that the system task is executed overtime, otherwise, not reporting. Therefore, when the execution of the soft real-time task is finished, the condition that the longest response time of the system function is not satisfied due to the fact that the actual execution time is too long is ensured to be found when the execution of the soft real-time task is interrupted by a window.
Further, checking the created task static time schedule in the step 2), and when the soft real-time task sequence appears in the plurality of tasks in any window before the hard real-time task, reporting a fault of the task static time schedule by the task scheduler before starting scheduling. Since the deadline execution time of the hard real-time task is not corrupted by the execution of the soft real-time task.
Furthermore, a plurality of hard real-time tasks in the same window belong to the same partition, and if the hard real-time tasks in different partitions are sequenced in the same window, the task scheduler reports a fault of the task static time schedule before starting scheduling. The method has the advantages that different partitions are often used for fault isolation of different application functions with different safety levels, and if hard real-time tasks of different partitions are shared in a time window, functions of different partitions can be affected and coupled with each other along with overtime faults of the hard real-time tasks.
Further, the system adopts a single-core processor.
In addition, theoretically, when the execution of a plurality of tasks arranged in the previous window is finished and the window is just finished, if the execution finishing task is switched to a system background task and the subsequent window is finished, the method is suitable for the situation that the execution of the plurality of tasks arranged in the previous window is finished in sequence and the window time is not finished; if the execution ending task is not switched to the system background task, and the window is completed, the method is suitable for the situation that the execution of a plurality of tasks in the previous window is not completed in sequence and the window time is already ended. However, in practice, since the time-only core works in sequence, there is no window and task completed at the same time.
The invention has the advantages that:
for safety critical systems, the certainty of task execution time is crucial. With the increase of the functional complexity of the system, the operating system is required to have the flexibility of being compatible with various complex application scenarios while ensuring the overall certainty of the system. The method provided by the invention can comprehensively use the hard real-time task and the soft real-time task on the basis of the whole time planning of the system, further monitor the actual execution time of the tasks in a time budget mode, simultaneously give consideration to the requirements of the system on certainty and flexibility, effectively improve the utilization rate of a system processor, and meet the use requirements of safety key systems such as a new generation flight control system, an inertial navigation system, a high-speed train control system and the like.
Description of the drawings:
FIG. 1 is a schematic diagram of the principles of the present invention;
FIG. 2 is a schematic view of embodiment 1;
FIG. 3 is a schematic view of embodiment 2;
FIG. 4 is a schematic view of embodiment 3;
FIG. 5 is a schematic view of embodiment 4;
the specific implementation mode is as follows:
the present invention is described in further detail below with reference to the attached drawings.
Example 1
Referring to fig. 2, the method for scheduling tasks based on time-triggered hard real-time and soft real-time includes the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system;
statically planning a time axis in a period into a plurality of time windows, wherein the time windows are sequentially arranged in a task static time planning table; the plurality of tasks allowed to be executed in each window are also arranged in sequence; in each window time, all tasks to be executed of the window are sequentially arranged in the task ready list; after the task is executed, the task scheduler removes the executed task from the task ready list;
sequentially executing a plurality of tasks in each window according to the window sequence, wherein the tasks in each window are also sequentially executed;
i) when a plurality of tasks in the previous window are executed in sequence and the window time is not finished, running a system background task in the previous window time, and starting to execute a plurality of tasks in the subsequent window in sequence after the previous window time is finished;
ii) when the tasks in the previous window are executed in sequence and the window time is finished, judging the task type of the currently executed task, if the task is a hard real-time task, reporting the overtime fault of the task which is not executed by the system, if the task is a soft real-time task, saving the current execution context of the task, and continuing to execute in the next period; and the task scheduler removes the unexecuted ending tasks of the previous window from the task ready list, and sequentially orders all the tasks of the following window in the task ready list.
In this embodiment, after the hard real-time task is executed, a corresponding execution budget time is set for the finished task, whether the actual execution time of the finished task is greater than the execution budget time of the finished task is determined, if so, the execution time of the system task is reported, and if not, the system task is not reported.
Example 2
Referring to fig. 3, the method for scheduling tasks based on time-triggered hard real-time and soft real-time includes the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system;
statically planning a time axis in a period into a plurality of time windows, wherein the time windows are sequentially arranged in a task static time planning table; the plurality of tasks allowed to be executed in each window are also arranged in sequence; in each window time, all tasks to be executed of the window are sequentially arranged in the task ready list; after the task is executed, the task scheduler removes the executed task from the task ready list;
sequentially executing a plurality of tasks in each window according to the window sequence, wherein the tasks in each window are also sequentially executed;
i) when a plurality of tasks in the previous window are executed in sequence and the window time is not finished, running a system background task in the previous window time, and starting to execute a plurality of tasks in the subsequent window in sequence after the previous window time is finished;
ii) when the tasks in the previous window are executed in sequence and the window time is finished, judging the task type of the currently executed task, if the task is a hard real-time task, reporting the overtime fault of the task which is not executed by the system, if the task is a soft real-time task, saving the current execution context of the task, and continuing to execute in the next period; and the task scheduler removes the unexecuted ending tasks of the previous window from the task ready list, and sequentially orders all the tasks of the following window in the task ready list.
In this embodiment, a corresponding execution budget time is set for the overtime fault task, and it is determined whether the actually used execution time of the overtime fault task is greater than the execution budget time of the overtime fault task, if so, the system task is reported to be executed overtime, otherwise, the system task is not reported.
Example 3
Referring to fig. 4, the method for scheduling tasks based on time-triggered hard real-time and soft real-time includes the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system;
statically planning a time axis in a period into a plurality of time windows, wherein the time windows are sequentially arranged in a task static time planning table; the plurality of tasks allowed to be executed in each window are also arranged in sequence; in each window time, all tasks to be executed of the window are sequentially arranged in the task ready list; after the task is executed, the task scheduler removes the executed task from the task ready list;
sequentially executing a plurality of tasks in each window according to the window sequence, wherein the tasks in each window are also sequentially executed;
i) when a plurality of tasks in the previous window are executed in sequence and the window time is not finished, running a system background task in the previous window time, and starting to execute a plurality of tasks in the subsequent window in sequence after the previous window time is finished;
ii) when the tasks in the previous window are executed in sequence and the window time is finished, judging the task type of the currently executed task, if the task is a hard real-time task, reporting the overtime fault of the task which is not executed by the system, if the task is a soft real-time task, saving the current execution context of the task, and continuing to execute in the next period; and the task scheduler removes the unexecuted ending tasks of the previous window from the task ready list, and sequentially orders all the tasks of the following window in the task ready list.
In this embodiment, after the execution of the soft real-time task is finished, a corresponding execution budget time is set for the finished task, whether the actual execution time of the finished task is greater than the execution budget time of the finished task is determined, if so, the execution time of the system task is reported, and if not, the execution time is not reported.
Example 4
Referring to fig. 5, the method for scheduling tasks based on time-triggered hard real-time and soft real-time includes the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system;
statically planning a time axis in a period into a plurality of time windows, wherein the time windows are sequentially arranged in a task static time planning table; the plurality of tasks allowed to be executed in each window are also arranged in sequence; in each window time, all tasks to be executed of the window are sequentially arranged in the task ready list; after the task is executed, the task scheduler removes the executed task from the task ready list;
sequentially executing a plurality of tasks in each window according to the window sequence, wherein the tasks in each window are also sequentially executed;
i) when a plurality of tasks in the previous window are executed in sequence and the window time is not finished, running a system background task in the previous window time, and starting to execute a plurality of tasks in the subsequent window in sequence after the previous window time is finished;
ii) when the tasks in the previous window are executed in sequence and the window time is finished, judging the task type of the currently executed task, if the task is a hard real-time task, reporting the overtime fault of the task which is not executed by the system, if the task is a soft real-time task, saving the current execution context of the task, and continuing to execute in the next period; and the task scheduler removes the unexecuted ending tasks of the previous window from the task ready list, and sequentially orders all the tasks of the following window in the task ready list.
In this embodiment, a corresponding execution budget time is set for the soft real-time task that stores the current execution context of the task, and it is determined whether the actually used execution time of the soft real-time task is greater than the execution budget time of the soft real-time task, if so, the execution timeout of the system task is reported, otherwise, the system task is not reported.
Claims (8)
1. A task scheduling method based on time triggering hard real time and soft real time is characterized in that: the method comprises the following steps:
step 1): the system creates a plurality of partitions, each partition is responsible for managing a part of space resources, each partition can create a plurality of tasks, and the task types comprise hard real-time tasks and soft real-time tasks; the space resource responsible for each partition that the task created by that partition is allowed to access;
step 2): creating a task static time planning table, wherein the task static time planning table describes task execution behaviors of each period of a system;
statically planning a time axis in a period into a plurality of time windows, wherein the time windows are sequentially arranged in a task static time planning table; the plurality of tasks allowed to be executed in each window are also arranged in sequence; in each window time, all tasks to be executed of the window are sequentially arranged in the task ready list; after the task is executed, the task scheduler removes the executed task from the task ready list;
sequentially executing a plurality of tasks in each window according to the window sequence, wherein the tasks in each window are also sequentially executed;
i) when a plurality of tasks in the previous window are executed in sequence and the window time is not finished, running a system background task in the previous window time, and starting to execute a plurality of tasks in the subsequent window in sequence after the previous window time is finished;
ii) when the tasks in the previous window are executed in sequence and the window time is finished, judging the task type of the currently executed task, if the task is a hard real-time task, reporting the overtime fault of the task which is not executed by the system, if the task is a soft real-time task, saving the current execution context of the task, and continuing to execute in the next period; and the task scheduler removes the unexecuted ending tasks of the previous window from the task ready list, and sequentially orders all the tasks of the following window in the task ready list.
2. The method for scheduling tasks based on time-triggered hard real-time and soft real-time as claimed in claim 1, wherein: and after the execution of the hard real-time task is finished, setting corresponding execution budget time for the finished task, judging whether the actual execution time of the finished task is greater than the execution budget time of the finished task, if so, reporting that the execution of the system task is overtime, otherwise, not reporting.
3. A method for scheduling tasks based on time-triggered hard real-time and soft real-time according to claim 1 or 2, characterized in that: setting corresponding execution budget time for the overtime fault task, judging whether the actually used execution time of the overtime fault task is greater than the execution budget time of the overtime fault task, if so, reporting the execution overtime of the system task, otherwise, not reporting the execution time.
4. A method for scheduling tasks based on time-triggered hard real-time and soft real-time according to claim 1 or 2, characterized in that: and after the execution of the soft real-time task is finished, setting corresponding execution budget time for the finished task, judging whether the actual execution time of the finished task is greater than the execution budget time of the finished task, if so, reporting that the execution of the system task is overtime, otherwise, not reporting.
5. A method for scheduling tasks based on time-triggered hard real-time and soft real-time according to claim 1 or 2, characterized in that: setting corresponding execution budget time for the soft real-time task storing the current execution context of the task, judging whether the actually used execution time of the soft real-time task is greater than the execution budget time of the soft real-time task, if so, reporting the execution overtime of the system task, otherwise, not reporting the execution overtime of the system task.
6. A method for scheduling tasks based on time triggered hard and soft real time according to any of claims 1-5, characterized by: checking the created task static time planning table in the step 2), and when the soft real-time tasks in the plurality of tasks in any window are sequenced before the hard real-time tasks, reporting the fault of the task static time planning table by the task scheduler before starting scheduling.
7. A method for scheduling tasks based on time triggered hard and soft real time according to any of claims 1-6, characterized by: and if the hard real-time tasks of different partitions are sequenced in the same window, the task scheduler reports the fault of the task static time planning table before starting scheduling.
8. A method for scheduling tasks based on time triggered hard and soft real time according to any of claims 1-7, characterized by: the system adopts a single-core processor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112711467A (en) * | 2020-12-17 | 2021-04-27 | 北京科银京成技术有限公司 | Partition timeout processing method and device, computer equipment and storage medium |
| CN112711467B (en) * | 2020-12-17 | 2023-10-10 | 北京科银京成技术有限公司 | Partition timeout processing method, partition timeout processing device, computer equipment and storage medium |
| CN116880978A (en) * | 2023-07-07 | 2023-10-13 | 郑州轻工业大学 | Real-time system partition scheduling method and scheduler based on model inspection |
| CN116880978B (en) * | 2023-07-07 | 2024-04-09 | 郑州轻工业大学 | Real-time system partition scheduling method and scheduler based on model inspection |
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