Patent Grant
8954975
This application claims priority to and the benefit of Korean Patent Application No. 10-2011-0115854 filed in the Korean Intellectual Property Office on Nov. 8, 2011, the entire contents of which are incorporated herein by reference.
The present invention relates to a task scheduling method for a real time operating system (RTOS) mounted to an embedded system, and more particularly, to a task scheduling method which allows a programmer to make a CPU reservation for a task.
Most real time operating systems mounted to embedded systems employ a preemptive task scheduling method based on a priority. The real time operating systems employ a round robin task scheduling method where a task having arrived first is executed first when the priority of tasks are the same. As described above, the preemptive round robin task scheduling methods are intuitive to programmers, and thus are generally widely used.
However, the priority based scheduling methods are not always the best solutions. In particular, when an execution time of a task having a high priority is very long, a task having a low priority needs to wait until the task of the high priority is completely executed, which may cause the task having the low priority not to be executed. If a program is performed, an execution time of a task may become longer and even an unlimited loop may be encountered. Thus, it is not so pleasant for a programmer to determine a priority of a task except for when the task needs to be urgently executed.
It is round robin scheduling that has been suggested to solve the priority based problem. Even execution times of tasks become longer or are blocked, time division equally provides opportunities for executing tasks. In this case, when the number of tasks is n and the n tasks are executed in the form of round robin, a CPU occupancy rate of one task becomes 1/n, making it impossible to usefully use a CPU.
The present invention has been made in an effort to provide a task scheduling method where in scheduling tasks, if the priorities of tasks are different, a priority based scheduling is applied, if the priorities of tasks are the same, a time division based scheduling is applied, and if a CPU allocation is designated (reserved), the reservation is allocated, whereby a more degree of freedom of scheduling can be given to a programmer.
An exemplary embodiment of the present invention provides a task scheduling method for a real time operating system, including: at a scheduling time point, determining whether or not a highest priority of tasks present in a ready queue is a predetermined value K; if the highest priority is determined to be K, applying a reservation based scheduler to perform a scheduling; and if the highest priority is determined not to be K, applying a priority based scheduler to perform a scheduling; the tasks present in the ready queue, the priority of which is K, contains idle CPU reservation allocation information received as a factor when the tasks the priority of which is K are created.
According to the exemplary embodiment of the present invention, in scheduling tasks, if the priorities of the tasks are different, a priority based scheduling is applied, if the priorities of the tasks are the same, a time division based scheduling is applied, and if a CPU allocation is reserved, the reservation is allocated, whereby a more degree of freedom of scheduling can be given to a programmer. Thus, a soft real time application can be realized more easily than an existing scheduling method by allowing a programmer to control use of a CPU in the case of a real time task.
The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description.
It should be understood that the appended drawings are not necessarily to scale, presenting a somewhat simplified representation of various features illustrative of the basic principles of the invention. The specific design features of the present invention as disclosed herein, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particular intended application and use environment.
In the figures, reference numbers refer to the same or equivalent parts of the present invention throughout the several figures of the drawing.
Hereinafter, a task scheduling method for a real time operating system according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings.
Prior to a detailed description of the present invention, basic assumptions will be described as follows.
Basic Assumptions
1) An operating system provides several priorities and all tasks have priorities of their own. A task having a high priority has an execution priority higher than that of a task having a low priority. A set of tasks a priority of which is X is defined Tx. A priority value of a specific task tj is denoted Prio(tj), tjεTx. Throughout the specification, it is assumed that a task having a high priority has a high priority (positive method).
2) Among the priorities provided by the operating system, one specific priority (for example, K) may correspond to several tasks and the remaining priorities except for K may correspond to only one task, respectively.
3) The priority K corresponds to several tasks (Tk={T1, . . . , Tn} and the tasks having the same priority are executed through a time division method.
4) There are a one-time-execution form where a task is completed some time once the task is executed and a forever-loop form where a task is continuously executed forever without ending.
5) In the system, most of the tasks have a priority of K and several urgent tasks have priorities higher than K. The urgent tasks are in the one-time-execution form.
6) If it is assumed that a total sum of CPU occupancy rates of the tasks having priorities higher than K is Z (%), a percent of idle CPU time that can be used by the tasks having the priority of K is (100−Z) (%). This is defined as a percent of idle CPU time for K.
Note) A percent of the left idle CPU time that can be used by tasks having a priority of K is defined as a percent of idle CPU time for K. The percent of idle CPU time for K corresponds to a portion of
7) The scheduling (context exchanging) time points are a time when a scheduling timer is ended, a time when a task is completed, a time when a new task is activated, and a time when a scheduling instruction is explicitly called during execution of a task.
Creation of Task
1) When created, a task receives a priority and an idle CPU reservation allocation as factors. When the priority is not K, the idle CPU reservation allocation needs to be necessarily NULL, and when the priority is K, a factor such as 10(%) or 20(%) may be given to the idle CPU reservation allocation. If a reservation is not necessary, a factor of 0 may be given.
Example 1) task_create(tid1, stack_size, priority=K, 10)←10% Reserved
Example 2) task_create(tid2, stack_size, priority=K+1, 0)←Reservation unnecessary
Example 3) task_create(tid3, stack_size, priority=K, 0)←Reservation unnecessary
2) For the tasks having a priority of K, the idle CPU reservation allocation is an integer value larger than 0 and equal to or smaller than 100. A sum of all idle CPU reservation allocations of the tasks having the priority of K should not exceed 100(%). An idle CPU reservation allocation of a specific task ti is denoted by CPU(ti), tiεtk.
Entire Algorithm of the Present Invention
An entire algorithm of the task scheduling method for a real time operating system according to the present invention is as illustrated in
At the scheduling time point, a highest priority of the tasks present in the ready queue is examined and it is determined whether or not the highest priority is K (S101 and S102).
If the highest priority is not K, a scheduling is performed after a priority based preemptive scheduler is applied. In this case, several tasks having the same priority are not present, the task having the highest priority among the object tasks needs to be allocated to CPU select=ti, tiεTk. Here, ti is a task having the highest priority among the object tasks (S103 and S105). Meanwhile, if the highest priority is K, a scheduling is performed after a reservation based scheduler is applied (S104 and S105). The reservation based scheduler will be described in detail as follows.
In the following description, a set of tasks having an idle CPU reservation allocation among the tasks pertaining to TK will be denoted by TCPU and a set of tasks not having an idle CPU reservation allocation will be denoted by TG (TCPU, TG⊂TK, TCPU∪TG=TK, TCPU∩TG=Ø).
Time division is made at a predetermined interval to schedule the tasks to pertaining to TK. The time division may be made by using a time ending timer provided by the system.
A first round is set to perform a reservation based scheduling. The first round is a window considered when an idle CPU time is reserved. The first round may be set as a specific time value, but is preferably 100[ms] as in
Initialization Process in Reservation Based Scheduling
1) A time for the first round is set when a round time is not set (S201 of
2) TCPU and TG are set.
After the initialization process, the tasks pertaining to TCPU is allocated to the first round and then the tasks pertaining to TG is allocated. Hereinafter, an algorithm for allocating the tasks pertaining to TCPU will be described with reference to
Algorithm for Allocating Tasks Pertaining to TCPU
First, a task, an idle CPU reservation allocation value CPU(ti) is highest, is selected from the tasks pertaining to TCPU. If the number of tasks, a CPU(ti) value of which is the same, is plural, an arbitrary task (tiεTCPU) is selected from the tasks (S202 of
Next, a timer is set (Ttimer=CPU (ti)). The timer is decreased by one whenever 1 [ms] elapses (S203).
Next, the task ti(tiεTCPU) is executed (S204).
Next, if the allocated task is completely executed before the timer is ended, the execution time of the task is subtracted from the round time and an operation of the timer is stopped. That is, Tround′ is set to be Tround−(CPU(ti)−ttimer). Then, the task is removed from TCPU (that is, TCPU′=TCPU−{ti}). Thereafter, another task is executed by performing a scheduling (S205, S206, S209, S210 and S211).
Meanwhile, if the timer is ended before the task is completely executed, it means that the idle CPU reservation allocation is completely used, and Tround′ becomes Tround−CPU(ti) and the task is removed from TCPU (that is, TCPU′=TCPU−{ti}). Then, an operation of the timer is stopped. Thereafter, another task is executed by performing a scheduling (S207, S208, S209, S210 and S211).
Next, it is determined whether or not a task is present in TCPU (S212), the above-described steps are repeated until a task is not present in TCPU.
After all the tasks pertaining to TCPU are allocated through the above-described steps and Tround>0, the tasks pertaining to TG may be allocated by the remaining time. With the assumption that the tasks pertaining to TG is in the form of a list, the algorithm of allocating the tasks will be described as follows with reference to
Algorithm for Allocating Tasks pertaining to TG First, a first task ti(tiεTCPU) is selected from the tasks pertaining to TG (S301).
Next, a timer is set. Then, if Tround≧10, Ttimer is set to be 10, and if Tround<10, Ttimer is set to be Tround. The timer is decreased by one whenever 1 [ms] elapses (S302).
Next, the task ti(tiεTG) is executed (S303).
Next, if the allocated task are completely executed before the timer is ended, the execution time of the task is subtracted from the round time (that is, Tround′=Tround−(10−Ttimer)), the task is removed from TG (that is, TG′=TG−{ti}), and an operation of the timer is stopped. Thereafter, a scheduling is performed (S304, S305, S308, S309, and S310).
Meanwhile, if the timer is ended before the task is completely executed, it means that the task executable time of 10 [ms] are completely used, and Tround′ becomes Tround−10 and Ti is disposed at a final part of the TG list. Thereafter, an operation of the timer is stopped and a scheduling is performed (S206, S307, S308, S309, and S310).
Next, it is determined whether or not a task is present in TG (S311), the above-described steps are repeated until Tround becomes 0 only if a task is present in TG and the next round is started if Tround becomes 0. The tasks which have not been allocated may be allocated in the next round.
When Tround>0 but a task is not present in TG, Ttimer is set to be Tround and a scheduling is performed, and a CPU control right is succeeded by a task having a lower priority. If the timer is ended and Tround becomes 0, the next round is started.
When Task Having Priority Higher than K Is Encountered during Execution of Task Pertaining to TK
If a task having a priority higher than K is encountered, a priority based scheduler is applied and the task having a priority higher than K is executed first.
A timer value needs to be carefully dealt with when all the tasks having priorities higher than K are executed and a task having a priority of K is executed again. That is, as illustrated in
Hereinafter, an example is suggested to help understanding of the present invention. Through the example suggested below, a comparison result of a case of performing a reservation based scheduling according to the present invention (
Example) It is assumed that TK={t1, t2, t3, t4, t5}, t1 is an audio task, t2 is a video task, t3 is a system monitoring task, t4 is an event ready task, t5 is a packing transmitting/receiving task, TCPU={t1, t2}, TG={t3, t4, t5}, CPU(t1)=30, CPU(t2)=20, tasks of TK are forever-loop tasks. t1 and t2 pertaining to TCPU are real time tasks, and t3, t4 and t5 pertaining to TG are non-real time tasks.
Referring to
As described above, the exemplary embodiments have been described and illustrated in the drawings and the specification. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and their practical application, to thereby enable others skilled in the art to make and utilize various exemplary embodiments of the present invention, as well as various alternatives and modifications thereof. As is evident from the foregoing description, certain aspects of the present invention are not limited by the particular details of the examples illustrated herein, and it is therefore contemplated that other modifications and applications, or equivalents thereof, will occur to those skilled in the art. Many changes, modifications, variations and other uses and applications of the present construction will, however, become apparent to those skilled in the art after considering the specification and the accompanying drawings. All such changes, modifications, variations and other uses and applications which do not depart from the spirit and scope of the invention are deemed to be covered by the invention which is limited only by the claims which follow.
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