CN110109743B - Real-time process scheduling method - Google Patents
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- CN110109743B CN110109743B CN201910386941.6A CN201910386941A CN110109743B CN 110109743 B CN110109743 B CN 110109743B CN 201910386941 A CN201910386941 A CN 201910386941A CN 110109743 B CN110109743 B CN 110109743B
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Abstract
The application provides a real-time process scheduling method, which comprises the following steps: a time schedule is pre-configured, wherein the time schedule comprises a switching mode, a scheduling sequence and an attribute of whether the kernel task is allowed to participate in scheduling; carrying out time-sharing scheduling on the real-time process according to the time schedule; and switching the time schedule according to the time schedule switching mode.
Description
Technical Field
The invention belongs to the technical field of computer system software professions, and particularly provides a real-time process scheduling method based on a time table.
Background
Real-time process scheduling in embedded systems typically employs a preemption policy based on priority, supporting a time slice rotation policy of the same priority. Although the real-time process scheduling has predictability under the scheduling strategy, the time certainty of scheduling the real-time process cannot be guaranteed, and for a key system with higher safety requirements, the execution time of the real-time process is strictly controlled, so that the real-time process scheduling strategy with definite time is needed, the control requirement of the execution time of the real-time process in the key system is met, and the predictability of the running time of the system is improved.
Disclosure of Invention
The purpose is as follows: a real-time process scheduling method for time determination is realized.
In a first aspect, the present application provides a real-time process scheduling method, where the method includes:
a time schedule is pre-configured, wherein the time schedule comprises a switching mode, a scheduling sequence and an attribute of whether the kernel task is allowed to participate in scheduling;
carrying out time-sharing scheduling on the real-time process according to the time schedule;
and switching the time schedule according to the time schedule switching mode.
Optionally, a main time frame of the time schedule includes at least two time windows;
the time window comprises a foreground real-time process group and a background real-time process group.
Optionally, the time schedule switching mode includes:
switching after a clock time;
switching after n clocks TICK, wherein n is more than or equal to 2;
switching when the current time window is over;
the next main time frame starts switching.
Optionally, the scheduling sequence specifically includes:
if the foreground real-time process group comprises a real-time process, determining a task of the real-time process in the foreground real-time process group in the time window, and scheduling the task;
if the foreground real-time process group is empty and the background real-time process group contains real-time processes, determining tasks of the real-time processes in the background real-time process group in the time window, and scheduling the tasks;
if the foreground real-time process group is empty and the background real-time process group is empty, determining tasks in the kernel in the time window, and scheduling the tasks.
Optionally, the scheduling configuration of the time schedule specifically includes:
configuring the time length of each time window;
calculating the time length of the main time frame according to the time length of each window;
whether the kernel task is allowed to participate in the attribute of the schedule is configured.
Optionally, the attribute that whether the configuration allows the kernel task to participate in the scheduling specifically includes:
if the attribute allowing the kernel task to participate in the scheduling is configured in the foreground real-time process group, selecting the highest priority task of the real-time process in the foreground real-time process group and the highest priority task in the kernel; scheduling by comparing higher priority tasks;
if the attribute allowing the kernel task to participate in the scheduling is configured in the background real-time process group, if the foreground real-time process group is empty, selecting the highest priority task of the real-time process in the background real-time process group and the highest priority task in the kernel; scheduling is performed by comparing higher priority tasks.
Optionally, if the highest priority task in the kernel is consistent with the priority of the highest priority task in the real-time process, selecting the highest priority task in the kernel for scheduling.
Optionally, the switching the time schedule according to the time schedule switching mode specifically includes:
and switching the time schedule at a preset time point according to the time schedule identification to be switched and the switching time, and executing a new time schedule.
In summary, the invention supports the real-time process to schedule according to the given time schedule, so that the real-time process can execute the determined time schedule according to the allocated time, and the predictability of the system behavior is improved.
Drawings
FIG. 1 is a schematic diagram of a schedule real-time process scheduling framework provided by an embodiment of the present application;
fig. 2 is a flowchart of scheduling execution of a schedule real-time process according to an embodiment of the present application.
Detailed Description
A real-time process scheduling method for time determination is realized. A schematic of the scheduling method framework is shown in fig. 1.
Example 1
The real-time process scheduling method based on the time table provided by the application is as follows:
1) Key data of the time schedule: a time schedule comprises at least two time windows, each time window comprises a foreground real-time process group, a background real-time process group, a real-time process is contained in the real-time process group, the time length of each window, and the attribute of whether the kernel task is allowed to participate in scheduling in the time window.
2) A time schedule switching mode is defined, the following switching modes are respectively:
a) Switching after a clock time;
and after the application software requests the time schedule switching and a clock TICK passes, executing the time schedule switching request of the application software.
b) Switching after n clocks TICK, wherein n is more than or equal to 2;
and after the application software requests the time schedule switching and n clocks TICK pass, executing the time schedule switching request of the application software.
c) Switching when the current time window is over;
and after the application software requests the time schedule to be switched and the time window time corresponding to the time schedule which is being scheduled by the operating system is finished, executing the time schedule switching request of the application software.
d) The next main time frame starts switching.
After the application software requests the time schedule to be switched, and the operating system really executes the time schedule switching request of the application software when the execution of the current main time frame (one cycle of the time schedule) corresponding to the scheduled time schedule is ended and the next main time frame starts.
3) The scheduling sequence of the real-time process under the schedule scheduling framework is defined, and the scheduling principle is determined by the scheduler of the kernel of the operating system because the real-time process does not participate in scheduling, the scheduled entity is the task in the real-time process, and the task is globally scheduled in the system. The scheduling order is as follows:
a) If the foreground real-time process group comprises the real-time process, determining the task of the real-time process in the foreground real-time process group in the time window, and scheduling the task.
b) If the foreground real-time process group is empty and the background real-time process group contains real-time processes, determining tasks of the real-time processes in the background real-time process group in the time window, and scheduling the tasks.
c) If the foreground real-time process group is empty and the background real-time process group is empty, determining tasks in the kernel in the time window, and scheduling the tasks.
4) Scheduling configuration:
a) Configuring the time length of each time window;
b) Calculating the time length of the main time frame according to the time length of each window;
c) Whether the kernel task is allowed to participate in the attribute of the schedule is configured,
if the attribute allowing the kernel task to participate in the scheduling is configured in the foreground real-time process group, selecting the highest priority task of the real-time process in the foreground real-time process group and the highest priority task in the kernel; scheduling by comparing higher priority tasks;
if the attribute allowing the kernel task to participate in the scheduling is configured in the background real-time process group, if the foreground real-time process group is empty, selecting the highest priority task of the real-time process in the background real-time process group and the highest priority task in the kernel; scheduling is performed by comparing higher priority tasks.
And if the priority of the highest priority task in the kernel is consistent with the priority of the highest priority task in the real-time process, selecting the highest priority task in the kernel for scheduling.
5) Time schedule switching
And switching the time schedule at a preset time point according to the time schedule identification to be switched and the switching time, and executing a new time schedule.
6) Run phase scheduling flow (shown in fig. 2):
step 1: if the current time window is finished, the window needs to be switched, and the step 11 is skipped, otherwise, the step 2 is continued.
Step 2: if the foreground real-time process group contains the real-time process, continuing to step 3, otherwise, jumping to step 6.
Step 3: if the attribute allowing the kernel task to participate in the scheduling is configured in the foreground real-time process group, continuing to step 4, otherwise, jumping to step 5.
Step 4: determining a task with the highest priority from real-time processes in a foreground real-time process group, determining a task with the highest priority in kernel tasks, determining the kernel tasks and dispatching the tasks if the task with the highest priority in the kernel tasks with the highest priority is higher than or equal to the task with the highest priority in the real-time processes, otherwise determining the tasks of the real-time processes and dispatching the tasks until the time window is over, and jumping to the step 1.
Step 5: and (3) determining the tasks of the real-time processes in the foreground real-time process group from the real-time processes in the foreground real-time process group, scheduling the tasks until the time window is over, and jumping to the step (1).
Step 6: if the background real-time process group contains real-time processes, continuing to step 7, otherwise, jumping to step 10.
Step 7: if the attribute allowing the kernel task to participate in the scheduling is configured in the background real-time process group, continuing to step 8, otherwise, jumping to step 9.
Step 8: determining a task with the highest priority from real-time processes in a background real-time process group, determining a task with the highest priority in a kernel task, determining the kernel task and dispatching the task if the task with the highest priority in the kernel task with the highest priority is higher than or equal to the task with the highest priority in the real-time process, otherwise determining the task of the real-time process and dispatching the task until the time window is over, and jumping to the step 1.
Step 9: and (3) determining the tasks of the real-time processes in the background real-time process group from the real-time processes in the background real-time process group, scheduling the tasks until the time window is over, and jumping to the step (1).
Step 10: and determining the kernel task with the highest priority to schedule until the time window is ended, and jumping to the step 1.
Step 11: and (3) switching the time schedule at a preset time point according to the time schedule identification to be switched and the switching time, executing a new time schedule, and jumping to the step (2), if the time schedule needs to be switched, otherwise, continuing executing the current time schedule.
In summary, the real-time process is supported to schedule according to the given time schedule, so that the real-time process can execute the determined time schedule according to the allocated time, and the predictability of the system behavior is improved.
Example two
The specific working steps of the real-time process scheduling method based on the time table are as follows:
1) The user creates a time schedule stage, and the formed time schedule configuration data is as follows:
2) After the time schedule is created, the system time schedule data is formed as follows:
3) The schedule scheduling is initiated, here contracted load schedule 1, since the operating system only allows loading one schedule execution. The real-time process starts to schedule according to a strategy preset by a time schedule. Schedule 1, schedule 2 scheduling behavior is described as follows:
for time schedule 1:
a) The window 1 foreground real-time process group and the background real-time process group all comprise real-time processes, and the kernel task is allowed to participate in the scheduling attribute of the foreground real-time process group, and according to the scheduling principle, only the real-time process 1 of the foreground real-time process group and the task scheduling of the real-time process 2 are selected, and the kernel task is allowed to participate in the scheduling. The highest priority tasks of the real-time process 1, the real-time process 2 and the kernel are determined to be executed.
b) The window 2 only contains the real-time process in the foreground real-time process group, and allows the kernel task to participate in the scheduling attribute of the foreground real-time process group, and according to the scheduling principle, only selects the task scheduling of the real-time process 1 of the foreground real-time process group, and allows the kernel task to participate in the scheduling. And selecting the real-time process 1 and the task with the highest priority of the kernel to execute.
c) Only the background real-time process group of the window 3 contains real-time processes, and allows the kernel task to participate in the scheduling attribute of the background real-time process group, and only the task scheduling of the real-time process 2 of the background real-time process group is selected according to the scheduling principle, and allows the kernel task to participate in the scheduling. The real-time process 2 and the highest priority task of the kernel are selected for execution.
For time schedule 2:
a) And the window 1 only comprises a foreground real-time process group, the task scheduling of the real-time process 1 of the foreground real-time process group is only selected according to the scheduling principle, and the task with the highest priority of the real-time process 1 is selected for execution.
b) The window 2 only comprises real-time processes of the background real-time process group, only selects the real-time process 2 of the background real-time process group according to a scheduling principle, and the task scheduling of the real-time process 3 selects the real-time process 2 and the task with the highest priority of the real-time process 3 to execute.
c) The window 3 foreground real-time process group does not contain real-time processes, so the window real-time processes do not participate in scheduling.
4) Switching of the time schedule.
The application requests the time schedule switching, the operating system firstly checks whether the currently running time schedule is the time schedule to be switched, if so, the switching is invalid, otherwise, the time schedule identification of the request switching and the currently valid time schedule switching mode are set and recorded.
Meanwhile, according to the current effective time schedule switching mode, the arrival of switching time is monitored, if the switching time does not arrive, the current time schedule is continuously executed, if the switching time arrives, the time schedule is switched, and the execution of a new time schedule is started.
In summary, the invention belongs to the technical field of computer system software profession, and relates to a real-time process scheduling method based on a time table, which is used for solving the problem of time certainty of real-time process scheduling. The real-time process scheduling method based on the time table comprises 4 key aspects: 1. attributes of the time schedule window are defined: the method comprises the following steps of including a foreground real-time process group, a background real-time process group, whether scheduling of kernel tasks and the like are enabled or not; 2. supporting switching modes of switching a time schedule after one clock TICK is passed, switching n clocks TICK is passed, wherein n is more than or equal to 2, switching is performed when a current time window is finished, starting of a next main time frame and the like; 3. performing a schedule switching action: execution begins according to the new schedule. 4. The real-time process is scheduled according to a time schedule, and in a time window, the scheduler selects the sequence of the real-time process: a foreground real-time process group, a background real-time process group and a kernel; the foreground/background real-time process group can be configured to enable the dispatching of kernel tasks, and the kernel tasks and the tasks of the real-time processes can simultaneously participate in competing CPU.
Claims (3)
1. A method for scheduling a process in real time, the method comprising:
a time schedule is pre-configured, wherein the time schedule comprises a switching mode, a scheduling sequence and an attribute of whether the kernel task is allowed to participate in scheduling; at least two time windows are contained in one main time frame of the time schedule; the time window comprises a foreground real-time process group and a background real-time process group;
the time schedule switching mode includes: switching after a clock time; switching after n clocks TICK, wherein n is more than or equal to 2; switching when the current time window is over; switching when the next main time frame starts;
the scheduling sequence is specifically as follows: if the foreground real-time process group comprises a real-time process, determining a task of the real-time process in the foreground real-time process group in the time window, and scheduling the task; if the foreground real-time process group is empty and the background real-time process group contains real-time processes, determining tasks of the real-time processes in the background real-time process group in the time window, and scheduling the tasks; if the foreground real-time process group is empty and the background real-time process group is empty, determining tasks in the kernel in the time window, and scheduling the tasks;
the scheduling configuration of the time schedule specifically comprises: configuring the time length of each time window; calculating the time length of the main time frame according to the time length of each time window; configuring an attribute of whether the kernel task is allowed to participate in scheduling;
carrying out time-sharing scheduling on the real-time process according to the time schedule;
switching the time schedule according to the time schedule switching mode;
the attribute of whether the configuration allows the kernel task to participate in the scheduling specifically comprises:
if the attribute allowing the kernel task to participate in the scheduling is configured in the foreground real-time process group, selecting the highest priority task of the real-time process in the foreground real-time process group and the highest priority task in the kernel; scheduling by comparing higher priority tasks;
if the attribute allowing the kernel task to participate in the scheduling is configured in the background real-time process group, if the foreground real-time process group is empty, selecting the highest priority task of the real-time process in the background real-time process group and the highest priority task in the kernel; scheduling is performed by comparing higher priority tasks.
2. The method according to claim 1, characterized in that: and if the priority of the highest priority task in the kernel is consistent with the priority of the highest priority task in the real-time process, selecting the highest priority task in the kernel for scheduling.
3. The method according to claim 1, characterized in that: the switching the time schedule according to the time schedule switching mode specifically includes:
and switching the time schedule at a preset time point according to the time schedule identification to be switched and the switching time, and executing a new time schedule.
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