CN103885881B - A kind of high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism - Google Patents
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Abstract
The present invention relates to a kind of high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism, realizing step is: plan test assignment according to test case, for each test assignment configuration task attribute, described task attribute includes task names, duty cycle, task priority, time started, end time；The semaphore that establishment task is corresponding with task；Registration timer is used for multi-task scheduling, sets up mission bit stream table.The present invention can complete computing and logical process and mutual with system under test (SUT) within the time determined, and can complete multinomial concurrent test assignment within the same time period, meets the high real-time concurrent test requirement of embedded software.
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 is because it characteristic such as cutting, reliability height, good confidentiality can be applied to the fields such as national defence, industry control, medical treatment more and more widely.Along with the intensification of application, embedded software increasingly presents high real-time, the feature of high concurrency, and be typically embedded into formula software higher to the requirement of reliability, must be through fully test.
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 that checking tested software the most correctly achieves the function in demand, needs test process can cover all functional branches of system under test (SUT)；Performance test requires whether checking tested software can complete function within the time required, it is possible to provide correct feedback within the time determined.
Embedded software typically requires the task of performing high real-time requirement, it is likely to complete function within the time of the most delicate level of Millisecond, and need multiple function the most in a period of time, that is, having needed multinomial concurrent tasks, this just requires that test process has allowed for the concurrent test of multiple function point；It addition, along with system under test (SUT) and the complication of tested software, test environment generally requires the function emulating multiple equipment in a test process, this just test to embedded software propose more hard real time and concurrency requirement.
The prior art in software test field at present, generally use loadrunner or similar means, by Virtual User maker VuGen, within the same time period, create thousands of Virtual User system under test (SUT) has been operable to concurrent test, but existing testing method and tool is most based on windows platform, timing capability real-time in other words own is the strongest, substantially the test of Millisecond can only be supported, and can not multiple operations of measured piece can be performed strict guarantee according to pre-designed temporal aspect, substantial amounts of resource is used for maintaining the interruption of the hardware such as the interface activity of itself and corresponding mouse-keyboard by especially windows, impact performs the test of high Real-time and Concurrent to system under test (SUT) further.
Therefore, the urgent problems that those skilled in the art solution is presently required is exactly, a kind of feasible method is proposed, on the one hand this method can complete computing and logical process and mutual with system under test (SUT) within the time determined, on the other hand, allow within the same time period, complete multinomial concurrent test assignment, 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 solves problem: 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 the time determined, and multinomial concurrent test assignment can be completed within the same time period, 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, on the one hand computing and logical process and mutual with system under test (SUT) can be completed within the time determined, on the other hand, allow within the same time period, complete multinomial concurrent test assignment, to meet the high real-time concurrent test requirement of embedded software.
What the present invention realized specifically comprises the following steps that
(1) test assignment is planned according to test case
Described test case refers to the description to testing process and constraint, is carried out necessary premise and the preparation once tested；Described test assignment is the set of a kind of test operation；
Test case is decomposed into various basic operation；Described basic operation refers to minimum unit test case resolved into, such as, put sometime and send data from certain hardware corridor to measured piece, or send data from certain hardware corridor to measured piece every 25 milliseconds；Again various basic operations are assigned in multiple test assignment according to the time response of importance and operation；
(11) test case is decomposed into various basic operation (such as sending a frame particular data at certain time point from certain hardware port), the method decomposed is that test case is decomposed into the unit of minimum, that is, till cannot again decomposing, such as, a certain test case is for power on to measured piece, whether self-inspection is successful to judge measured piece to receive data from 422 buses after 3 seconds, this test case being then decomposed into two basic operations: one is to power on to measured piece after test starts, second is to receive data after test process starts 3 seconds from 422 buses；
(12) each basic operation obtained in (11) is assigned in multiple test assignment according to the time response of importance and operation, described importance refers to that a basic operation is more important than other basic operations, if run into put multiple basic operation at the same time simultaneously need to perform situation, some basic operation must compulsory run prior to other basic operations, then it is assumed that this basic operation is more important than other basic operations；The time response of described operation refers to whether basic operation exists the time point requirement performing to start and terminate, if there is the situation that needs perform repeatedly according to some cycles；The principle each basic operation being assigned in test assignment is as follows: the operation that time response is identical, it is merged in a test assignment, if there is different time responses, then basic operation is put in another test assignment, if the importance of certain basic operation is different from other basic operations in test assignment, then this basic operation is put in another test assignment；
(2) being each test assignment configuration task attribute, described task attribute includes task names, duty cycle, task priority, time started, end time；
(21) being test assignment name, test assignment can manually be named by tester, otherwise distributes a name that will not repeat for test assignment；
(22) being that test assignment arranges priority, the importance relation of each basic operation obtained according to step (12) is that the test assignment of these basic operations composition arranges priority, if it is desired, tester can be with the priority of manual modification test assignment；The test assignment performed for the cycle, for the priority that task distribution ratio that the cycle is little is higher；
(23) for need not the test assignment performed according to the cycle, say, that as long as performing once task at particular point in time, its cycle is set to identical with the time started with the end time.For need not configure the test assignment (that is these test assignments start to perform to test to terminate) of time started and end time and end time from test always, its time started and end time are set to zero.
(3) semaphore that task is corresponding with task is created
(31) calling VxWorks system function registered task, create a task for each test assignment correspondence, the priority of each task is the priority of test assignment；
(32) it is one the corresponding semaphore of each task creation state for control task；
(33) by the entrance function realizing the corresponding task of write of test assignment, added before realizing the code block of test assignment and obtain semaphore statement, and use endless loop statement to make the circulation of whole code block perform, as long as to ensure to obtain semaphore, the code that realizes of test assignment ceaselessly circulates execution；Owing to semaphore cannot be obtained, after all task creations, it is in pending state；
(4) registration timer is used for multi-task scheduling, and the cycle of intervalometer is arranged according to the greatest common divisor of each task；It is configured with time started and end time if there is task, then time started and end time is regarded as in the set that the cycle adds calculating greatest common divisor, in order to VxWorks system can calculate the most accurate timer period；The tick number per second of VxWorks system is set to 1s/ timer period to avoid wasting unnecessary cpu resource；Described tick is the minimum timeslice of VxWorks system kernel scheduling；
(5) set up mission bit stream table, the semaphore information of the task names of all tasks, task priority, duty cycle, time started, end time and correspondence be recorded in table；Wherein, duty cycle, time started and end time the most directly record the time, but record tick number；Then all tasks in mission bit stream table are ranked up, all tasks are ranked up from small to large according to duty cycle；Finally again task identical for all duty cycles is sorted from high to low according to priority；
(6) after test brings into operation, intervalometer operates according to the greatest common divisor of each tasks carrying duty cycle automatically, in the call back function of intervalometer, safeguards an overall tick enumerator, enters call back function every time and adds one by enumerator；Traversal mission bit stream table, judge whether all tasks have arrived the moment that perform: if the tick counting of the tick counting beginning tick number more than or equal to task of the overall situation and the end tick number less than or equal to the task overall situation simultaneously is 0 to duty cycle tick number remainder, then discharging the semaphore needed for this task run, task starts to perform.
In described step (5), the computational methods of cycle tick number are cycle tick number=cycle/VxWorks system call minimum timeslice；Described time started tick number=time started/VxWorks system call minimum timeslice;End time tick number=end time/VxWorks system call minimum timeslice.
Present invention advantage compared with prior art is: utilize VxWorks timing feature accurately, make tester that this method can be utilized to carry out the test of Microsecond grade, by obtaining the greatest common divisor in each task run cycle, multiplexing intervalometer, reduce the cycle of operation of whole system, it is to avoid multiple intervalometers take resource and cause timing disorderly；Intervalometer is only responsible for task release semaphore, and the scheduling of task is completed by system, further ensure that the accuracy that intervalometer operates；On the other hand, the scheduling of VxWorks system multiplex and semaphore synchronization mechanism is utilized to ensure that tester can complete multinomial test assignment in section at the same time, say, that, it is ensured that the concurrency of test.The invention provides a kind of high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism, on the one hand this method can complete computing and logical process and mutual with system under test (SUT) within the time determined, on the other hand, multinomial concurrent test assignment can be completed, to meet the high real-time concurrent test requirement of embedded software within the same time period.
Accompanying drawing explanation
Fig. 1 is the scheduling mechanism seized based on priority between VxWorks system multiplex；
Fig. 2 is 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 the process that the method in the present invention calculates timer period；
Fig. 5 is the detailed process that the method in the present invention sets up mission bit stream table.
Detailed description of the invention
For preferably 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 perform jointly to complete program function simultaneously.Each task can have various states, and basic status has a following four: ready state (Ready), pending state (Pend), dormant state (Sleep), deferred mode (Delay).The invention mainly relates to two states therein: ready state and pending state.After calling VxWorks system function taskSpawn () one task of establishment, this task is in ready state, if task needs to wait some the most available resource, such as semaphore etc., is then in pending state.
The scheduling mechanism of VxWorks system is based on priority is seized.Under this mechanism, each task in system has a priority, is the highest from 0～255,0, and 255 is minimum.For the task of application layer, generally use the priority between 100～250.Wherein, the high task of priority can see accompanying drawing 1 with the right of execution of the low task of preempting priority；And between multiple tasks of equal priority, using Time Slice Circular Scheduling mechanism, the task that multiple priority are identical performs regular time respectively according to sequencing, to ensure that each task has the chance of execution, sees accompanying drawing 2.
In VxWorks system, the synchronization between multiple tasks generally uses semaphore to complete as means.If requiring to obtain semaphore during tasks carrying, then, before task obtains semaphore, being in pending state, if other tasks or interrupt service routine release semaphore, task starts to perform.
Why VxWorks system is frequently used for the software that requirement of real-time is high, it is simply that because its timing mechanism is the most perfect.In VxWorks timing mechanism, tick is a key concept, tick is the minimum timeslice of system kernel scheduling, assume the tick number per second of system is set to 60, then system clock will occur 60 times to interrupt in 1s, the most in this case, the minimum period of each task in system can be 1/60 second.
As it is shown on figure 3, the present invention specifically comprising the following steps that in an embodiment
Step one: plan test assignment according to test case.
Test case is decomposed into various basic operation (such as sending a frame particular data at certain time point from certain hardware port), again various basic operations are assigned in multiple test assignment according to the time response of importance and operation, particularly, for requiring the operation that repeatedly performs according to certain cycle, it is merged in a test assignment according to the cycle.Heretofore described test assignment is the set of a kind of test operation, it is simultaneously used for recording the base attribute of these test operations, such as priority, time started, end time, duty cycle etc., use class, structure or similar data structure, as long as being able to record that the information such as the time started of test assignment, priority, the realization on the present invention itself does not affect.In embodiments of the present invention, use the mode of structure to realize, build structure STestTask.
Step 2: for each test assignment configuration attribute, including task names, duty cycle, task priority, time started, end time.Duty cycle for cycle of characterization test tasks carrying, is the subsequent step foundation that determines dispatching cycle；In the present embodiment, increasing the member task_period cycle for logger task for structure STestTask, type is int64, in order to expand the codomain in cycle.
Task names is used for distinguishing each test assignment, and use when registered task, tester can be that test assignment is manually named, test assignment for not manually name, the title that will not repeat is created for it, in the present embodiment, increasing member task_name for structure STestTask and be used for recording the title of test assignment, this member type is char [20]；While test assignment structure example creates, task_name being entered as task_i, wherein i is from 1 natural number started, before often creating a STestTask example, global counter task_count adds 1, and during for task_name assignment, can directly use task_count is i assignment.
Task priority is for characterizing the priority of each task, and tester can distribute priority for task from high to low according to the significance level of task.Particularly, the test assignment performed for the cycle, it is obtained in that the chance of execution for the task that the guarantee cycle is little, needs for the higher priority of task distribution ratio that the cycle is little.In the present embodiment, increasing the member task_priority priority for logger task for structure STestTask, type is short, and the default priority of task is set to 140；For periodic duty, utilizing interpolation method to distribute priority, if duty cycle is 1 microsecond, arranging priority is 101；If duty cycle is 5 microseconds, arranging priority is 105；If duty cycle is 10 microseconds, arranging priority is 110；If duty cycle is 20 microseconds, arranging priority is 115, increase along with duty cycle, the distribution of priority can be more rough, that is, cycle be 1 delicate to the cycle be 5 delicate distribution priority 101～105, the cycle is 100 delicate the most hundreds of above delicate 5 priority of range assignment.Tester can also manually arrange the priority of vital task, but can obtain the chance of execution for the task that the guarantee cycle is little, and the cycle that should substantially ensure little task obtains higher priority.
Increasing by two members of start_time and end_time for structure STestTask, for recording time started and the end time of test assignment, type is int64.For need not the test assignment performed according to the cycle, say, that as long as performing once task at particular point in time, its cycle is set to identical with the time started with the end time.For need not configure time started and the test assignment of end time, its time started and end time are set to zero；
Step 3: create 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, options, stackSize, entryPt, arg1～arg10, in the present embodiment, the task_name of STestTask passes to the name title as task；The task_priority of STestTask is passed to the priority 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 one corresponding semaphore of each task creation for the state of control task, calling VxWorks system function semBCreate () and create semaphore, options parameter is set to SEM_Q_FIFO, initialState parameter and is set to SEM_EMPTY.SemBCreate () function can return the variable of a SEM_ID type, unique identifier for semaphore, the member sem_id of a SEM_ID type is increased for STestTask, for the semaphore id that logger task is corresponding, in order to scheduling mechanism is to obtaining the semaphore that task is corresponding when of task release semaphore rapidly.
By the entrance function realizing the corresponding task of write of test assignment, adding and obtain semaphore statement, called function semTake before realizing the code block of test assignment, parameter is set to WAIT_FOREVER.And whole code block (include obtain semaphore statement) uses while(1) circulation, as long as to ensure to obtain semaphore, the realizing code and can ceaselessly circulate execution of test assignment.Owing to semaphore cannot be obtained, after all task creations, it is in pending state.
Step 4: registration timer is used for multi-task scheduling, the cycle of intervalometer is according to the greatest common divisor setting of each task.It is configured with time started and end time if there is task, then time started and end time is also regarded as in the set that the cycle adds calculating greatest common divisor, in order to system can calculate the most accurate timer period.
In the present embodiment, following algorithm is used to obtain timer period: to travel through all tasks, the cycle of task, time started, end time are stored in an array and (do not deposit if 0), after all task has all been deposited, by array sort and the value of removing repetition, the greatest common divisor then taking remaining value is timer period.No matter use any algorithm and structure, as long as timer period can be obtained can meet the requirement of the present invention, such as accompanying drawing 4.
Call sysClkRateSet () function and the tick number per second of system is set to 1s/ timer period to avoid wasting unnecessary cpu resource.
Step 5: set up mission bit stream table, recorded information such as the semaphores of the task ID of all tasks, priority, cycle, time started, end time and correspondence in table.Wherein, in the cycle, time started and end time the most directly record the time, but record tick number.Specific algorithm is cycle tick number=(int) (cycle/(1000000/sysClkRateGet ()))；Time started is similar with the calculation of end time.Then all tasks in mission bit stream table are ranked up, all tasks were ranked up 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 process 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 uses bubble sort method.Realizing mission bit stream table and can also use other structures such as chained list, the algorithm of sequence can also use the multiple method such as quicksort, Hash sequence, and the realization on this method itself does not affect.
Step 6: after test brings into operation, intervalometer automatically operates according to the greatest common divisor of each periodic duty, in the call back function of intervalometer, safeguards an overall tick enumerator, enters call back function every time and adds one by enumerator；Traversal mission bit stream table, judge whether all tasks have arrived the moment that perform: if the tick counting of the overall situation is 0 to the cycle tick number remainder of task while of the tick counting beginning tick number more than or equal to task of the overall situation and the end tick number less than or equal to task, then calling semGive () function and discharge the semaphore needed for this task run, task starts to perform.
Non-elaborated part of the present invention belongs to techniques well known.
The above; being only part detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, any those skilled in the art are in the technical scope that the invention discloses; the change that can readily occur in or replacement, all should contain within protection scope of the present invention.
Claims (1)
1. a high Real-time and Concurrent method of testing based on VxWorks system multiplex mechanism, it is characterised in that realize step as follows:
(1) test assignment is planned according to test case
Described test case refers to the description to testing process and constraint, is carried out necessary premise and the preparation once tested；Described test assignment is the set of a kind of test operation；
(11) test case being decomposed into various basic operation, described basic operation refers to minimum unit test case resolved into；
(12) each basic operation obtained in step (11) is assigned in multiple test assignment according to the time response of importance and operation, described importance refers to that a basic operation is more important than other basic operations, if run into put multiple basic operation at the same time simultaneously need to perform situation, some basic operation must compulsory run prior to other basic operations, then it is assumed that this basic operation is more important than other basic operations；The time response of described operation refers to whether basic operation exists the time point requirement performing to start and terminate, if there is the situation that needs perform repeatedly according to some cycles；The principle each basic operation being assigned in test assignment is as follows: the operation that time response is identical, it is merged in a test assignment, if there is different time responses, then basic operation is put in another test assignment, if the importance of certain basic operation is different from other basic operations in test assignment, then this basic operation is put in another test assignment；
(2) being each test assignment configuration task attribute, described task attribute includes task names, duty cycle, task priority, time started, end time；
(21) being test assignment name, test assignment can manually be named by tester, otherwise distributes a name that will not repeat for test assignment；
(22) it is that test assignment arranges priority, the importance relation of each basic operation obtained according to step (12) is that the test assignment of these basic operations composition arranges priority, if it is required, tester can be with the priority of manual modification test assignment；The test assignment performed for the cycle, for the priority that task distribution ratio that the cycle is little is higher；
(23) for need not the test assignment performed according to the cycle, as long as performing once task at particular point in time, its cycle is set to identical with the time started with the end time, for need not configure time started and end time and the test assignment of end time, its time started and end time are set to zero；
(3) semaphore that task is corresponding with task is created
(31) calling VxWorks system function registered task, create a task for each test assignment correspondence, the priority of each task is the priority of test assignment；
(32) it is one the corresponding semaphore of each task creation state for control task；
(33) by the entrance function realizing the corresponding task of write of test assignment, added before realizing the code block of test assignment and obtain semaphore statement, and use endless loop statement to make the circulation of whole code block perform, as long as to ensure to obtain semaphore, the code that realizes of test assignment ceaselessly circulates execution；Owing to semaphore cannot be obtained, after all task creations, it is in pending state；
(4) registration timer is used for multi-task scheduling, and the cycle of intervalometer is arranged according to the greatest common divisor of each task；It is configured with time started and end time if there is task, then time started and end time is regarded as in the set that the cycle adds calculating greatest common divisor, in order to VxWorks system can calculate the most accurate timer period；The tick number per second of VxWorks system is set to 1s/ timer period to avoid wasting unnecessary cpu resource；Described tick is the minimum timeslice of VxWorks system kernel scheduling；
(5) set up mission bit stream table, the semaphore information of the task names of all tasks, task priority, duty cycle, time started, end time and correspondence be recorded in table；Wherein, duty cycle, time started and end time the most directly record the time, but logger task cycle tick number, time started tick number and end time tick number；Then all tasks in mission bit stream table are ranked up, all tasks are ranked up from small to large according to duty cycle；Finally again task identical for all duty cycles is sorted from high to low according to priority；
(6) after test brings into operation, intervalometer operates according to the greatest common divisor of each tasks carrying duty cycle automatically, in the call back function of intervalometer, safeguards an overall tick enumerator, enters call back function every time and adds one by enumerator；Traversal mission bit stream table, judge whether all tasks have arrived the moment that perform: if the tick counting of the tick counting beginning tick number more than or equal to task of the overall situation and the end tick number less than or equal to the task overall situation simultaneously is 0 to duty cycle tick number remainder, then discharging the semaphore needed for this task run, task starts to perform；
In described step (5), the computational methods of cycle tick number are cycle tick number=cycle/VxWorks system call minimum timeslice；Described time started tick number=time started/VxWorks system call minimum timeslice；End time tick number=end time/VxWorks system call minimum timeslice.
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