JP2002073354A - Task control device and task contol method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device and method for improving stability of an overall real time system by reducing occurrence of deadline mistake of a task. SOLUTION: A processing division 9 for a missed deadline adds '1' to the number of times deadline mistakes have occurred on the task, stored in a task control information storage division 8 when a deadline mistake occurs at the first to fourth task 11a-11d, and implements processing of a deadline handler by a corresponding handler out of the first to fourth deadline handler 12a-12d. A task scheduler division 10, based on priority of implementation for each task stored in the task control information storage division 8 and number of times of deadline mistakes have occurred, moves up the task which has missed a deadline in the past, in the implementation order, and decides which task to implement next.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a task control device and a task control method using a real-time multitasking operating system for controlling the scheduling and execution of a plurality of tasks whose execution operations have time constraints.

[0002]

2. Description of the Related Art Conventional task control apparatuses and task control methods (for example, Japanese Patent Application Laid-Open Nos. 11-184717 and 8-2).
In the control of the real-time task by the real-time operating system in JP-A-72627 and JP-A-8-55036), when the execution of the real-time task is executed up to the deadline time, a deadline miss is detected and the deadline handler processing is performed. Was running.

[0003] The deadline time is a preset predetermined time until the task completes the operation, and the deadline miss is a task in which the operation does not end by the predetermined time. That is, the deadline handler process is an error recovery process executed when a deadline miss occurs in a task.

[0004]

However, in the conventional task control device and task control method, if a task that has made a deadline miss continues to operate at regular time intervals without terminating, the task becomes dead again. There is a high possibility that a line mistake is made, and the entire real-time task system becomes unstable.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to improve the stability of the whole real-time system by reducing the frequency of task deadline misses.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a task control apparatus provided with task control means for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time. A task control information storage unit for storing task control information including execution priority for each of the tasks and the number of occurrences of a deadline miss whose operation has not been completed by a predetermined time; and a deadline miss for each of the tasks. A deadline handler process executing means for executing a deadline handler process which is an error recovery process when an error occurs, and the number of occurrences of each deadline miss stored in the task control information storage means to a corresponding task. Each time a deadline miss occurs, the value is incremented by the deadline handler process execution means. A deadline miss occurrence control means for executing a deadline handler process corresponding to the task in which the deadline miss has occurred; execution priority and the number of deadline miss occurrences for each task stored in the task control information storage means; , An execution task determination control means for determining a task to be executed next by increasing the execution order of tasks in which a deadline miss has occurred in the past.

Further, in a task control device provided with task control means for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, an execution priority for each of the tasks and Task control information storage means for storing task control information comprising the number of interruptions due to interrupt processing, and interruption number addition for adding each interruption number stored in the task control information storage means each time the corresponding task is interrupted Means,
Execution task determination control for determining a task to be executed next by increasing the execution order of tasks that have been interrupted more in the past based on the execution priority and the number of interruptions for each task stored in the task control information storage means Means may be provided.

Further, in the above-described task control device, it is preferable to provide an interrupt prohibition level setting control means for setting so as to raise the interrupt prohibition level of the task based on the number of interruptions.

Also, in a task control device provided with task control means for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, an execution priority for each of the tasks and a time during execution of each task. Task control information storage means for storing task control information including the number of task switching operations performed, and task switching occurs during execution of a task corresponding to each task switching frequency stored in the task control information storage means. A task switching frequency adding means for adding each time, and a task in which task switching has frequently occurred during past task execution based on the execution priority and the task switching frequency for each task stored in the task control information storage means. Decide the next task to execute by moving up the execution order That may be provided to perform the task determination control means.

Further, in the above-described task control device, it is preferable to provide a task execution level setting means for setting the task execution level to be increased based on the task switching count.

Also, in a task control device provided with task control means for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, an execution priority of each of the tasks and a predetermined time by the predetermined time Task control information storage means for storing task control information including the number of occurrences of deadline misses whose operations have not been completed and group identification information with other tasks associated in advance, and occurrence of deadline misses in each of the above tasks A deadline handler process executing means for executing a deadline handler process which is an error recovery process when
The number of occurrences of each deadline miss stored in the task control information storage means is added to the corresponding task each time a deadline miss occurs, and the task in which the deadline miss has occurred by the deadline handler processing execution means It is preferable to provide a deadline miss occurrence control means for executing a deadline handler process corresponding to the task and a task having the same group identification information.

Further, in the above-described task control device, when the number of occurrences of the deadline miss stored in the task control information storage means is added, the same group identification information as the group identification information corresponding to the number of occurrences is added. It is preferable to provide a means for simultaneously adding the number of deadline miss occurrences within the group, which simultaneously adds the number of deadline miss occurrences possessed.

Further, in a task control device provided with task control means for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, an execution priority of each of the tasks and a predetermined time by the predetermined time Task control information storage means for storing task control information including the number of occurrences of deadline misses whose operations have not been completed and identification information indicating another task associated in advance, and a deadline miss has occurred in each of the tasks. A deadline handler process executing means for executing a deadline handler process which is an error recovery process, and the number of occurrences of each deadline miss stored in the task control information storage means is assigned to the corresponding task. Is added every time the deadline handler process execution means Ddorainmisu may be provided a deadline miss occurs when the control unit to execute the deadline handler process corresponding respectively to the task indicated by the task identification information corresponding to the task that caused the.

Further, in the above task control device, when the number of occurrences of the deadline miss stored in the task control information storage means is added, the deadline of the task indicated by the identification information corresponding to the number of occurrences is added. It is preferable to provide another task deadline miss occurrence count simultaneous addition means for simultaneously adding the number of miss occurrences.

Further, in the task control method for controlling the execution of a plurality of tasks each having a constraint to complete the operation by a predetermined time, the execution priority of each of the tasks and the operation are not terminated by the predetermined time. Task control information consisting of the number of deadline miss occurrences is stored, and the stored number of deadline miss occurrences is added each time a deadline miss occurs in the corresponding task, and a deadline miss occurs. The deadline handler process corresponding to the task executed is executed, and based on the execution priority and the number of occurrences of the deadline miss for each of the stored tasks, the task in which the deadline miss occurred in the past is advanced in the execution order. To determine the next task to execute.

Further, in the task control method for controlling the execution of a plurality of tasks each having a constraint to complete the operation by a predetermined time, the execution priority of each of the tasks, the number of interruptions caused by interrupt processing during execution of each task, and The task control information is stored, and the stored number of interruptions is added each time the corresponding task is interrupted. Based on the execution priority and the number of interruptions for each of the stored tasks, the number of interruptions is increased in the past. The task to be executed next may be determined such that the interrupted task is advanced in the execution order.

Further, in the above-described task control method, it is preferable that the interrupt inhibition level of the task is set to be raised based on the number of interruptions.

In a task control method for controlling the execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, the execution priority of each of the tasks and the number of task switching performed during the execution of each task Is stored, and the stored task switching counts are added each time task switching occurs during execution of the corresponding task, and the execution priority and task switching for each of the stored tasks are stored. Based on the number of times, the task to be executed next may be determined in such a manner that the task that has been frequently switched during the past task execution is advanced in the execution order.

Further, in the above-described task control method, it is preferable that the task execution level is increased based on the number of task switching.

Further, in the task control method for controlling the execution of a plurality of tasks each having a constraint to complete the operation by a predetermined time, the execution priority of each of the tasks and the operation are not terminated by the predetermined time. It stores task control information consisting of the number of occurrences of deadline misses and group identification information with other tasks associated in advance, and stores the number of occurrences of each stored deadline miss in the corresponding task. It is preferably added each time a deadline miss occurs, and deadline handler processes corresponding to the task in which the deadline miss has occurred and the task having the same group identification information as the task are executed.

Further, in the above task control method, when the stored number of occurrences of the deadline miss is added, the occurrence of the deadline miss having the same group identification information as the group identification information corresponding to the number of occurrences is added. The number of times may be added at the same time.

Further, in the task control method for controlling the execution of a plurality of tasks each having a constraint to complete the operation by a predetermined time, the execution priority of each of the tasks and the operation are not terminated by the predetermined time. Stores task control information including the number of occurrences of deadline misses and identification information indicating another task that has been associated in advance, and stores the number of occurrences of each of the stored deadline misses in the corresponding task. The deadline handler process may be performed for each of the tasks in which the deadline miss has occurred and the task indicated by the identification information corresponding to the task.

Further, in the task control method as described above, when the stored number of occurrences of the deadline miss is added, the number of occurrences of the deadline miss of the task indicated by the identification information corresponding to the number of occurrences is also calculated. It is good to add at the same time.

[0024]

Embodiments of the present invention will be specifically described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a real-time task control device according to one embodiment of the present invention.

This real-time task control device has a CP
A software system realized by a microcomputer including U, ROM, RAM, etc., a real-time operating system 1 corresponding to multitasking and a real-time operating system 1
The first is a plurality of tasks controlled and executed by
Task 11a, second task 11b, third task 11c,
Fourth task 11d and first to fourth tasks 11a to 11d
, The first deadline handlers 12a,
It comprises a second deadline handler 12b, a third deadline handler 12c, and a fourth deadline handler 12d.

Task IDs 1 to 4 are assigned to the first to fourth tasks 11a to 11d, respectively.

Real-time operating system 1
Is an exception processing unit 2 for performing internal and external interrupts and abnormal processing of the CPU, a resource management unit 3 for managing hardware and software resources such as a memory and a semaphore, and an operating system. A system call processing unit 4 for executing a special routine when requested by a task, a first driver unit 5a, a second driver unit 5b, and a third driver unit 5c which are various drivers for operating hardware. It consists of a task control unit 6 for controlling.

Further, the task control unit 6 includes a time management unit 7 for measuring the execution time of the first to fourth tasks 11a to 11d.
A task control information storage unit 8 for storing task control information of the first to fourth tasks 11a to 11d; and a deadline time when a task being executed by the time management unit 7 is registered in the task control information storage unit 8 ( If the time exceeds the predetermined time, the deadline handler corresponding to the address registered in the task control information storage unit 8, ie, the first to fourth deadline handlers 12a to 12d, is executed. A scheduling process for determining the next task to be executed from among the first to fourth tasks 11a to 11d and executing the task in a predetermined time unit or when each task is waiting to be executed by the unit 9 and the time management unit 7 And a task scheduler unit 10 for performing

This real-time task control device is configured as described above, and reduces the frequency of deadline misses in the execution of the tasks after the deadline miss again for the tasks that have made a deadline miss in the past. Improving stability.

That is, the real-time operation system 1 functions as the task control means according to the present invention. Further, the task control information storage section 8 functions as a task control information storage means according to the present invention.

Further, the first to fourth deadline handlers 12a to 12d and the deadline excess processing unit 9
Perform the functions of the deadline handler processing execution means and the deadline miss occurrence control means according to the present invention.
The deadline excess processing unit 9 also functions as the number-of-interruptions adding means, the number-of-task-switching number adding means, the number-of-groups deadline-missing-number-of-groups simultaneous adding means, and the number-of-other-tasks deadline-missing-number-of-times simultaneous adding means of the present invention. .

Further, the task scheduler section 10
It performs the functions of the execution task determination control means, the interrupt inhibition level setting control means, and the task execution level setting means according to the present invention.

Further, the task control section 6 executes the processing of the task control method according to the present invention.

Next, an example of a data format of the task control information in the task control information storage section 8 will be described. FIG. 2 is an explanatory diagram showing an example of a data format of task control information according to the present invention in the task control information storage unit 8 shown in FIG.

The task control information in the task control information storage section 8 is stored for each of the first to fourth tasks 11a to 11d (for each task ID assigned to each task). The task control information includes a task ID 21 as an identifier of the task, a deadline time 22 as a constraint time (predetermined time) for completing the execution of the operation, and first to fourth deadline handlers to be executed when a deadline miss occurs. It comprises an address 23 indicating the storage position of any of the deadline handlers 12a to 12d, an execution priority 24 of the task, and deadline miss information 25.

The deadline miss information 25 is information on the number of occurrences of deadline misses as information according to claim 1 of the present invention, and is information on other processes during task execution as information according to claim 2 of the present invention. The number of interruptions due to interrupt processing is the number of task switching operations performed during task execution.

Next, control processing according to the first and tenth aspects of the present invention in the real-time task control device shown in FIG. 1 will be described.

This control processing reduces the frequency of occurrence of a deadline miss when a task with a time constraint is executed in real time without terminating after a deadline miss in the real-time operating system 1. is there.

Therefore, in order to realize this control processing, the real-time operating system 1 of the real-time task control device has a function of task control means for controlling the execution of a plurality of tasks each having a constraint to complete the operation by a predetermined time. Fulfill.

The task control information storage section 8 stores task control information including execution priority for each of the tasks and the number of occurrences of deadline misses whose operations have not been completed by a predetermined time. Functions as control information storage means.

Further, the deadline excess processing section 9 and the first to fourth deadline handlers 12a to 12d execute deadline handler processing as error recovery processing when a deadline miss occurs in each task. It performs the function of a deadline handler process executing means to be executed.

The deadline excess processing unit 9
The number of occurrences of each deadline miss stored in the task control information storage means is added to the corresponding task each time a deadline miss occurs, and the number of deadline misses is added to the task in which the deadline miss has occurred by the deadline handler processing execution means. It functions as a deadline miss occurrence control means for executing a corresponding deadline handler process.

Further, the task scheduler 10
However, based on the execution priority of each task stored in the task control information storage means and the number of occurrences of a deadline miss, the task in which a deadline miss has occurred in the past is executed in an earlier execution order so as to be advanced. It performs the function of an execution task determination control means for determining a task.

The real-time task control processing in the task control unit 6 includes the first to fourth tasks 11a to 11a.
The task control information includes the execution priority for 11d and the number of occurrences of deadline misses whose operations have not been completed by the predetermined time, and stores the number of occurrences of each deadline miss in the corresponding task. A deadline handler process is performed by one of the first to fourth deadline handlers 12a to 12d corresponding to the task in which the deadline miss has occurred, and is added each time a miss occurs. The task to be executed next is determined based on the number of occurrences of the deadline miss, such that the task in which the deadline miss has occurred in the past is advanced in the execution order.

Next, the processing of the deadline excess processing unit 9 and the task scheduler unit 10 will be described as a characteristic control process in the real-time task control process according to claims 1 and 10 of the present invention.

FIG. 3 is a flow chart showing the control processing in the deadline excess processing section 9 in the task control section 6 according to the first and the tenth aspects of the present invention. FIG.
Is the task scheduler 10 in the task controller 6
FIG. 10 is a flowchart showing a control process according to claims 1 and 10 of the present invention.

When the deadline error is detected by the time management unit 7, the deadline excess processing unit 9
As shown in (1), in step (indicated by "S" in the figure) 1, deadline miss information in the task control information of the task control information storage is updated. The deadline miss information in this case is the number of deadline miss occurrences, and "1" is added to the value.

The process proceeds to step 2 to obtain the address of the deadline handler registered in the task control information storage, and based on the address, the first to fourth deadline handlers corresponding to the task in which the deadline miss has occurred. And ends this processing.

When the task is switched, the task scheduler unit 10 stores the execution priority and deadline miss information of all tasks from the task control information storage unit in step 11 as shown in FIG. obtain.
In this case, the deadline miss information stores the number of times a deadline miss has occurred in the task before.

In step 12, the task to be executed next is determined from the number of occurrences and the original execution priority of the task. Here, as long as these two factors are included as determinants, the determination method is not particularly limited. Next, in step 13, the task determined as described above is set to the execution state, and this processing ends.

As described above, the information structure of each task in the task control information storage unit 8 as described above, the deadline excess process control, and the task scheduler control process enable
The right to execute the next task can be increased as the task has a deadline miss in the past. Therefore, the task deadline miss can be reduced and a stable real-time system can be constructed.

Next, the control processing according to claims 2 and 11 of the present invention in the real-time task control device shown in FIG. 1 will be described.

In order to execute this control processing, the real-time operating system 1 of the real-time task control device functions as a task control means for controlling the execution of a plurality of tasks each having a constraint to complete the operation by a predetermined time. .

The task control information storage section 8 has a function of a task control information storage means for storing task control information including the execution priority of each task and the number of interruptions due to interrupt processing during execution of each task. Fulfill.

Further, the deadline excess processing section 9
Performs the function of the number-of-interruptions adding means for adding the respective number of interruptions stored in the task control information storage means each time the corresponding task is interrupted.

Further, the task scheduler 1
0 is a task that determines the task to be executed next in such a manner that the task that has been interrupted more in the past is advanced in the execution order based on the execution priority and the number of interruptions for each task stored in the task control information storage means. Performs the function of task determination control means.

The real-time task control processing in the task control section 6 includes the first to fourth tasks 11a to 11a.
Task control information including the execution priority for 11d and the number of interruptions due to interrupt processing during execution of each task is stored, and the number of interruptions is added each time the corresponding task is interrupted. Based on the degree and the number of interruptions, the task to be executed next is determined by moving up the execution order for tasks interrupted more in the past.

Next, the control processing characteristic of the real-time task control processing according to claims 2 and 11 of the present invention will be further described.

In the control processing according to the second and eleventh aspects of the present invention, the deadline miss information 25 of the task control information storage section 8 in FIG. The exception processing unit 2 interrupts the execution of another process and records the number of interruptions.

The deadline excess processing section 9
Adds "1" to the number of interruptions in the deadline miss information 25 of the task being executed at the time of execution by the exception processing unit 2.

The task scheduler unit 10
At the time of task switching, the execution priority and the number of interruptions of all tasks are acquired from the task control information storage unit 8, and the next task to be executed is determined based on the execution priority and the number of interruptions.

Due to the information configuration of each task in the task control information storage unit 8 described above, the deadline excess process control, and the task scheduler control process, the task that has been interrupted by the exception processing unit 2 in the past is executed next. Authority can be increased, deadline mistakes can be reduced, and a stable real-time system can be realized.

In this way, the task that has been interrupted by the exception processing unit 2 in the past can have higher authority to execute next, so that deadline mistakes can be reduced and a stable real-time system can be constructed. be able to.

Next, control processing according to the third and twelfth aspects of the present invention in the real-time task control device shown in FIG. 1 will be described.

In order to execute this control processing, the task scheduler unit 10 has the above-mentioned function, and also has a function of an interrupt prohibition level setting control means for setting the task prohibition level to increase the task's interrupt prohibition level based on the number of interruptions. Fulfill.

Then, the real-time task control processing in the task control section 6 is performed in the above-described control processing.
Based on the number of interruptions in the task control information storage unit 8, the setting is made so as to increase the task interrupt inhibition level.

FIG. 5 is a flowchart showing a control process in the task scheduler section 10 in the task control section 6 according to claims 3 and 12 of the present invention.

When the task is switched, the task scheduler unit 10 stores the execution priority and deadline miss information of all tasks from the task control information storage unit in step 21 as shown in FIG. obtain.
In the deadline miss information in this case, the number of interruptions previously interrupted by the interruption of another task during execution of the task is stored.

In step 22, a task to be executed next is determined from the number of interruptions and the original execution priority of the task. Here, as long as these two factors are included as determinants, the determination method is not particularly limited. Next, in step 23, the interrupt disable level set for the task is changed to an interrupt disable level corresponding to the number of interruptions (the number of interrupts), and in step 24, the task determined above is set to the execution state, and this processing ends.

As described above, the interrupt disable level can be set according to the frequency of interrupts received during the execution of the task in the past, so that a deadline miss due to an interrupt of another task can be reduced, and a stable operation can be achieved. Can be a real-time system.

Next, the control processing according to claims 4 and 13 of the present invention in the real-time task control device shown in FIG. 1 will be described.

In order to execute the control processing, the real-time operating system 1 of the real-time task control device functions as a task control means for controlling the execution of a plurality of tasks each having a constraint to complete the operation by a predetermined time. .

The function of the task control information storage means for storing the task control information comprising the execution priority for each of the tasks and the number of task switching performed during the execution of each task. Fulfill.

Further, the deadline excess processing section 9
Performs the function of a task switching frequency adding means for adding each task switching frequency stored in the task control information storage means each time task switching occurs during execution of a corresponding task.

Further, the task scheduler 1
0 is based on the execution priority and the task switching count for each task stored in the task control information storage means, so that the task that has been frequently switched during the past task execution is advanced in the execution order. And performs the function of the execution task determination control means for determining the task to be executed.

The real-time task control processing in the task control unit 6 includes the first to fourth tasks 11a to 11a.
Task control information including the execution priority for 11d and the number of task switching performed during execution of each task is stored, and each task switching number is added each time task switching occurs during execution of the corresponding task. Then, based on the execution priority of each task and the number of times of task switching, the task to be executed next is determined by moving up the execution order of tasks in which task switching has occurred more frequently during past task execution.

Next, the control processing characteristic of the real-time task control processing according to claims 4 and 13 of the present invention will be further described. In the control processing according to claims 4 and 13 of the present invention, the number of times of task switching performed during the execution of the task is recorded as deadline miss information 25 of the task in the task control information storage unit 8 of FIG.

The deadline excess processing section 9
Adds “1” to the task switching frequency of the deadline miss information 25 of the task being executed at that time during the control by the exception processing unit 2.

The task scheduler unit 10
At the time of task switching, the execution priority and the switching frequency of all tasks are acquired from the task control information storage unit 8, and the execution task is determined in consideration of the execution priority and the switching frequency.

FIG. 6 is a flowchart showing a control process according to a fourth aspect of the present invention in the task scheduler section 10 in the task control section 6.

When the task is switched, the task scheduler unit 10 stores the execution priority and deadline miss information of all tasks from the task control information storage unit in step 31 as shown in FIG. obtain.
In this case, the deadline miss information stores the number of times of task switching, which is the task switching performed during the execution of the task before.

In step 32, the task to be executed next is determined from the task switching count and the original execution priority of the task. Here, as long as these two factors are included as determinants, the determination method is not particularly limited. Next, it is determined whether or not the task to be executed next is a different task from the previous task depending on whether or not to switch the task to be executed in step 33. If there is no task switch, the process proceeds to step 35. In step 34, the number of times of switching of the task before the switch is added, that is, "1" is added to the number of times of task switching as deadline miss information of the task in the task control information storage unit of the task executed so far, and step 35 Then, the task determined as described above is set to the execution state, and this processing is terminated.

In this way, it is possible to determine the next task to be executed in accordance with the frequency of task switching that has occurred during the execution of a task in the past, and it is possible to reduce deadline errors due to task switching. It can be a stable real-time system.

Next, a description will be given of a control process according to claims 5 and 14 of the present invention in the real-time task control device shown in FIG.

In order to execute this control processing, the above-mentioned functions are provided, and the task scheduler section 10 functions as an execution task determination control means for setting the task execution level to be increased based on the number of times of task switching.

Then, the real-time task control processing in the task control section 6 is set so as to raise the task execution level based on the number of times of task switching in the task control information storage section 8 in the above-described control processing.

FIG. 7 is a flowchart showing a control process in the task scheduler section 10 in the task control section 6 according to claims 5 and 14 of the present invention.

When the task is switched, the task scheduler section 10 stores the execution priority and deadline miss information of all tasks from the task control information storage section in step 41 as shown in FIG. obtain.
The deadline miss information in this case stores the number of times of task switching performed during task execution.

In step 42, the next task to be executed is determined from the task switching count and the original execution priority of the task. Here, as long as these two factors are included as determinants, the determination method is not particularly limited. Next, the task execution level set for the task to be executed in step 43 is changed in accordance with the number of times of task switching of the task stored in the task control information storage unit. The process ends.

In this way, the task execution level can be set according to the frequency of switching that the task has received during execution in the past, and the occurrence of deadline misses due to the execution of other tasks can be reduced. It can be a stable real-time system.

Next, the control processing according to the sixth and fifteenth aspects of the present invention in the real-time task control device shown in FIG. 1 will be described.

In order to execute this control processing, the real-time operating system 1 of the real-time task control device functions as a task control means for controlling the execution of a plurality of tasks each having a constraint to complete the operation by a predetermined time. .

Further, the task control information storage section 8 stores the execution priority of each task and the number of occurrences of deadline misses whose operations have not been completed by the respective predetermined times, with the other tasks previously associated with each other. It functions as a task control information storage unit that stores task control information composed of group identification information.

Further, the deadline excess processing unit 9 and the first to fourth deadline handlers 12a to 12d perform deadline handler processing as error recovery processing when a deadline miss occurs in each task. It performs the function of a deadline handler process executing means to be executed.

Further, the deadline excess processing unit 9
The number of occurrences of each deadline miss stored in the task control information storage means is added to the corresponding task each time a deadline miss occurs, and the task in which the deadline miss has occurred by the deadline handler processing execution means It functions as a deadline miss occurrence control means for executing deadline handler processing corresponding to the task and a task having the same group identification information.

The real-time task control processing in the task control unit 6 includes the first to fourth tasks 11a to 11a.
Task control information including execution priority for 11d, the number of occurrences of deadline misses whose operations have not been completed by a predetermined time, and group identification information of another task associated in advance is stored. The number of occurrences of line misses is added each time a deadline miss occurs in the corresponding task, and deadline handler processing corresponding to the task that caused the deadline miss and the task that has the same group identification information as the task are performed. Execute.

FIG. 8 is an explanatory diagram showing another example of the data format of the task control information according to the present invention in the task control information storage section 8 shown in FIG. 1. In FIG. The description is omitted here.

In the task control information, related task information 26 is newly added to the above data. The related task information 26 is a group identifier (group identification information) with another task affected when the task has a deadline miss.

Next, the processing of the deadline excess processing unit 9 will be described as a characteristic control processing in claims 6 and 15 of the present invention in this real-time task control processing. FIG. 9 is a flowchart showing the control processing in the deadline excess processing section 9 in the task control section 6 according to claims 6 and 15 of the present invention.

When the time management unit 7 detects a deadline error, the deadline excess processing unit 9
As shown in (5), in step 51, the task control information storage unit updates the deadline miss information of the running task. The deadline miss information in this case is the number of deadline miss occurrences, and "1" is added to the value.

In step 52, the address of the deadline handler registered in the task control information storage unit is obtained, and based on the address, the first to fourth deadlines corresponding to the execution task in which the deadline miss has occurred. Execute one of the handlers.

Next, in step 53, a group identifier is obtained from the related task information registered in the task control information storage unit, and it is determined whether or not there is a task having the same group identifier. If there is, the process proceeds to step 54, where the task ID is obtained from the task control information of the task, and the deadline handler corresponding to the task ID is executed in step 55.

Then, the flow returns to step 53, and it is further checked from the related task information registered in the task control information storage section whether there is another task having the same group identifier. Then, a deadline handler is executed, and this processing ends.

In this way, by grouping all the tasks that are mutually dependent on the execution of the operation and assigning the same group identifier to each task, the tasks having the same group identifier when a deadline miss occurs Run deadline handlers for all,
Efficient post-processing can be performed during task processing, adverse effects on other tasks having no dependency are reduced, and a stable real-time system can be realized.

Next, a description will be given of a control process according to claims 7 and 16 of the present invention in the real-time task control device shown in FIG.

In order to execute this control process, the above-described functions are provided, and the deadline excess processing unit 9
When adding the number of occurrences of the deadline miss stored in the task control information storage unit 8, the group that simultaneously adds the number of occurrences of the deadline miss having the same group identification information as the group identification information corresponding to the number of occurrences It also functions as a means for adding the number of times of occurrence of deadline misses.

The real-time task control processing in the task control unit 6 is performed in the above-described control processing.
When the number of occurrences of the deadline miss stored in the task control information storage unit 8 is added, the number of occurrences of the deadline miss having the same group identification information as the group identification information corresponding to the number of occurrences is also added.

In this control processing, the deadline excess processing section 9 in the task control section 6 described above stores the task in which the deadline miss has occurred in the task control information storage section 8 in the processing of step 51 shown in FIG. In addition to updating the number of occurrences of the deadline miss, which is registered deadline miss information, by adding “1”, referring to the group identifier, which is related task information, all other tasks having the same group identifier are referred to. In addition, control processing for updating the deadline miss information (the number of occurrences of the deadline miss) (addition of “1”) is performed at the same time.

As described above, when a deadline miss occurs in a certain task, not only the number of deadline misses of the task but also the number of deadline misses of another task related to the task are updated. So
It is possible to prioritize the task execution including other tasks highly dependent on a certain task, and reduce deadline mistakes as a whole system.
It can be a stable real-time system.

Next, the control processing according to claims 8 and 17 of the present invention in the real-time task control device shown in FIG. 1 will be described.

In order to execute this control processing, the real-time operating system 1 of the real-time task control device functions as a task control means for controlling the execution of a plurality of tasks each having a constraint to complete the operation by a predetermined time. .

The task control information storage section 8 indicates other tasks which are associated in advance with the execution priority of each task and the number of occurrences of deadline misses whose operations have not been completed by the predetermined time. It functions as a task control information storage unit that stores task control information including identification information.

Further, the deadline excess processing section 9 and the first to fourth deadline handlers 12a to 12d perform deadline handler processing as error recovery processing when a deadline miss of each task occurs. It performs the function of a deadline handler process executing means to be executed.

The deadline excess processing section 9 also adds the number of occurrences of each deadline miss stored in the task control information storage means each time a deadline miss occurs in the corresponding task, and It also performs the function of deadline miss occurrence control means for executing deadline handler processing corresponding to the task in which the deadline miss has occurred by the handler processing execution means and the task indicated by the identification information corresponding to the task.

The real-time task control processing in the task control section 6 includes the first to fourth tasks 11a to 11a.
Task control information including execution priority for 11d, the number of occurrences of deadline misses whose operations have not been completed by a predetermined time, and identification information indicating another task associated in advance is stored. The number of misses is added each time a deadline miss occurs in the corresponding task, and the deadline handler processing corresponding to the task that caused the deadline miss and the task indicated by the identification information corresponding to the task is added. Execute.

When this control processing is performed, the task control information in the task control information storage section 8 includes, as related task information 26 in addition to the data shown in FIG. A task ID indicating the task to receive the task is stored. The task ID stored in the related task information 26 may be the task ID of one task, or may be the task IDs of a plurality of tasks at the same time.

Next, the processing of the deadline excess processing unit 9 will be described as a control processing characteristic of the real-time task control processing according to claims 8 and 17 of the present invention.

When the time management unit 7 detects the occurrence of a deadline miss, the deadline excess processing unit 9 updates the deadline miss information of the task being executed in the task control information storage unit 8. The deadline miss information in this case is the number of deadline miss occurrences, and "1" is added to the value.

Further, the address of the deadline handler registered in the task control information storage unit 8 is obtained, and based on the address, the first to fourth deadline handlers corresponding to the execution task in which the deadline miss has occurred are obtained. Do one of them.

Further, the task ID is obtained from the related task information registered in the task control information storage unit 8, the deadline handler corresponding to the task indicated by the task ID is executed, and the process is terminated.

As described above, when a task misses a deadline, a deadline handler is executed including tasks dependent on the task, so that the dependency between tasks can be set flexibly and more efficient. Post-processing can be performed, resulting in less adverse effects on other real-time tasks and a stable real-time system.

Next, the control processing according to claims 9 and 18 of the present invention in the real-time task control device shown in FIG. 1 will be described.

In order to execute this control process, the above-described functions are provided, and the deadline excess processing unit 9
When the number of occurrences of deadline misses stored in the task control information storage means is added, the number of occurrences of deadline misses of the task indicated by the identification information corresponding to the number of occurrences is also added at the same time. Also functions as a means for simultaneously adding the number of occurrences.

Then, the real-time task control processing in the task control section 6 is performed in the above-described control processing.
When the number of occurrences of the deadline miss stored in the task control information storage unit 8 is added, the number of occurrences of the deadline miss of the task indicated by the identification information (task ID) corresponding to the number of occurrences is also added. .

In this control processing, the deadline excess processing section 9 in the above-described task control section 6 executes the deadline registration in the task control information storage section 8 for the task in which the deadline miss has occurred in the above-described processing. In addition to updating “1” to the number of occurrences of the deadline miss, which is the miss information, the task I, which is the related task information registered as the task being executed in the task control information storage unit 8, is updated.
At the same time, control processing for obtaining D and updating the deadline miss information (the number of occurrences of the deadline miss) of the task (related task) indicated by the task ID (adding “1”) is also performed.

In this way, according to the number of deadline misses in a past task, not only that task but also a highly dependent task can be preferentially determined to execute a task. Since the dependency can be set flexibly, a deadline miss can be further reduced as a whole system, and a stable real-time system can be realized.

[0127]

As described above, according to the task control device and the task control method of the present invention, the frequency of the task deadline miss is reduced, thereby improving the stability of the whole real-time system. Can be.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a real-time task control device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a data format example of task control information in a task control information storage unit 8 shown in FIG.

FIG. 3 is a flowchart showing a control process according to claim 1 of the present invention in a deadline excess processing section 9 in the task control section 6 shown in FIG. 1;

FIG. 4 is a flowchart showing a control process according to claim 1 of the present invention in a task scheduler unit 10 in the task control unit 6 shown in FIG. 1;

FIG. 5 is a flowchart showing a control process according to claim 3 of the present invention in the task scheduler unit 10 in the task control unit 6 shown in FIG. 1;

FIG. 6 is a flowchart showing a control process according to claim 4 of the present invention in the task scheduler unit 10 in the task control unit 6 shown in FIG. 1;

FIG. 7 is a flowchart showing a control process according to claim 5 of the present invention in the task scheduler unit 10 in the task control unit 6 shown in FIG. 1;

FIG. 8 is an explanatory diagram showing another example of the data format of the task control information in the task control information storage unit 8 shown in FIG.

FIG. 9 is a flow chart showing a control process according to claims 6 and 15 of the present invention in the deadline excess processing unit 9 in the task control unit 6 shown in FIG. 1;

[Explanation of symbols]

 1: Real-time operating system 2: Exception processing unit 3: Resource management unit 4: System call processing unit 5a to 5c: First to third driver units 6: Task control unit 7: Time management unit 8: Task control information storage unit 9 : Deadline excess processing unit 10: Task scheduler unit 11a to 11d: First to fourth tasks 12a to 12d: First to fourth deadline handlers 21: Task ID 22: Deadline time 23: Deadline handler address 24: Execution priority 25: Deadline miss information 26: Related task information

Claims (18)

[Claims] 1. A task control device comprising a task control means for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, comprising: an execution priority for each of the tasks; Task control information storage means for storing task control information comprising the number of occurrences of deadline misses whose operations have not been completed; and a deadline handler for error recovery processing when a deadline miss of each of the tasks occurs A deadline handler executing means for executing a process, and adding the number of occurrences of each deadline miss stored in the task control information storage means each time a deadline miss occurs in the corresponding task. Deadline corresponding to the task that caused the deadline miss by the processing execution means A deadline miss occurrence control means for executing a line handler process, and a deadline miss has occurred in the past based on the execution priority and the number of deadline miss occurrences for each task stored in the task control information storage means. A task control device comprising: an execution task determination control unit that determines a task to be executed next in such a manner that a task is executed in a higher execution order. 2. A task control apparatus comprising: a task control unit for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time; Task control information storage means for storing task control information comprising the number of interruptions due to interrupt processing; and interruption count addition for adding each interruption count stored in the task control information storage means each time the corresponding task is interrupted. Means for determining a task to be executed next by moving up the execution order of tasks interrupted more in the past based on the execution priority and the number of interruptions for each task stored in the task control information storage means, A task control device comprising a task determination control means. 3. The task control device according to claim 2, further comprising an interrupt prohibition level setting control means for setting the task prohibition level to increase based on the number of interruptions. 4. A task control device comprising a task control means for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, comprising: an execution priority for each of said tasks; Task control information storage means for storing task control information including the number of task switching operations performed; and task switching occurs during execution of a task corresponding to each task switching frequency stored in the task control information storage means. A task switching frequency adding means for adding each time, and a task in which task switching frequently occurs during past task execution based on the execution priority and the task switching frequency for each task stored in the task control information storage means. Decide the next task to execute by moving up the execution order A task control device comprising: an execution task determination control unit. 5. The task control device according to claim 4, further comprising: a task execution level setting unit configured to set the task execution level to increase based on the number of task switching. 6. A task control device comprising a task control means for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, comprising: an execution priority for each of the tasks; Task control information storage means for storing task control information including the number of occurrences of deadline misses whose operations have not been completed and group identification information with other tasks associated in advance, and the occurrence of deadline misses in each of the tasks A deadline handler process executing means for executing a deadline handler process, which is an error recovery process, when the number of times of each deadline miss stored in the task control information storage means is deadlined to a corresponding task. Each time a mistake occurs, the value is added and the deadline handler process execution means executes the process. Control means for executing deadline handler processing corresponding to a task which has caused a deadline miss and a task having the same group identification information as the task. . 7. The task control device according to claim 6, wherein when adding the number of occurrences of the deadline miss stored in the task control information storage means, the same group identification information as the group identification information corresponding to the number of occurrences. A task control device characterized by comprising a means for simultaneously adding the number of deadline miss occurrences within a group for simultaneously adding the number of occurrences of deadline misses having the following. 8. A task control device comprising a task control means for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, comprising: an execution priority for each of the tasks; Task control information storage means for storing task control information including the number of occurrences of deadline misses whose operations have not been completed and identification information indicating another task associated in advance, and a deadline miss of each of the tasks has occurred. A deadline handler process executing means for executing a deadline handler process which is an error recovery process, and the number of occurrences of each deadline miss stored in the task control information storage means is assigned to the corresponding task. Is incremented each time an error occurs, and the deadline handler A task control device comprising a deadline miss occurrence control means for executing deadline handler processing corresponding to a task in which a drain miss has occurred and a task indicated by identification information corresponding to the task. 9. The task control device according to claim 8, wherein when the number of occurrences of the deadline miss stored in the task control information storage unit is added, the deadline of the task indicated by the identification information corresponding to the number of occurrences. A task control device characterized by further comprising means for simultaneously adding the number of occurrences of line misses and a means for simultaneously adding the number of occurrences of dead line misses. 10. A task control method for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, wherein an execution priority of each of the tasks and an operation are not ended by the predetermined time. Task control information including the number of deadline miss occurrences is stored, and the stored number of deadline miss occurrences is added each time a deadline miss occurs in the corresponding task, and a deadline miss occurs. Executing a deadline handler process corresponding to the stored task, and based on the execution priority and the number of occurrences of the deadline miss for each of the stored tasks, a task in which a deadline miss has occurred in the past is advanced in execution order. A task to be executed next. 11. A task control method for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, comprising: an execution priority for each task; a number of interruptions caused by interrupt processing during execution of each task; The task control information is stored, and the stored number of interruptions is added each time the corresponding task is interrupted. Based on the execution priority and the number of interruptions for each of the stored tasks, the number of interruptions is increased in the past. A task control method characterized by determining the next task to be executed by moving up the execution order of the interrupted tasks. 12. The task control method according to claim 11, wherein a setting is made so as to increase a task interrupt inhibition level based on the number of interruptions. 13. A task control method for controlling the execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, comprising: an execution priority for each of the tasks; and a number of task switching operations performed during each of the tasks. , And adds the stored task switching counts each time task switching occurs during execution of the corresponding task, and executes the execution priority and task switching for each of the stored tasks. A task control method comprising: determining a task to be executed next in such a manner that a task whose task has been frequently switched during execution of a past task is advanced in execution order based on the number of times. 14. The task control method according to claim 13, wherein the task execution level is set to increase based on the task switching count. 15. A task control method for controlling execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, wherein the execution priority of each of the tasks and the operation are not terminated by the predetermined time. Task control information including the number of occurrences of a deadline miss and group identification information with another task associated in advance is stored, and the number of occurrences of each stored deadline miss is stored in the corresponding task. A task control method comprising: adding a deadline error each time a task occurs; and executing a deadline handler process corresponding to each of the task having the deadline miss and the task having the same group identification information as the task. 16. The task control method according to claim 15, wherein when adding the stored number of occurrences of the deadline miss, the deadline miss having the same group identification information as the group identification information corresponding to the number of occurrences is added. A task control method characterized by simultaneously adding the number of occurrences. 17. A task control method for controlling the execution of a plurality of tasks each having a constraint to complete an operation by a predetermined time, wherein the execution priority of each task and the operation are not terminated by the predetermined time. Task control information including the number of occurrences of deadline misses and identification information indicating another task associated in advance is stored, and the number of occurrences of each stored deadline miss is stored in the corresponding task. And a deadline handler corresponding to the task having the deadline miss and the task indicated by the identification information corresponding to the task. 18. The task control method according to claim 17, wherein when the stored number of occurrences of the deadline miss is added, the number of occurrences of the deadline miss of the task indicated by the identification information corresponding to the number of occurrences is added. A task control method characterized by adding the same at the same time.