CN109298917B - Self-adaptive scheduling method suitable for real-time system mixed task - Google Patents
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Abstract
The invention relates to a self-adaptive scheduling method suitable for a mixed task of a real-time system, which is characterized in that the total utilization rate of periodic tasks and the total utilization rate of non-periodic tasks are calculated before the mixed task set is scheduled; sequencing a periodic task set and inserting the periodic task set into a ready queue; when the non-periodic task arrives, calculating the predicted execution time of the non-periodic task, and dividing the non-periodic task into two subtasks; allocating deadline for the main subtask, inserting the deadline into a ready queue, and updating the deadline of the main subtask after the main subtask is executed; and updating the deadline of the aperiodic task if the aperiodic task is completed before the deadline of the main subtask. On the premise of ensuring the schedulability of periodic tasks in the system, the invention allocates the deadline for the non-periodic task by adopting the predicted execution time, thereby shortening the response time of the non-periodic task; and allocating the calculation bandwidth of the processor for the periodic task and the non-periodic task, thereby improving the overall performance of the system.
Description
Technical Field
The invention relates to the field of real-time system hybrid scheduling, in particular to an adaptive scheduling method suitable for a real-time system hybrid task.
Background
With the increasing diversity and complexity of real-time embedded systems, it is more and more common for multiple types of hard real-time, soft real-time, and non-real-time tasks to coexist in the same system. This puts new requirements on the scheduling algorithm: the response time of soft real-time and non-real-time tasks is reduced as much as possible while ensuring that hard real-time tasks are completed before their deadlines.
Currently, the scheduling for the mixed task set mainly adopts a server-based method, and the essence of the method is to create and execute a periodic task to process an aperiodic task. The Total Bandwidth Server (TBS) algorithm is a server approach that can be used to efficiently schedule a mixed task set based on EDFs. The TBS algorithm aims to shorten the response time of the non-periodic task as much as possible on the premise of ensuring the schedulability of the periodic task.
The existing TBS-based algorithm for a mixed task set schedules according to the WCET of an aperiodic task, and obtains shorter response time of the aperiodic task at the cost of sacrificing the execution time of the periodic task. In practice, however, the actual execution time of the aperiodic task is usually much smaller than its WCET, and scheduling according to its WCET will result in too long response time of the aperiodic task.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an adaptive scheduling method suitable for a mixed task of a real-time system, which adopts the predicted execution time of an aperiodic task to replace the WCET of the aperiodic task for scheduling and shortens the response time of the aperiodic task on the premise of ensuring the scheduling integrity of the periodic task.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a self-adaptive scheduling method suitable for a real-time system mixing task comprises the following steps:
step 1: before the mixed task set is scheduled, the total utilization rate of periodic tasks is calculated, and the total utilization rate of non-periodic tasks is calculated according to the total utilization rate;
step 2: sequencing the periodic task sets according to an earliest deadline first principle and inserting the periodic task sets into a ready queue;
and step 3: when the non-periodic task arrives, calculating the predicted execution time of the non-periodic task, and dividing the non-periodic task into two subtasks, namely a main subtask and a standby subtask;
and 4, step 4: allocating deadline for the main and sub tasks, inserting the main and sub tasks into a ready queue according to an earliest deadline priority principle, and updating the deadline of the main and sub tasks after the main and sub tasks are executed;
and 5: if the non-periodic task is executed and completed before the deadline of the main sub-task, respectively recording the actual execution time and the actual completion time of the non-periodic task, and updating the deadline of the non-periodic task; otherwise, allocating a deadline for the standby subtask, inserting the standby subtask into the ready queue according to the earliest deadline priority principle, updating the deadline of the standby subtask after the standby subtask is executed, completing the execution of the non-periodic task, recording the actual execution time and the actual completion time of the non-periodic task, and updating the deadline of the non-periodic task.
The total utilization rate of the periodic tasks is as follows:
the total utilization rate of the aperiodic tasks is as follows:
wherein, UpFor the total utilization of periodic tasks, UsFor the total utilization of non-periodic tasks, CiFor periodic tasks TiIs performed in the worst case, PiFor periodic tasks TiThe period of (c).
The predicted execution time of the aperiodic task is as follows:
wherein,for non-periodic task JkThe predicted execution time of (a) is,for non-periodic task JkIs executed in the worst case of the execution time,for non-periodic task Jsα is a weight coefficient.
The non-periodic task is divided into two subtasks:
the worst execution time isTime of arrival rkIs non-periodic task JkThe method is divided into two subtasks:and
wherein the main subtaskIs the worst execution time ofPrepare subtaskThe worst execution time of (c) is:
The distribution deadline for the main subtask is as follows:
wherein r iskFor non-periodic task JkThe time of arrival of the time-of-arrival,for a preceding non-periodic task Jk-1Deadline for update after execution, fk-1For a preceding non-periodic task Jk-1The actual time of completion of the process,is a main subtaskWorst execution time of UsIs the total utilization of the aperiodic task.
The deadline for updating the main subtask is as follows:
wherein r iskFor non-periodic task JkThe time of arrival of the time-of-arrival,for a previous non-periodic taskDeadline for update after execution, fk-1For a preceding non-periodic task Jk-1The actual time of completion of the process,is a main subtaskActual execution time of, UsIs the total utilization of the aperiodic task.
The distribution deadline for the standby subtasks is as follows:
wherein r iskFor non-periodic task JkThe time of arrival of the time-of-arrival,the deadline for updating after the execution of the main subtask is finished,being the actual completion time of the main sub-task,for the worst execution time of the standby subtask, UsIs the total utilization of the aperiodic task.
The deadline of the updating backup subtask is as follows:
wherein r iskFor non-periodic task JkThe time of arrival of the time-of-arrival,the deadline for updating after the execution of the main subtask is finished,being the actual completion time of the main sub-task,for preparing the actual execution time of the subtask, UsIs the total utilization of the aperiodic task.
The deadline of the updating non-periodic task is as follows:
wherein r iskFor non-periodic task JkThe time of arrival of the time-of-arrival,for a preceding non-periodic task Jk-1Deadline for update after execution, fk-1For a preceding non-periodic task Jk-1The actual time of completion of the process,for non-periodic task JkActual execution time of, UsIs the total utilization of the aperiodic task.
The invention has the following beneficial effects and advantages:
1. on the premise of ensuring the schedulability of periodic tasks in the system, the invention allocates the deadline for the non-periodic task by adopting the predicted execution time, thereby shortening the response time of the non-periodic task;
2. the invention can allocate the calculation bandwidth of the processor for the periodic task and the non-periodic task as reasonably as possible, thereby improving the overall performance of the system.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
fig. 2 is a graph of a simulation experiment comparing the TBS algorithm with the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Fig. 1 shows a flow chart of the method of the present invention.
The invention comprises the following steps:
calculating the total utilization rate U of the periodic tasks before the mixed task set starts to be scheduledpAnd calculating the total utilization rate U of the non-periodic tasks=1-Up;
Sequencing the periodic task sets according to an earliest deadline first principle and inserting the periodic task sets into a ready queue;
the kth aperiodic task JkOn arrival, calculate JkPredicted execution time ofAnd will beIt is divided into two subtasks:and
taking a resource recovery strategy and a total bandwidth server algorithm as main subtasksDistribution deadlineAnd the main and sub tasks are processed according to the earliest deadline priority algorithmInserting into a ready queue;
main and sub tasksAfter the execution is finished, recordingActual execution time ofAnd actual completion timeAnd is updated according to the resultThe updated deadline is recorded as
If the kth aperiodic task JkIn thatWhen the previous execution is finished, the non-periodic task JkEnd of execution, JkActual execution time ofAnd actual completion time fkIs a main subtaskActual execution time ofAnd actual completion timeAnd update J accordinglykThe updated deadline is recorded as
Otherwise, the sub-task is prepared according to the resource recovery strategy and the total bandwidth server algorithmDistribution deadlineAnd preparing the subtasks according to the earliest deadline priority algorithmInserting into a ready queue;
prepare subtaskAfter the execution is finished, recordingActual execution time ofAnd actual completion timeAnd is updated according to the resultThe deadline is recorded as the updated deadlineNow aperiodic task JkAfter execution, JkActual execution time ofIs the sum of the actual execution time of the two subtasks and the actual completion time fkFor preparing subtasksIs/are as followsUpdate JkThe updated deadline is recorded as
Further explanation is as follows:
before the task set starts to be scheduled, the total utilization rate U of the periodic tasks is calculated by the formula (1)p:
In the formula (1), Ci、PiI are periodic tasks T respectivelyiAnd in the worst case, executing time, period and task identifiers, wherein n is the number of periodic tasks.
Calculating the total utilization rate U of the non-periodic task by the formula (2)s:
And inserting all periodic tasks into the ready queue according to an earliest deadline first principle.
Earliest deadline first principle: the shorter the task deadline is, the higher the priority is, and when the deadline of the two tasks is the same, the task with the shorter arrival time has the higher priority; when the deadlines and arrival times of two tasks are the same, the task with the smaller series index has a higher priority.
When the kth aperiodic task JkWhen arriving, calculate J from equation (3)kThe predicted execution time of (c):
in the formula (3)Is JkIs executed in the worst case of the execution time,the predicted execution time for the k-1 st aperiodic task,and alpha is a weight coefficient, and is the actual execution time of the s-th aperiodic task.
Total bandwidth server algorithm: and allocating a temporary absolute deadline to the non-periodic task, and then scheduling the non-periodic task and the periodic real-time task which are allocated with the deadline by adopting an earliest deadline priority algorithm. Deadline d of kth aperiodic taskkCalculated from equation (4):
wherein r iskFor the arrival time of the kth aperiodic task, dk-1Is the deadline of the k-1 st aperiodic task, CkFor the worst execution time (WCET) of the kth aperiodic tasksProcessor utilization of a server for scheduling aperiodic tasks.
Resource recovery strategy: at the end of the task execution, the deadline is recalculated using the actual execution time, and then the deadline for the next aperiodic task is calculated using the new deadline.
In the resource recovery strategy, the k-th aperiodic task J is given by formula (5)kAssign a new deadline:
wherein r iskIs JkThe arrival time of,For a preceding non-periodic task Jk-1Deadline and f for recalculation after execution endsk-1Is Jk-1Completion time of (due to J)k-1Is d 'as a deadline'k-1Is performed so that Jk-1Deadline for recalculation after execution endsMay be less than fk-1)、CkWorst execution time (WCET), U for kth aperiodic tasksProcessor utilization of a server for scheduling aperiodic tasks. WhileIs calculated according to equation (6):
wherein r isk-1Is Jk-1The arrival time of,For non-periodic task Jk-2Deadline and f for recalculation after execution endsk-2Is Jk-2The completion time of,For the k-1 st aperiodic task Jk-1Actual execution time, UsProcessor utilization of a server for scheduling aperiodic tasks.
The worst execution time isTime of arrival rkTask J ofkAre divided into arrival times rkTwo subtasks of (2):andtaskIs the worst execution time ofTaskThe worst execution time of (c) is:
wherein r iskFor non-periodic task JkTime of arrival of fk-1For a preceding non-periodic task Jk-1The actual time of completion of the process,for a preceding non-periodic task Jk-1The deadline for updating after the execution is finished.
Will main subtaskAnd adding the data into the ready queue according to an earliest deadline first algorithm. In thatAfter completion, the actual execution time is recorded asThe actual completion time isAnd updated according to equation (8)The deadline of (2):
if JkAt main subtask deadlineWhen the previous execution is finished, the non-periodic task JkThe actual execution time isThe actual completion time isUpdating J by equation (9)kThe deadline of (2):
will be prepared for subtaskAnd adding the data into the ready queue according to an earliest deadline first algorithm. In thatAfter completion, the actual execution time is recorded asThe actual completion time isAnd updated by the formula (11)The deadline of (2):
hence the aperiodic task JkThe actual execution time isThe actual completion time isUpdating J according to equation (12)kThe deadline of (2):
example (b):
in order to compare the performance of the method and the TBS algorithm in the aspect of scheduling the mixed task set, the average response time of the non-periodic task is selected as an index for measuring the performance of the algorithm.
In a simulation experiment, 10 periodic task sets and 10 sporadic task sets are selected to form 100 mixed task sets, and the final result is the average value of the 100 mixed task sets. For a periodic task, the period follows an exponential distribution with the average value of 100, and the worst case execution time is equal to the actual execution time and follows an exponential distribution with the average value of 10. One aperiodic task set comprises 4 aperiodic tasks, and the arrival time of the aperiodic tasks obeys Poisson distribution with the average value of 2. The worst execution time of the non-periodic task follows an exponential distribution with a mean value of 8, and the upper limit of the actual execution time is the corresponding worst execution time and follows an exponential distribution with a mean value of 4. The difference in average response time of the inventive method and TBS algorithm was observed when the periodic task total resource utilization varied from 60% to 90%.
FIG. 2 is a diagram of a simulation experiment comparing the TBS algorithm with the present invention, wherein the abscissa is the total utilization rate U of the periodic taskpAnd the ordinate is the average response time of the aperiodic task. As can be seen from FIG. 2, UpAt 65%, the difference between the TBS and the average response time of the method of the invention is small. This is due to the fact that there is now sufficient bandwidth (1-U)p35%) process requests for non-periodic tasks. When U is turnedpWhen the average response time of the non-periodic tasks exceeds 70 percent, the average response time of the non-periodic tasks begins to be different when U is equal topAt 90%, the difference is maximal. Simulation experiments show that compared with TBS, the method of the invention can effectively shorten the response time of the non-periodic task, thereby improving the overall performance of the system.
Claims (9)
1. A self-adaptive scheduling method suitable for a real-time system mixing task is characterized by comprising the following steps: the method comprises the following steps:
step 1: before the mixed task set is scheduled, the total utilization rate of periodic tasks is calculated, and the total utilization rate of non-periodic tasks is calculated according to the total utilization rate;
step 2: sequencing the periodic task sets according to an earliest deadline first principle and inserting the periodic task sets into a ready queue;
and step 3: when the non-periodic task arrives, calculating the predicted execution time of the non-periodic task, and dividing the non-periodic task into two subtasks, namely a main subtask and a standby subtask;
and 4, step 4: allocating deadline for the main and sub tasks, inserting the main and sub tasks into a ready queue according to an earliest deadline priority principle, and updating the deadline of the main and sub tasks after the main and sub tasks are executed;
and 5: if the non-periodic task is executed and completed before the deadline of the main sub-task, respectively recording the actual execution time and the actual completion time of the non-periodic task, and updating the deadline of the non-periodic task; otherwise, allocating a deadline for the standby subtask, inserting the standby subtask into the ready queue according to the earliest deadline priority principle, updating the deadline of the standby subtask after the standby subtask is executed, completing the execution of the non-periodic task, recording the actual execution time and the actual completion time of the non-periodic task, and updating the deadline of the non-periodic task.
2. The adaptive scheduling method for the hybrid task of the real-time system according to claim 1, wherein: the total utilization rate of the periodic tasks is as follows:
the total utilization rate of the aperiodic tasks is as follows:
wherein, UpFor the total utilization of periodic tasks, UsFor the total utilization of non-periodic tasks, CiFor periodic tasks TiIs performed in the worst case, PiFor periodic tasks TiN is periodicThe number of transactions.
3. The adaptive scheduling method for the hybrid task of the real-time system according to claim 1, wherein: the predicted execution time of the aperiodic task is as follows:
4. The adaptive scheduling method for the hybrid task of the real-time system according to claim 1, wherein: the non-periodic task is divided into two subtasks:
the worst execution time isTime of arrival rkIs non-periodic task JkThe method is divided into two subtasks:and
wherein the main subtaskIs the worst execution time ofPrepare subtaskThe worst execution time of (c) is:
5. The adaptive scheduling method for the hybrid task of the real-time system according to claim 1, wherein: the distribution deadline for the main subtask is as follows:
wherein r iskFor non-periodic task JkThe time of arrival of the time-of-arrival,for a preceding non-periodic task Jk-1Deadline for update after execution, fk-1For a preceding non-periodic task Jk-1The actual time of completion of the process,is a main subtaskWorst execution time of UsIs the total utilization of the aperiodic task.
6. The adaptive scheduling method for the hybrid task of the real-time system according to claim 1, wherein: the deadline for updating the main subtask is as follows:
wherein r iskFor non-periodic task JkThe time of arrival of the time-of-arrival,for a preceding non-periodic task Jk-1Deadline for update after execution, fk-1For a preceding non-periodic task Jk-1The actual time of completion of the process,is a main subtaskActual execution time of, UsIs the total utilization of the aperiodic task.
7. The adaptive scheduling method for the hybrid task of the real-time system according to claim 1, wherein: the distribution deadline for the standby subtasks is as follows:
wherein r iskFor non-periodic task JkThe time of arrival of the time-of-arrival,the deadline for updating after the execution of the main subtask is finished,being the actual completion time of the main sub-task,for the worst execution time of the standby subtask, UsIs the total utilization of the aperiodic task.
8. The adaptive scheduling method for the hybrid task of the real-time system according to claim 1, wherein: the deadline of the updating backup subtask is as follows:
wherein r iskFor non-periodic task JkThe time of arrival of the time-of-arrival,the deadline for updating after the execution of the main subtask is finished,being the actual completion time of the main sub-task,for preparing the actual execution time of the subtask, UsIs the total utilization of the aperiodic task.
9. The adaptive scheduling method for the hybrid task of the real-time system according to claim 1, wherein: the deadline of the updating non-periodic task is as follows:
wherein r iskFor non-periodic task JkThe time of arrival of the time-of-arrival,for a preceding non-periodic task Jk-1Deadline for update after execution, fk-1For a preceding non-periodic task Jk-1The actual time of completion of the process,for non-periodic task JkActual execution time of, UsIs the total utilization of the aperiodic task.
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