WO2021046932A1

WO2021046932A1 - Message drive method and device based on real-time operating system

Info

Publication number: WO2021046932A1
Application number: PCT/CN2019/108381
Authority: WO
Inventors: 张聪
Original assignee: 北京东土科技股份有限公司
Priority date: 2019-09-12
Filing date: 2019-09-27
Publication date: 2021-03-18
Also published as: CN111475312B; CN111475312A

Abstract

The present invention provides a message drive method and device based on a real-time operating system. By means of obtaining service data and service logic in a service message body, on the basis of the type of said service data, the service message body is added to a task message queue of a corresponding priority; the service logic is transmitted on the basis of the task message queue, so that a thread processes the service logic when the message is received. A real-time operating system task supports message queuing, such that the task processes only messages in a message queue; tasks and service procedures are decoupled, the service message body is designed in two parts, one part being service logic and the other part being service data; the service logic is separated from the service data source, such that the service logic and data are decoupled; the real-time operating system task supports priority processing, and messages in a corresponding message queue obtain a processing service logic according to the corresponding priority.

Description

Message driving method and device based on real-time operating system

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on September 12, 2019, the application number is 201910866180.4, and the invention title is "message-driven method and device based on real-time operating system", the entire content of which is incorporated by reference In this application.

Technical field

The present invention relates to the field of computer technology, and more specifically, to a message-driven method and device based on a real-time operating system.

Background technique

Real Time Operation System (RTOS) means that when external events or data are generated, they can be accepted and processed at a sufficiently fast speed, and the results of the processing can control the production process or control the production process within a specified time. The processing system responds quickly, schedules all available resources to complete real-time tasks, and controls the operating system that runs all real-time tasks in a coordinated manner. Providing timely response and high reliability are its main features.

A real-time operating system is an operating system that guarantees the completion of specific functions within a certain time limit. The real-time operating system is divided into hard real-time and soft real-time. Hard real-time requires that the operation must be completed within the specified time, which is guaranteed during the design of the operating system; soft real-time, as long as the operation is completed as quickly as possible according to the priority of the task That's it. The commonly used operating system can become a real-time operating system after a certain change. For example, an operating system can be designed to ensure that robots on the production line can acquire an object. In a "hard" real-time operating system, if the calculation to make the object reachable cannot be completed within the allowed time, the operating system will end due to an error. In the "soft" real-time operating system, the production line can still continue to work, but the output of the product will slow down because the product cannot arrive within the allowable time, which makes the robot temporarily non-production. Some real-time operating systems are designed for specific applications, while others are general-purpose. Some general-purpose operating systems call themselves real-time operating systems. But to some extent, most general-purpose operating systems, such as Windows NT or IBM's OS/390, have the characteristics of a real-time system. This means that even if an operating system is not strictly a real-time system, they can also solve some real-time application problems.

Many existing real-time operating system programs are designed, business programs and operating system tasks are very tightly bound, business modules are tightly coupled, and business programs, business data, and operating system tasks are deeply coupled. The priority of their business programs depends on the operating system tasks. , As shown in Figure 1, tasks with different priorities need to be processed by different business programs, causing business programs to be unable to change the priority of processing business operating system tasks in real time based on business data.

Summary of the invention

In order to solve the above-mentioned problems, the present invention provides a message-driven method and device based on a real-time operating system that overcomes the above-mentioned problems or at least partially solves the above-mentioned problems.

According to the first aspect of the embodiments of the present invention, a message-driven method based on a real-time operating system is provided, including:

Obtain business data and business logic in the business message body, and add the business message body to the task message queue of the corresponding priority based on the type of the business data;

The business logic is transmitted based on the task message queue, so that the thread can process the business logic when the message is received.

Preferably, the business logic includes processing business functions and function parameters.

Preferably, obtaining the business data and business logic in the business message body specifically includes:

Obtain the business message body in the message queue to be processed, execute business functions, and extract business data and business logic.

Preferably, based on the type of the business data, adding the business message body to the task message queue of the corresponding priority specifically includes:

Based on the type of the service data, the service data is put into different service messages, and based on the data priority, the service message body is put into the task message queue of the corresponding priority.

Preferably, the real-time operating system sends the service message body to the task message queue through the task handle.

According to a second aspect of the embodiments of the present invention, a message driving device based on a real-time operating system is provided, which includes a business scheduling task module and a task message queue module;

The business scheduling task module is used to obtain business data and business logic in a business message body, and based on the type of the business data, add the business message body to the task message queue of the corresponding priority;

The task message queue module is configured to transmit the business logic based on the task message queue for the thread to process the business logic when the message is received.

Preferably, the task message queue module includes a plurality of message slots, and the message slots are used to accommodate business message bodies and execute the business logic to obtain business data corresponding to the business message.

Preferably, the business scheduling task mold body is used to obtain the business message body in the message queue to be processed, and execute business functions, and extract business data and business logic;

According to a third aspect of the embodiments of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor. A message-driven method based on a real-time operating system provided by any one of the possible implementations.

According to a fourth aspect of the embodiments of the present invention, there is provided a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, various possible implementation manners as in the first aspect are implemented. A message-driven method based on a real-time operating system provided by any of the possible implementations.

The message-driven method and device based on the real-time operating system provided by the present invention add the business message body to the task message queue of the corresponding priority by acquiring the business data and business logic in the business message body, and based on the type of the business data Medium; Transmit the business logic based on the task message queue for the thread to process the business logic when the message is received. Real-time operating system tasks support message queues, and realize that tasks only process messages in message queues; realize tasks and business programs are decoupled, and business programs are designed in two parts, one is business logic and the other is business data; business logic and business data source are separated Consider, realize the design of decoupling business logic and data; real-time operating system tasks support priority processing, and the messages in the corresponding message queue will obtain the processing business logic according to the corresponding priority.

Brief description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative work.

Figure 1 is a schematic diagram of a message-driven flow of a real-time operating system in the prior art;

2 is a schematic diagram of a message-driven method based on a real-time operating system provided by an embodiment of the present invention;

3 is a schematic diagram of a specific flow of a message-driven method based on a real-time operating system provided by an embodiment of the present invention;

FIG. 4 is a schematic diagram of the flow of processing business programs in the prior art by a message-driven method based on a real-time operating system provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention.

Embodiments of the present invention

In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the present invention. Invented some embodiments, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Task: Also called a thread, it is a simple program. Each task is given a certain priority, has its own set of CPU registers and its own stack space. Typically, each task is an infinite loop, and each task is in the following five states: dormant state, ready state, running state, suspended state, and interrupted state;

Task switching: save the current state of the running task (all contents in the CPU register) in the task's own stack area, and then reload the current state of the next task to be run into the CPU register from the task stack. And start the operation of the next task;

Task priority: divided into static priority with unchangeable priority and dynamic priority with changeable priority;

A real-time operating system is an operating system that guarantees the completion of specific functions within a certain time limit. The real-time operating system is divided into hard real-time and soft real-time. Hard real-time requires that the operation must be completed within the specified time, which is guaranteed during the design of the operating system; soft real-time, as long as the operation is completed as quickly as possible according to the priority of the task That's it. The commonly used operating system can become a real-time operating system after a certain change.

Real-time operating system (RTOS) requirements:

Multitasking;

Process lines that can be prioritized;

A sufficient amount of interruption level;

Embedded small operating systems that are installed as part of micro-devices often require real-time operating systems. Some core issues can be considered to meet the requirements of real-time operating systems. However, because other components such as device drivers are usually required by special methods, a real-time operating system is usually larger than the core.

The main characteristics of real-time operating system RTOS include: one is real-time, reflecting the ability of real-time operating system to quickly respond to external events; the other is reliability, reflecting the ability of real-time operating system to maintain normal operation without external influence, usually based on system continuous and Reliable running time is measured; the third is security, which reflects the ability of the real-time operating system to resist external attacks and the defects of the application software itself; the fourth is openness, which reflects the real-time operating system’s compliance with international and national standards and whether it can be widely obtained by many third parties Basic conditions of support.

The preemptive multi-task real-time kernel based on priority is the core part of the real-time operating system. Its functions mainly include modules such as processor management, task scheduling, task synchronization, inter-task communication, interrupt processing, timer and memory management. For example, the famous VxWorks real-time kernel (Wind) mainly includes priority-based task scheduling, task synchronization and communication, interrupt processing, timers and memory management; μC/OS-II/III provides priority-based task scheduling and management , Task synchronization and communication, time management and interrupt service, memory management and other functions.

In the RTOS kernel, it can basically be decomposed into three parts logically: the timing loop of the task, the ready logic of the task, and the switching of the task. Among them, the timing loop of the task and the ready logic of the task can be realized by hardware, and the switching of the task Can be implemented by software. Therefore, the RTOS can be abstracted into a hardware real-time operating system (HRTOS, Hardware RTOS) and a software real-time operating system (SRTOS, Software RTOS). Among them, HRTOS mainly includes the timing loop of the task and the ready logic of the task, which is implemented by hardware. SRTOS mainly includes task switching, which is realized by software.

"Message" is a basic and important concept in windows operating mechanism. A message is a notification that reports the occurrence of an event. The message-driven is developed around the generation and processing of the message, and is realized by the message loop mechanism.

There are many different tasks running in the real-time operating system. A task is a running program. Data exchange between tasks is inevitable. The process of data exchange between tasks is called inter-task communication. Inter-task communication is An indispensable function in a real-time operating system. At present, there are two ways of communication between tasks commonly used in multi-task real-time operating systems: message mailbox and message queue.

Many existing real-time operating system programs are designed, business programs and operating system tasks are very tightly bound, business modules are tightly coupled, and business programs, business data, and operating system tasks are deeply coupled. The priority of their business programs depends on the operating system tasks. , As shown in Figure 1, tasks with different priorities need to be processed by different business programs, causing business programs to be unable to change the priority of processing business operating system tasks in real time based on business data. Therefore, the message-driven method and device based on the real-time operating system provided by the embodiments of the present invention realize the decoupling of tasks and business programs. The business programs are designed in two parts, one is business logic and the other is business data; the business logic and business data source are separated Separate considerations to realize the decoupling design of business logic and data; real-time operating system tasks support priority processing, and the messages in the corresponding message queue will be processed according to the corresponding priority. The following will expand the description and introduction through a number of embodiments.

As shown in FIG. 2 and FIG. 4, the embodiment of the present invention provides a message-driven method based on a real-time operating system, including:

In this embodiment, a real-time operating system is used for message driving, wherein the real-time operating system task supports a message queue, so that the task only processes messages in the message queue. To realize the decoupling of tasks and business procedures, the business procedures are designed in two parts, one is business logic and the other is business data. Separate business logic and business data sources into consideration, and realize the design of decoupling business logic and data; operating system tasks support priority processing, and messages in the corresponding message queue will be processed according to the corresponding priority.

On the basis of the foregoing embodiment, the business logic includes processing business functions and function parameters.

In this embodiment, as a preferred implementation manner, the task message body is divided into two parts, one is processing business logic, and the other is business data; wherein, the business logic includes processing business functions and function parameters, and the business logic function definition It is void Function(void*pArg).

By putting the task message body into the task message slot, the related task will only execute the function of processing the business, and the business function will obtain the current business data.

On the basis of the foregoing embodiment, obtaining the business data and business logic in the business message body specifically includes:

In this embodiment, as a preferred implementation manner, the real-time operating system task is responsible for obtaining the business message body in the message queue to be processed, and executing the business function to separate the task from the business logic. Separate business logic and business data sources into consideration, and realize the design of decoupling business logic and data.

On the basis of the foregoing embodiment, based on the type of the business data, adding the business message body to the task message queue of the corresponding priority specifically includes:

In this embodiment, as a preferred implementation manner, as shown in FIG. 3 and FIG. 4, the message queue to be processed includes service 1 message, service 2 message, service 3 message, and service 4 message. In other embodiments, , Can include multiple business message bodies; after the business message body in the message queue to be processed is processed by the business scheduling task, the message in the message queue is obtained, and the business function is executed to separate the task from the business logic, and the message is distributed according to the business data. Add messages to task message queues of different priorities. That is, in message queue 1 or message queue 2 in the figure, the task message body is put into the task message slot of message queue 1 or message queue 2, and when the thread/task receives the message, it directly executes the processing business function.

The traditional message is to transmit data, and the system message queue is used, and the message team transmits data. There is a dedicated thread at the receiving message end to read the data and call the corresponding processing method according to the message type. In this embodiment, the message queue used by the message-driven framework is not to transmit message data, but to process business functions and function parameters. When a thread receives a message, it directly executes the business function. Since the implementation of the message-driven framework of this embodiment, the operating system has very few resources and only relies on semaphores and tasks (or threads) of the system. Unlike traditional messages, traditional messages rely on the message queue of the system.

On the basis of the foregoing embodiments, the real-time operating system sends a service message body to the task message queue through a task handle.

In this embodiment, as a preferred implementation, the business scheduling task is mainly responsible for putting the business data into different business messages according to the type of business data, and putting the business message body into the relevant business message according to the data priority. In the priority task queue, the real-time operating system task supports the message queue, and sends messages to the task through the task handle, and the message queue provides the priority of the message body.

According to a second aspect of the embodiments of the present invention, a message-driven device based on a real-time operating system is provided, which adopts the message-driven method based on the real-time operating system in the foregoing embodiments, and includes a business scheduling task module and a task message queue module;

In this embodiment, as a preferred implementation manner, the task message queue module includes a plurality of message slots, and the message slots are used to accommodate business message bodies and execute the business logic to obtain the business corresponding to the business message. data.

In this embodiment, as a preferred implementation manner, the service scheduling task module is specifically configured to obtain the service message body in the message queue to be processed, execute the service function, and extract the service data and business logic;

According to a second aspect of the embodiments of the present invention, a message-driven device based on a real-time operating system is provided, including a business scheduling task module and a task message queue module;

The embodiment of the present invention provides an electronic device. As shown in FIG. 5, the device includes: a processor 501, a communication interface 502, a memory 503, and a communication bus 504. The processor 501, the communication interface 502, and the memory 503 communicate with each other through the communication bus 504. The processor 501 can call a computer program on the memory 503 and run on the processor 501 to execute the message-driven method based on the real-time operating system provided by the foregoing embodiments, for example, including:

The business logic is transmitted based on the task message queue, so that the thread can process the business logic when the thread receives the message.

In addition, the above-mentioned logic instructions in the memory 503 can be implemented in the form of a software functional unit and when sold or used as an independent product, they can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in the various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes. .

The embodiment of the present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored, and the computer program is implemented when executed by a processor to execute the message-driven method based on the real-time operating system provided by the foregoing embodiments. Examples include:

In summary, the message-driven method and device based on the real-time operating system provided by the embodiments of the present invention obtain the business data and business logic in the business message body, and add the business message body to the business message body based on the type of the business data. In the task message queue corresponding to the priority; the business logic is transmitted based on the task message queue, so that the thread can process the business logic when the thread receives the message. Real-time operating system tasks support message queues, and realize that tasks only process messages in message queues; realize tasks and business programs are decoupled, and business programs are designed in two parts, one is business logic and the other is business data; business logic and business data source are separated Consider, realize the design of decoupling business logic and data; real-time operating system tasks support priority processing, and the messages in the corresponding message queue will obtain the processing business logic according to the corresponding priority.

The above-described electronic equipment and other embodiments are only illustrative, where the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement without creative work.

Through the description of the above implementation manners, those skilled in the art can clearly understand that each implementation manner can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic A disc, an optical disc, etc., include several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute each embodiment or some part of the method of the embodiment.

Industrial applicability

The present invention provides a message-driven method and device based on a real-time operating system, which overcomes the need for different priority tasks to be processed by different business programs, causing the business programs to be unable to process business operating system task priorities in real time according to business data. The problem has practical application value in industry.

Although for the purpose of elaboration, the present invention discloses preferred embodiments, those of ordinary skill in the art should be able to understand that they can still modify the technical solutions described in the foregoing embodiments, or modify some of the technical features. Equivalent replacements; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

A message-driven method based on a real-time operating system is characterized in that it includes:

Obtain business data and business logic in the business message body, and add the business message body to the message slot of the task message queue of the corresponding priority based on the type of the business data;

The business logic is transmitted based on the task message queue, so that the thread can process the business logic when the thread receives the message.
The message-driven method based on a real-time operating system according to claim 1, wherein the business logic includes processing business functions and function parameters.
The message-driven method based on a real-time operating system according to claim 1, wherein obtaining business data and business logic in a business message body specifically includes:

Obtain the business message body in the message queue to be processed, execute business functions, and extract business data and business logic.
The message-driven method based on a real-time operating system according to claim 3, characterized in that, based on the type of the business data, adding the business message body to the task message queue of the corresponding priority specifically includes:

Based on the type of the service data, the service data is put into different service messages, and based on the data priority, the service message body is put into the task message queue of the corresponding priority.
The message-driven method based on a real-time operating system according to claim 3, wherein the real-time operating system sends a service message body to the task message queue through a task handle.
A message-driven device based on a real-time operating system, which is characterized by comprising a business scheduling task module and a task message queue module;

The business scheduling task module is used to obtain business data and business logic in a business message body, and based on the type of the business data, add the business message body to the task message queue of the corresponding priority;

The task message queue module is configured to transmit the business logic based on the task message queue for the thread to process the business logic when the message is received.
The message driving device based on a real-time operating system according to claim 6, wherein the task message queue module includes a plurality of message slots, and the message slots are used to accommodate business message bodies and execute the business logic, Obtain the business data corresponding to the business message.
The message-driven device based on a real-time operating system according to claim 6, wherein the service scheduling task mold body is used to obtain the service message body in the message queue to be processed, and execute the service function to extract the service data and the service logic;

Based on the type of the service data, the service data is put into different service messages, and based on the data priority, the service message body is put into the task message queue of the corresponding priority.
An electronic device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, wherein the processor executes the program as described in any one of claims 1 to 5 The steps of the method.
A non-transitory computer-readable storage medium with a computer program stored thereon, wherein the computer program implements the steps of the method according to any one of claims 1 to 5 when the computer program is executed by a processor.