CN119166573A - Method and system for low-latency communication between partitions under ARINC 653 standard - Google Patents
Method and system for low-latency communication between partitions under ARINC 653 standard Download PDFInfo
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- CN119166573A CN119166573A CN202411535087.2A CN202411535087A CN119166573A CN 119166573 A CN119166573 A CN 119166573A CN 202411535087 A CN202411535087 A CN 202411535087A CN 119166573 A CN119166573 A CN 119166573A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/26—Special purpose or proprietary protocols or architectures
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4004—Coupling between buses
- G06F13/4027—Coupling between buses using bus bridges
- G06F13/405—Coupling between buses using bus bridges where the bridge performs a synchronising function
- G06F13/4059—Coupling between buses using bus bridges where the bridge performs a synchronising function where the synchronisation uses buffers, e.g. for speed matching between buses
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4204—Bus transfer protocol, e.g. handshake; Synchronisation on a parallel bus
- G06F13/4208—Bus transfer protocol, e.g. handshake; Synchronisation on a parallel bus being a system bus, e.g. VME bus, Futurebus, Multibus
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/4028—Bus for use in transportation systems the transportation system being an aircraft
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Abstract
The invention discloses a method and a system for inter-partition low-delay communication under ARINC 653 standard, which realize the sharing of files/equipment through inter-partition message communication on the premise of not damaging the independence of ARINC 653 partition and keeping the compatibility of ARINC 653 APEX service interfaces, have low sharing cost, provide higher degree of freedom for software design and realize an inter-partition communication scheme with low time delay.
Description
Technical Field
The invention relates to the field of inter-partition communication, in particular to a method and a system for inter-partition low-delay communication under ARINC653 standard.
Background
The ARINC 653 standard is used as a core specification of a real-time operating system (RTOS) of an avionics system, defines a set of partitioning architecture, and aims to ensure independent operation of a plurality of mission-critical applications through a partitioning mechanism of time and space isolation and ensure isolation and communication certainty between each partition.
ARINC 653 standardizes APEX (Application Executive) interface and provides a standardized set of APIs for partition scheduling management, task management, time management, and communication management. To support the development and operation of applications in avionics systems.
For existing communication flows, the message memory is copied twice, and for operating systems with user mode/kernel mode splitting, there may be additional user mode-kernel mode copying, which, for a message service built on a real-time operating system, can undoubtedly increase the delay of message delivery and increase the loss of message delivery between partitions.
In view of the foregoing, there is a need for a method and system for inter-partition low-latency communications under the ARINC 653 standard that addresses the deficiencies of the prior art.
Disclosure of Invention
The present invention provides a method and system for inter-partition low-delay communication under the ARINC 653 standard, which aims to solve the above problems.
In order to achieve the above purpose, the invention provides a method for inter-partition low-delay communication under ARINC 653 standard, comprising the following steps:
step S1, a sender partition calls a creation port service to establish a sending port, and a receiver partition calls the creation port service to establish a receiving port;
Step S2, the sender partition copies the message to be sent into a pre-allocated cache by calling a message sending service;
Step S3, mapping the cache to a memory address space of a receiving partition through a memory management unit;
S4, the receiving party partition directly reads the message from the mapped cache by calling the message receiving service;
and S5, searching and binding the file descriptor, wherein the sender sends the file descriptor, searches the struct file object corresponding to the file descriptor, binds with the struct file pointer and shares the file descriptor.
Optionally, when the port is created in step S1, the required cache SIZE is calculated according to the parameters max_message_size and max_nb_message, and the cache is allocated.
Optionally, the calculation formula of the buffer size is:
,
in the formula, the Ceiling function represents rounding up, and Page_SIZE is an integer number of operating system PAGE SIZEs.
Optionally, the receiving the message service in step S4 is:
The receiver partition invokes the receive_ QUEUING _message service to directly read the MESSAGE content from the mapped cache.
Optionally, in the step S5, the sending side sends the file descriptor as follows:
When the sender partition calls the send_ QUEUING _message service to SEND the file descriptor, searching a struct file object corresponding to the file descriptor, and caching a pointer of the struct file.
Optionally, the shared file descriptor in S5 is:
when the receiving party partition calls the RECEIVE_ QUEUING _MESSAGE service, an unused file descriptor is searched, and the file descriptor is bound with a struct file pointer in a cache, so that the file descriptor is shared.
A system for inter-partition low-delay communication under the ARINC 653 standard, employing a method for inter-partition low-delay communication under the ARINC 653 standard, comprising:
the soft bus daemon is used for providing a message service interface, managing the mapping and the routing of the cache and the partition-port, and coordinating the specific operation of the cross-partition communication;
And the soft bus driving module is used for managing core functions of cross-partition communication, including sharing of file descriptors, mapping of memory buffers and message transmission.
Optionally, the soft bus driver module implements a core function of the soft bus through operation of the virtual device, including, but not limited to, creating a communication port for operation in a queued mode and requesting return of a queue port identifier corresponding to a queue port name.
Optionally, the soft bus driver module further supports operations on created ports, including but not limited to sending messages in, receiving messages from, sending file descriptors in, and receiving file descriptors from specified queue ports.
Optionally, when the file descriptor is sent, a pointer of a file object struct file corresponding to the file descriptor is stored in a cache, and when the file descriptor is received, the pointer of the struct file is bound with a new file descriptor of a receiver to complete sharing of the file or the equipment.
The invention has the beneficial effects that:
1. In the invention, on the premise of not damaging the independence of the ARINC 653 partition and keeping the compatibility of the ARINC 653 APEX service interface, the sharing of the file/equipment through the inter-partition message communication is realized, the sharing cost is very low, a higher degree of freedom is provided for software design, and a low-delay inter-partition communication scheme is realized.
2. In the invention, low-delay inter-partition communication is realized through a copying-mapping flow of the memory and a searching-binding flow of the file/device and a message interface specified by ARINC 653, thereby providing better support for development and design of upper-layer airborne system application.
3. In the invention, the searching-binding process is carried out through the support of an operating system, and the sharing of files/devices is realized semantically in the message sending-receiving process.
Drawings
FIG. 1 is a flow chart of a method of the present invention.
Fig. 2 is an inter-partition communication interaction diagram of the present invention.
Fig. 3 is a system architecture diagram of the present invention.
Fig. 4 is a communication port setup diagram of the present invention.
Fig. 5 is a memory map of the present invention.
Fig. 6 is a communication port acquisition diagram of the present invention.
Fig. 7 is a diagram of a transmission and reception message according to the present invention.
FIG. 8 is a file device sharing diagram of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art.
As shown in fig. 1,2 and 4 to 8, a method for inter-partition low-delay communication under ARINC 653 standard, the content includes:
the main source of delay in message transfer between partitions is the copying of memory, so reducing the number of memory copies during message transfer is the main design idea of the soft bus. A naive approach to this problem, as described above, is a two-memory copy scheme, P1 to cached copies and P2 to cached copies, respectively.
Modern operating systems implement independence on process/partition memory by performing virtual memory to physical memory mapping, which is typically implemented by MMU (memory management unit) hardware to implement paged memory management techniques to protect different processes from interference with each other. Under this mechanism, virtual memory is partitioned into fixed-size pages, each of which is pointed to a location in physical memory by a page table entry, and the MMU uses the page table to locate the physical address. When a process/partition accesses memory, what is seen is a virtual memory address, the MMU uses the page number to find the page table entry by splitting the virtual address into two parts, page number and intra-page offset, if the page table entry is valid, the page frame number corresponding to the physical memory is found from the page table entry and combined with the intra-page offset to form the complete physical address, if the page table entry is invalid, indicating that the page is not in physical memory, the MMU will generate a page fault interrupt, the operating system will respond to this interrupt, load the required page from disk into physical memory, and update the page table to reflect the new mapping.
By utilizing the characteristic, the technical scheme can realize the reduction of the copying times, and the specific thinking is as follows:
when sender invokes send_ QUEUING _message, the MESSAGE memory is copied to a specific cache.
This cache is mapped into the memory address space of the recipient by the MMU so that after the sender copies the MESSAGE into the cache, the cache is already available to the recipient when the recipient calls receive_ QUEUING _message.
This idea is called Single-Copy Transaction (Single-Copy Transaction), assuming a time delay T of the original scheme
,
Wherein the method comprises the steps ofDelay introduced for one memory copy, while the delay of the technical methodIs that
,
We assume thatIn order to implement the time delay introduced by one memory mapping, in the implementation of the present technical solution, this part is already executed in the process of establishing the port. In modern operating systems, memory mapping is a faster operation than memory copying and does not increase with the length of the message memory, so this solution has a lower, more stable latency, which is a desirable feature in on-board systems.
Because the communication requirement among the partitions runs throughout the system, the life time of the cache is the same as that of the partitions, and the cache is allocated after the partitions are established, so that the recovery of the cache is not required to be considered. For an operating system that satisfies ARINC 653, at partition start-up, either the two APEX interfaces CREATE an inter-partition communication PORT by calling either the create_sample_PORT_ID or create_ QUEUING _PORT_ID, the technical scheme CREATEs a buffer memory and maps the buffer memory to the receiver partition when the receiver partition CREATEs a receiving PORT. The parameter max_message_size in the two APEX interfaces represents the maximum MESSAGE length, max_nb_message represents the maximum MESSAGE number, and the cache applied in this step should be not smaller than the product of the maximum MESSAGE length and the maximum MESSAGE number. In addition, the cache SIZE should be an integer number of operating system PAGE SIZEs page_size, and thus the applied cache SIZE should be:
where the celing function represents a round-up.
Another advantage of the present solution is that sharing of files/devices between partitions can be achieved at low cost in a message manner, for example, an operating system satisfying a Portable Operating System Interface (POSIX) is taken as a design idea of "all files" in this operating system, and under this idea, the files/devices are represented by File descriptors (File descriptors) for an application layer. The data type of the file descriptor is generally an integer, the literal value of the integer is not meaningful for different partitions through message transmission, and the file descriptor is not representative of sharing of files/devices, because the meaning of the file descriptor with the same value in different partitions is not the same, and the file descriptor can not be guaranteed to correspond to the same file or device. The specific flow is as follows:
When the sender calls send_ QUEUING _message to SEND the file descriptor, the file descriptor is not copied into the cache, but a struct file object corresponding to the file descriptor is found, and a pointer of the struct file is cached.
When the receiving party calls the RECEIVE_ QUEUING _MESSAGE, an unused file descriptor is found in the running context of the receiving partition, and the new file descriptor is mapped to the corresponding struct file, so that the sharing of the file descriptors is realized.
The file descriptors and struct files in the above flow description are exemplified as operating systems that meet the Portable Operating System Interface (POSIX). In this type of system, the file descriptor is a non-negative integer, typically represented in the user program as an integer variable. When a program opens a file (or other resource, such as a web socket, device node, etc.), the kernel returns a file descriptor. This file descriptor may be used to perform subsequent read and write operations, while the struct file object is a reference count managed data structure that represents the state of an opened file/device that is created when the first caller opens the file/device and released when all callers close the file/device. In this design, the file descriptor is an index to the struct file, and the process has its own private file descriptor table, recording all open files and their associated struct files. When a file/device is opened, the operating system allocates a file descriptor to the process of opening the file, if the file/device is not opened by other callers, the operating system creates a struct file to track the state of the file/device and creates a mapping relationship of the file descriptor to the newly created struct file by updating the file descriptor table, and if the file/device has been opened, the operating system finds the corresponding struct file object and also creates the mapping relationship by updating the file descriptor table. On other operating systems, the concept and flow are similar to those of the file/device which can be used by the user program in a resource handle mode, and the sharing among partitions is realized through the searching-binding flow of the technical scheme.
The technical scheme is based on a message sending/receiving interface, establishes the mapping relation of the file descriptor-struct file object through a file descriptor table, searches a pointer of the file object struct file corresponding to the file descriptor first when the file descriptor is sent, stores the pointer in a cache, applies for an unused file descriptor in a file descriptor table of a receiver when the file descriptor is received, and binds the new file descriptor of the pointer of the struct file in the cache by updating the file descriptor table of the receiver so as to finish sharing the file/equipment.
In summary, the technical scheme realizes low-delay inter-partition communication through the message interface specified by ARINC 653 by the copy-mapping flow of the memory and the searching-binding flow of the file/device, and provides better support for development and design of upper-layer airborne system application.
A system for inter-partition low-delay communication under ARINC 653 standard is provided, the architecture is shown in figure 3, and the soft bus is used as a service module of an operating system and is divided into a soft bus daemon (softbus-daemon) and a soft bus driver (softbus-driver).
The soft bus daemon, which serves as a service provider for the ARINC 653 message function, begins running at system start-up, is responsible for providing interfaces to the various partitions, managing the cache, determining the partition-port mapping and routing, and coordinating the specific operations of cross-partition communication.
The soft bus driver is a customized kernel module responsible for managing the core functions of cross-partition communication. The method processes the sharing of file descriptors, the mapping of memory buffers and the transfer of messages, and ensures that the communication between partitions can be completed efficiently and with low delay. The driver interacts directly with system calls and resources in the partition, providing underlying support based on the operating system.
When the operating system is started, the device "/dev/softbus" is registered when the soft bus driver is loaded, which is a virtual device, and the core function of the soft bus is realized through the operation of the device, and from the viewpoint of the soft bus driver, the available commands to the device comprise the following table 1
The commands return to the communication ports between the partitions, and the operations that can be performed on the ports are shown in Table 2 below
In the partition initialization phase, the soft bus performs port (port) initialization operations for each partition. Partition calling CREATE_ QUEUING _PORT to establish communication PORT, obtaining PORT_ID, and function calling process as shown in FIG. 4
The CREATE QUEUING PORT realizes the function of establishing PORT through the interaction with the soft bus driver, and returns port_id, in this process, establishes the corresponding relationship between port_id and cache, note that if the partition establishes the receiving PORT, the mapping between the cache and partition memory space should be established, as shown in fig. 5
In the partition running stage, the PORT ID can be obtained through get_ QUEUING _port_id, the flow of which is shown in fig. 6, and the partition obtains the PORT ID corresponding to the PORT name from the soft bus daemon through interaction with the soft bus driver.
After obtaining the port_id, the partition may operate on the cache, and for the sender, the relevant APIs may be called for message sending and receiving, for the softbus drivers, the relevant operations SOFTBUS _cmd_send_msg and SOFTBUS _cmd_receive_msg, where the main operation of SOFTBUS _cmd_send_msg is to copy the message into the corresponding cache of port_id, and for the receiver of the message, no additional copying is needed to RECEIVE the message, since the cache is already mapped into its address space.
For file/device sharing, and messaging and receiving, the related operations SOFTBUS _cmd_send_fd and SOFTBUS _cmd_receive_fd are substantially similar to those for softbus drivers, and the present solution uses the commands of the pair of soft bus drivers to implement the sharing function, as shown in the flowchart of fig. 8.
And similarly, when the file descriptor is received, binding the pointer of the struct file with a new file descriptor (named target_fd in the figure) of the partition 2, thereby completing the sharing of the file/equipment.
The invention realizes the sharing of the file/equipment through the inter-partition message communication on the premise of not damaging the independence of the ARINC 653 partition and keeping the compatibility of the ARINC 653 APEX service interface, has low sharing cost, provides higher degree of freedom for software design, and realizes a low-delay inter-partition communication scheme.
The low-delay inter-partition communication is realized through a copying-mapping flow of the memory and a searching-binding flow of the file/device and through a message interface specified by ARINC 653, better support is provided for the development and design of the upper-layer airborne system application, the searching-binding process is carried out through the support of an operating system, and the sharing of the file/device is realized semantically in the process of sending and receiving the message.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
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