CN103885881A - High-real-time concurrent testing method based on multi-task mechanism of VxWorks system - Google Patents
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Abstract
The invention relates to a high-real-time concurrent testing method based on a multi-task mechanism of VxWorks system. The method comprises the following achieving steps that test tasks are planed according to a test case, a task attribute is configured for each test task, the task attribute comprises a task name, a task period, a task priority, starting time and finishing time; the tasks and semaphores corresponding to the tasks are established; a timer is registered for multi-task dispatching, and a task information table is established. According to the high-real-time concurrent testing method based on the multi-task mechanism of the VxWorks system, calculation, logic processing and interaction with the tested system can be completed in determined time, and the multiple concurrent test tasks can be completed in the same time period, so that high-real-time concurrent test requirement of embedded software is met.
Description
Technical field
The present invention relates to a kind of high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism, belong to embedded software test field.
Background technology
Embedded software because its can cutting, the characteristic such as high, the good confidentiality of reliability is applied to the fields such as national defence, industry control, medical treatment more and more widely.Along with the intensification of application, embedded software more and more presents the feature of high real-time, high concurrency, and common embedded software is higher to the requirement of reliability, the fully test of palpus process.
The test of embedded software is generally divided into following several types: functional test, performance test, security test, interface testing etc.Wherein, the most core be function and performance test.Functional test requires checking tested software whether correctly to realize the function in demand, needs test process can cover all functions branch of system under test (SUT); Performance test requires checking tested software whether can within the time requiring, complete function, can within definite time, provide correct feedback.
Embedded software need to be carried out the task of high real-time requirement conventionally, probably must within the time of the even delicate level of Millisecond, complete function, and often need in a period of time multiple function, that is to say, need to complete multinomial concurrent task, this just requires test process must be able to complete the concurrent test of multiple function points; In addition, complicated along with system under test (SUT) and tested software, test environment often needs the function of the multiple equipment of emulation in a test process, and this has just proposed hard real time and concurrency requirement more to the test of embedded software.
The prior art in the field of software test at present, conventionally adopt loadrunner or similar means, by Virtual User maker VuGen, in section, create at one time thousands of Virtual User system under test (SUT) has been operated to concurrent test, but the existing testing method and tool overwhelming majority is based on windows platform, timing capability in other words real-time own is just strong not, substantially can only support the test of Millisecond, and can not strict guarantee can carry out according to pre-designed temporal aspect multiple operations of measured piece, especially windows is used for a large amount of resources the interruption of the hardware such as interface activity and corresponding mouse-keyboard that maintains itself, further impact is carried out high Real-time and Concurrent test to system under test (SUT).
Therefore, need at present the urgent problem that those skilled in the art solve to be exactly, a kind of feasible method is proposed, this method can complete computing and logical process and mutual with system under test (SUT) on the one hand within definite time, on the other hand, in section, complete multinomial concurrent test assignment at one time, to meet the high real-time concurrent test requirement of embedded software.
Domestic and foreign literature not yet has relevant report at present.
Summary of the invention
The technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, a kind of high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism is provided, the method can complete computing and logical process and mutual with system under test (SUT) within definite time, and in section, complete multinomial concurrent test assignment at one time, meet the high real-time concurrent test requirement of embedded software.
The technology of the present invention solution: a kind of high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism, can within definite time, complete on the one hand computing and logical process and mutual with system under test (SUT), on the other hand, in section, complete multinomial concurrent test assignment at one time, to meet the high real-time concurrent test requirement of embedded software.
The concrete steps that the present invention realizes are as follows:
(1) according to test case planning test assignment
Described test case refers to description and the constraint to testing process, is necessary prerequisite and the preparation of carrying out once test; Described test assignment is a kind of set of test operation;
Test case is decomposed into various basic operations; Described basic operation refers to the minimum unit that test case is resolved into, for example, putting from certain hardware corridor and sending data to measured piece sometime, or sending data from certain hardware corridor to measured piece every 25 milliseconds; Again various basic operations are assigned in multiple test assignments according to the time response of importance and operation;
(11) test case is decomposed into various basic operations (such as sending a frame particular data at certain time point from certain hardware port), the method of decomposing is that test case is decomposed into minimum unit, that is to say, till cannot again decomposing, for example, a certain test case is for to power on to measured piece, whether self check is successful to judge measured piece after 3 seconds, to receive data from 422 buses, this test case is decomposed into two basic operations: one is to power on to measured piece after test starts, second is that test process starts to receive data from 422 buses after 3 seconds,
(12) the each basic operation obtaining in (11) is assigned in multiple test assignments according to the time response of importance and operation, described importance refers to that whether a basic operation is more important than other basic operations, if run into and put at the same time the situation that multiple basic operations need execution simultaneously, some basic operations must be compulsory prior to other basic operation operations, thinks that this basic operation is more important than other basic operations; The time response of described operation refers to whether whether basic operation exists the time point requirement of carrying out beginning and finishing, exist situation about need to repeatedly carry out according to some cycles; Each basic operation is assigned to principle in test assignment as follows: the operation that time response is identical, merge in a test assignment, if there is different time responses, basic operation is put in another test assignment, if the importance of certain basic operation is different from other basic operations in test assignment, this basic operation is put in another test assignment;
(2) be each test assignment configuration task attribute, described task attribute comprises task names, duty cycle, task priority, start time, end time;
(21) be test assignment name, tester can manually name test assignment, otherwise is a name that can not repeat of test assignment distribution;
(22), for test assignment arranges priority, it is that the test assignment of these basic operations composition arranges priority that the importance of the each basic operation obtaining according to step (12) is closed, if needed, and the priority that tester can manual modification test assignment; For the test assignment that the cycle carries out, be the little higher priority of task distribution ratio of cycle;
(23) for need to not be according to the test assignment of cycle execution, that is to say that its cycle is set to identical with the start time with the end time as long as carry out once task at particular point in time.For the test assignment (that is to say that these test assignments start to carry out extremely test from test and finish) that does not need to configure start time and end time and end time always, its start time and end time are set to zero.
(3) semaphore corresponding to creation task and task
(31) call VxWorks system function registered task, create a task for each test assignment is corresponding, the priority of each task is the priority of test assignment;
(32) be the state of corresponding semaphore of each task creation for control task;
(33) realization of test assignment is write to the entrance function of corresponding task, before realizing the code block of test assignment, add and obtain semaphore statement, and use endless loop statement that whole code block circulation is carried out, as long as to guarantee to obtain semaphore the execution that ceaselessly circulates of the code of test assignment; Owing to cannot obtaining semaphore, all task creations are afterwards in pending state;
(4) registration timer is for multi-task scheduling, and the cycle of timer is according to the highest common factor setting of each task; If exist task to configure start time and end time, start time and end time are regarded as to the cycle to add in the set of calculating highest common factor, so that VxWorks system can calculate the most accurate timer cycle; The tick number per second of VxWorks system is set to the 1s/ timer cycle with the unnecessary cpu resource that avoids waste; Described tick is the minimum timeslice of VxWorks system kernel scheduling;
(5) set up mission bit stream table, by the task names of all tasks, task priority, duty cycle, the start time, the semaphore information recording of end time and correspondence is in table; Wherein, not direct writing time of duty cycle, start time and end time, but record tick number; Then all tasks in mission bit stream table are sorted, all tasks are sorted from small to large according to duty cycle; Finally again task identical all duty cycles is sorted from high to low according to priority;
(6), after test brings into operation, timer according to the highest common factor running of each tasks carrying duty cycle, in the call back function of timer, is safeguarded an overall tick counter automatically, enters call back function at every turn counter is added to one; Traversal mission bit stream table, judge that all tasks are whether to the moment that should carry out: if the end tick number that the tick of overall situation counting is more than or equal to the beginning tick number of task and is less than or equal to task simultaneously the tick counting of the overall situation duty cycle tick is counted to remainder is 0, discharge the required semaphore of this task run, task starts to carry out.
In described step (5), the computing method of cycle tick number are cycle tick number=cycle/VxWorks system call minimum timeslice; Described start time tick number=start time/VxWorks system call minimum timeslice; End time tick number=end time/VxWorks system call minimum timeslice.
The present invention's advantage is compared with prior art: utilize VxWorks timing feature accurately, make tester can utilize this method to carry out the test of Microsecond grade, by obtaining the highest common factor in each task run cycle, multiplexing timer, reduce the cycle of operation of whole system, avoided multiple timers to take resource and cause that timing is disorderly; Timer is only responsible for to task release semaphore, and the scheduling of task is completed by system, has further guaranteed the accuracy of timer running; On the other hand, utilize the scheduling of VxWorks system multiplex and semaphore synchronization mechanism to guarantee that tester can, completing multinomial test assignment in section at the same time, that is to say, has guaranteed the concurrency of test.The invention provides a kind of high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism, this method can complete computing and logical process and mutual with system under test (SUT) on the one hand within definite time, on the other hand, in section, complete multinomial concurrent test assignment at one time, to meet the high real-time concurrent test requirement of embedded software.
Accompanying drawing explanation
Fig. 1 is the scheduling mechanism based on preemptive priority between VxWorks system multiplex;
Fig. 2 is the scheduling mechanism based on round-robin between VxWorks system multiplex;
Fig. 3 is the schematic flow sheet of the high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism of the present invention;
Fig. 4 is that the method in the present invention is calculated the process in timer cycle;
Fig. 5 is the detailed process that the method in the present invention is set up mission bit stream table.
Embodiment
For better introducing the method for the invention, first the multi-task mechanism of VxWorks system is briefly introduced.
The basic modules of VxWorks system is task, and multiple tasks can be carried out simultaneously and jointly complete program function.Each task can have various states, and basic status has following four kinds: ready state (Ready), pending state (Pend), dormant state (Sleep), deferred mode (Delay).The present invention relates generally to two states wherein: ready state and pending state.Call VxWorks system function taskSpawn () and create after a task, this task is in ready state, if task need to be waited for some not available resource, such as semaphore etc., in pending state.
The scheduling mechanism of VxWorks system is take preemptive priority as basis.Under this mechanism, the each task in system has a priority, and from 0～255,0 for the highest, and 255 is minimum.For the task of application layer, generally use the priority between 100～250.Wherein, the right of execution of the task that the high task of priority is can preempting priority low, referring to accompanying drawing 1; And between multiple tasks of equal priority, adopting Time Slice Circular Scheduling mechanism, the task that multiple priority is identical is carried out respectively regular time according to sequencing, to guarantee that each task has the chance of execution, referring to accompanying drawing 2.
In VxWorks system, synchronously conventionally completing as means with semaphore between multiple tasks.If require to obtain semaphore in task implementation,, before task picked up signal amount, in pending state, if other tasks or interrupt service routine have discharged semaphore, task starts to carry out.
VxWorks system, why through being usually used in the software that requirement of real-time is high, is exactly because its timing mechanism is very perfect.In VxWorks timing mechanism, tick is a key concept, tick is the minimum timeslice of system kernel scheduling, the tick number per second of supposing system is set to 60, to there is 60 interruptions in system clock in 1s, that is to say in this case, the minimum period of the each task in system can be 1/60 second.
As shown in Figure 3, the present invention's concrete steps are in an embodiment as follows:
Step 1: according to test case planning test assignment.
Test case is decomposed into various basic operations (such as sending a frame particular data at certain time point from certain hardware port), again various basic operations are assigned in multiple test assignments according to the time response of importance and operation, especially, for the operation that requires repeatedly to carry out according to certain cycle, merge in a test assignment according to the cycle.Test assignment described in the present invention is a kind of set of test operation, simultaneously for recording the base attribute of these test operations, such as priority, start time, end time, duty cycle etc., adopt class, structure or similar data structure all can, as long as can record the information such as start time, priority of test assignment, the present invention's realization itself is not affected.In embodiments of the present invention, adopt the mode of structure to realize, build structure STestTask.
Step 2: for each test assignment configuration attribute, comprise task names, duty cycle, task priority, start time, end time.Duty cycle, for the cycle of characterization test tasks carrying, is the foundation that subsequent step is determined dispatching cycle; In the present embodiment, for structure STestTask increases the cycle of member task_period for logger task, type is int64, so that the codomain in the cycle of expansion.
Task names is used for distinguishing each test assignment, and use in the time of registered task, tester can manually name for test assignment, for there is no the manually test assignment of name, for it creates the title that can not repeat, in the present embodiment, for structure STestTask increases member task_name for recording the title of test assignment, this member type is char[20]; When test assignment structure example creates, be task_i by task_name assignment, wherein i is the natural number since 1, before STestTask example of every establishment, global counter task_count adds 1, and during for task_name assignment, can directly adopt task_count is i assignment.
Task priority is for characterizing the priority of each task, and tester can be according to the significance level of task from high to low for task be distributed priority.Especially, for the test assignment that the cycle carries out, for little task of assurance cycle can obtain the chance of execution, need to be the little higher priority of task distribution ratio of cycle.In the present embodiment, for structure STestTask increases the priority of member task_priority for logger task, type is short, and the default priority of task is set to 140; For periodic duty, utilize method of interpolation to distribute priority, if duty cycle is 1 microsecond, it is 101 that priority is set; If duty cycle is 5 microseconds, it is 105 that priority is set; If duty cycle is 10 microseconds, it is 110 that priority is set; If duty cycle is 20 microseconds, it is 115 that priority is set, along with the increase of duty cycle, the distribution of priority can be more rough, that is to say, cycle be 1 delicate to the cycle be 5 delicate distribution priority 1s 01～105, the cycle is 100 delicate above delicate 5 priority of range assignment of hundreds of.Tester also can manually arrange the priority of vital task, but is the chance that little task of assurance cycle can obtain execution, should roughly guarantee that little task of cycle obtains higher priority.
For structure STestTask increases start_time and two members of end_time, for recording start time and the end time of test assignment, type is int64.For need to not be according to the test assignment of cycle execution, that is to say that its cycle is set to identical with the start time with the end time as long as carry out once task at particular point in time.For the test assignment that does not need to configure start time and end time, its start time and end time are set to zero;
Step 3: creation task and corresponding semaphore.Call VxWorks system function taskSpawn registered task, the corresponding task of each test assignment.The parameter of taskSpawn function has name, priority, and options, stackSize, entryPt, arg1～arg10, in the present embodiment, passes to the title of name as task using the task_name of STestTask; The task_priority of STestTask is passed to the priority of priority as task; Options is set to 0; StackSize is set to 80000; EntryPt is set to entrance function pointer; Arg1～arg10 is set to 0.
For corresponding semaphore of each task creation is for the state of control task, call VxWorks system function semBCreate () and create semaphore, options parameter is set to SEM_Q_FIFO, and initialState parameter is set to SEM_EMPTY.SemBCreate () function can return to the variable of a SEM_ID type, for the unique identifier of semaphore, for the member sem_id of a SEM_ID type of STestTask increase, for semaphore id corresponding to logger task, so that scheduling mechanism can obtain semaphore corresponding to task to task release semaphore time rapidly.
The realization of test assignment is write to the entrance function of corresponding task, before realizing the code block of test assignment, add and obtain semaphore statement, call function semTake, parameter is set to WAIT_FOREVER.And whole code block (comprise and obtain semaphore statement) uses while(1) circulation, as long as to guarantee obtaining semaphore, the execution that can ceaselessly circulate of the code of test assignment.Owing to cannot obtaining semaphore, all task creations are afterwards in pending state.
Step 4: registration timer is for multi-task scheduling, and the cycle of timer is according to the highest common factor setting of each task.If exist task to configure start time and end time, start time and end time are also regarded as to the cycle to add in the set of calculating highest common factor, so that system can calculate the most accurate timer cycle.
In the present embodiment, adopt following algorithm to obtain the timer cycle: to travel through all tasks, the cycle of task, start time, end time are deposited in an array and (do not deposited for 0 if), after all task has all been deposited, by array sort and remove the value of repetition, the highest common factor of then getting remaining value is the timer cycle.No matter adopt any algorithm and structure, can meet requirement of the present invention as long as can obtain the timer cycle, as accompanying drawing 4.
The tick number per second that calls sysClkRateSet () function system is set to the cpu resource of 1s/ timer cycle to avoid waste unnecessary.
Step 5: set up mission bit stream table, by the task ID of all tasks, priority, in the cycle, the start time, the information recordings such as the semaphore of end time and correspondence are in table.Wherein, the cycle, not direct writing time of start time and end time, but record tick number.Specific algorithm is cycle tick number=(int) (cycle/(1000000/sysClkRateGet ())); The account form of start time and end time is similar.Then all tasks in mission bit stream table are sorted, all tasks were sorted from small to large according to the cycle; Finally again the task identical all cycles is sorted from high to low according to priority.Concrete implementation procedure is shown in accompanying drawing 5.In the present embodiment, use array to realize mission bit stream table, wherein preserve the example of STestTask structure; Sequence adopts bubble sort method.Realize mission bit stream table and also can adopt other structures such as chained list, the algorithm of sequence also can adopt the several different methods such as quicksort, Hash sequence, and the realization of this method itself is not affected.
Step 6: after test brings into operation, timer according to the highest common factor running of each periodic duty, in the call back function of timer, is safeguarded an overall tick counter automatically, enters call back function at every turn counter is added to one; Traversal mission bit stream table, judge that all tasks are whether to the moment that should carry out: if the end tick number that the tick of overall situation counting is more than or equal to the beginning tick number of task and is less than or equal to task simultaneously the tick counting of the overall situation cycle tick of task is counted to remainder is 0, call semGive () function and discharge the required semaphore of this task run, task starts to carry out.
Non-elaborated part of the present invention belongs to techniques well known.
The above; be only part embodiment of the present invention, but protection scope of the present invention is not limited to this, in the technical scope that any those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.
Claims (2)
1. the high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism, is characterized in that performing step is as follows:
(1) according to test case planning test assignment
Described test case refers to description and the constraint to testing process, is necessary prerequisite and the preparation of carrying out once test; Described test assignment is a kind of set of test operation;
(11) test case is decomposed into various basic operations, described basic operation refers to the minimum unit that test case is resolved into;
(12) the each basic operation obtaining in step (11) is assigned in multiple test assignments according to the time response of importance and operation, described importance refers to that whether a basic operation is more important than other basic operations, if run into and put at the same time the situation that multiple basic operations need execution simultaneously, some basic operations must be compulsory prior to other basic operation operations, thinks that this basic operation is more important than other basic operations; The time response of described operation refers to whether whether basic operation exists the time point requirement of carrying out beginning and finishing, exist situation about need to repeatedly carry out according to some cycles; Each basic operation is assigned to principle in test assignment as follows: the operation that time response is identical, merge in a test assignment, if there is different time responses, basic operation is put in another test assignment, if the importance of certain basic operation is different from other basic operations in test assignment, this basic operation is put in another test assignment;
(2) be each test assignment configuration task attribute, described task attribute comprises task names, duty cycle, task priority, start time, end time;
(21) be test assignment name, tester can manually name test assignment, otherwise is a name that can not repeat of test assignment distribution;
(22), for test assignment arranges priority, it is that the test assignment of these basic operations composition arranges priority that the importance of the each basic operation obtaining according to step (12) is closed, if needed, and the priority that tester can manual modification test assignment; For the test assignment that the cycle carries out, be the little higher priority of task distribution ratio of cycle;
(23) for not need to according to the cycle carry out test assignment, as long as carry out once task at particular point in time, its cycle is set to identical with the start time with the end time, for the test assignment that does not need to configure start time and end time and end time, its start time and end time are set to zero;
(3) semaphore corresponding to creation task and task
(31) call VxWorks system function registered task, create a task for each test assignment is corresponding, the priority of each task is the priority of test assignment;
(32) be the state of corresponding semaphore of each task creation for control task;
(33) realization of test assignment is write to the entrance function of corresponding task, before realizing the code block of test assignment, add and obtain semaphore statement, and use endless loop statement that whole code block circulation is carried out, as long as to guarantee to obtain semaphore the execution that ceaselessly circulates of the code of test assignment; Owing to cannot obtaining semaphore, all task creations are afterwards in pending state;
(4) registration timer is for multi-task scheduling, and the cycle of timer is according to the highest common factor setting of each task; If exist task to configure start time and end time, start time and end time are regarded as to the cycle to add in the set of calculating highest common factor, so that VxWorks system can calculate the most accurate timer cycle; The tick number per second of VxWorks system is set to the 1s/ timer cycle with the unnecessary cpu resource that avoids waste; Described tick is the minimum timeslice of VxWorks system kernel scheduling;
(5) set up mission bit stream table, by the task names of all tasks, task priority, duty cycle, the start time, the semaphore information recording of end time and correspondence is in table; Wherein, not direct writing time of duty cycle, start time and end time, but record tick number; Then all tasks in mission bit stream table are sorted, all tasks are sorted from small to large according to duty cycle; Finally again task identical all duty cycles is sorted from high to low according to priority;
(6), after test brings into operation, timer according to the highest common factor running of each tasks carrying duty cycle, in the call back function of timer, is safeguarded an overall tick counter automatically, enters call back function at every turn counter is added to one; Traversal mission bit stream table, judge that all tasks are whether to the moment that should carry out: if the end tick number that the tick of overall situation counting is more than or equal to the beginning tick number of task and is less than or equal to task simultaneously the tick counting of the overall situation duty cycle tick is counted to remainder is 0, discharge the required semaphore of this task run, task starts to carry out.
2. a kind of high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism according to claim 1, is characterized in that: in described step (5), the computing method of cycle tick number are cycle tick number=cycle/VxWorks system call minimum timeslice; Described start time tick number=start time/VxWorks system call minimum timeslice; End time tick number=end time/VxWorks system call minimum timeslice.
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