JP2001202258A - Real-time processing device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] A real-time processing device according to the conventional technology has a problem that when the processing time that can be assigned to each periodic processing is not clear, and the processing time of the periodic processing with a high priority becomes longer, A problem that fixed-cycle processing with a low priority cannot be completed within that cycle, and processing that does not have a cycle, such as background processing, can be executed only in the cycle of the processing with the lowest priority. was there. In a real-time processing device having a plurality of fixed-cycle processing, a cycle of the fastest processing required for control is set as a basic cycle, and some of the basic cycles are interrupted by a timed timer started at the beginning. Means for dividing into time slots (1, 2, 3), providing several levels in one time slot, treating a plurality of tasks connected for each level as one group, and assigning priority in group units A real-time processing device having means for performing execution management.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a real-time processing apparatus used for controlling a machine tool, an automatic assembling apparatus, an automatic transfer apparatus, and the like. More specifically, the present invention relates to a real-time processing apparatus having a plurality of periodic processing. It is.

[0002]

2. Description of the Related Art Conventionally, in a real-time processing apparatus having a plurality of fixed-cycle processes, the cycle is set in a timer controller for each process, and a timer controller timer inputs a signal to an interrupt controller at the set cycle. Then, the interrupt controller determines the priority order of the input signals from the plurality of timer controllers, inputs the interrupt signal to the microprocessor, and causes the microprocessor to execute the process with the highest priority at that time. Real-time processing with multiple periodic processing has been realized.

[0003]

In the real-time processing apparatus according to the prior art, when the processing time that can be assigned to each periodic processing is not clear, and the processing time of the periodic processing having a high priority becomes longer, There is a problem that a fixed-period process having a low priority cannot be completed within that period. Further, there is a problem that a process having no cycle such as a background process can be executed only in a cycle of a process having the lowest priority. FIG. 7 shows an execution state of a periodic task in a conventional real-time processing device.

[0004]

According to the present invention, in order to solve the above-mentioned problems, in a real-time processing apparatus having a plurality of periodic processing, the basic cycle is set to the highest processing cycle required for control. A time resource within a cycle is divided into several time slots by using a timed timer and assigned to realize real-time processing. The time assigned to each time slot can be changed by adjusting the timed timer. Further, several levels are provided in one time slot, and a plurality of tasks are connected for each level. The connected tasks are handled as one group, and the execution management is performed by assigning priorities to each group. Then, the property of the group is managed as a scan task group or an event task group for each level. Here, the scan type task group is a task group that is started at a fixed cycle and performs a control process or the like whose completion is guaranteed within a fixed cycle time. The event type task group is a task group that is activated by an event and performs data processing or the like that cannot predict in advance when the processing will be completed. Also, the execution method of the tasks in the task group can be managed by a round robin method or a priority method. To handle urgent events,
By providing an event interrupt slot independent of a time slot, it is possible to interrupt at an arbitrary time within the basic cycle, and to start an interrupt task at the fastest.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a conceptual diagram showing a mechanism of a time slot in a basic cycle in a real-time processing device according to the present invention. In this example, there are three time slots by the basic period timer and two timed timers. In the figure, 1 indicates time slot 1, 2 indicates time slot 2, and 3 indicates time slot 3. 4 indicates that the time of the time slot 1 and the time slot 2 are adjusted by the timed timer 1, and 5 indicates that the time of the time slot 2 and the time slot 3 is adjusted by the timed timer 2. FIG. 2 is a diagram showing that a plurality of levels exist in each slot and a plurality of tasks are connected to each level in the present invention. FIG. 3 shows the embodiment of FIG. 2, in which a fixed-period task 1 is connected to a level 1 in a time slot 1, and
Is a diagram showing that the periodic task 2 is connected to the time slot 2, the periodic task 2 is connected to the level 1 of the time slot 2, and the background task is connected to the time slot 3. FIG. FIG. 4 is a time chart showing the execution state of each time slot in FIG. In the figure, 1 is time slot 1
2 shows the execution state of the fixed-period task 1 assigned to, and shows how the execution is completed within the basic period. Reference numerals 2 and 3 indicate the execution state of the fixed-period task 2 similarly allocated to the time slot 1, and indicate that the execution is completed in a cycle twice the basic cycle. Reference numerals 4, 5, 6, and 7 indicate the execution state of the fixed-period task 3 assigned to the time slot 2, and indicate that the execution is completed in a cycle four times the basic cycle. 8, 9, 1
0, 11, and 12 indicate the execution state of the background task assigned to time slot 3. First, an interrupt occurs in the basic cycle, and the execution of the periodic task 1 in the time slot 1 is started. At this time, the timed timers 1 and 2 are activated at the beginning of the interrupt. When the execution of the periodic task 1 in the time slot 1 is completed, the execution of the periodic task 2 is started. If the timer 1 interrupts during execution of the periodic task 2, the execution of the periodic task 2 is interrupted. That is, the time slot 1 shifts to the time slot 2. Time slot 2
, The execution of the periodic task 3 in the time slot 2 is started. If an interruption of the timed timer 2 occurs during execution of the periodic task 3, the execution of the periodic task 3 is interrupted. That is, the time slot 2 shifts to the time slot 3. When the process shifts to time slot 3, the execution of the background task in time slot 3 is started. The execution of the background task is interrupted by the interruption of the basic cycle. Thereafter, real-time processing consisting of the fixed-cycle task 1, the fixed-cycle task 2, the fixed-cycle task 3, and the background task is realized by repeatedly entering the timed timer 1 interrupt, the timed timer 2 interrupt, and the basic cycle interrupt. Is done. FIG.
FIG. 7 is a diagram showing that, when the processing assigned to a certain time slot is completed within the time slot time in the present invention, the execution of the processing assigned to the next time slot is automatically started earlier. When the process assigned to the time slot 1 is completed without waiting for the timed timer 1, it indicates that the execution of the process assigned to the time slot 2 is started earlier. Further, when the processing assigned to the time slot 2 is completed without waiting for the timed timer 2, it indicates that the execution of the processing assigned to the time slot 3 is started earlier. It is possible to select whether to automatically start the execution of the process assigned to the next time slot. FIG. 7 illustrates a case where when a time slot is to be switched from one time slot to the next time slot according to the present invention, there is no process assigned to the next time slot,
FIG. 11 is a diagram illustrating that processing assigned to a current time slot is continued without switching a time slot. It is automatically determined that there is no process assigned to the time slot 2 when the time-up timer 1 times out, and this indicates that the process assigned to the time slot 1 is continued. When the time of the timed timer 2 is up, the processing assigned to the time slot 3 exists, so that the time slot is switched from the time slot 1 to the time slot 3. It is possible to select whether to continue the process assigned to the current time slot without switching the time slot.

[0006]

As described above, according to the present invention, in a real-time processing apparatus having a plurality of periodic processing, the basic cycle is set to the cycle of the fastest processing required for control. By the plurality of time slots divided by using the timed timer that is started, it is possible to clarify the processing time that can be allocated to each fixed-cycle processing. It can be seen that the periodic processing assigned to a certain time slot does not affect the processing time of the periodic processing assigned to another time slot. And for processes that do not have a cycle, such as background processing,
It can be understood that the problem of the related art, which can be executed only in the cycle of the process with the lowest priority, can be solved by being able to execute the process reliably within the basic cycle. By providing several levels in one time slot, and prioritizing and managing execution in group units, it is not necessary to search all tasks in a time slot, task management is simplified, and a multitask OS Overhead is reduced. By managing the nature of the group as a scan type task group or an event type task group for each level, and managing the execution method of the tasks in the task group by a round robin method or a priority method, one time slot can be obtained. A plurality of types of multi-task execution management can be realized within the system.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram showing a mechanism of a time slot in a basic cycle in a real-time processing device according to the present invention.

FIG. 2 is a diagram showing that a plurality of levels exist in each slot and a plurality of tasks are connected to each level in the real-time processing device according to the present invention.

FIG. 3 is a diagram showing the embodiment of FIG. 2;

FIG. 4 is a time chart showing an execution state of each time slot in FIG. 3;

FIG. 5 is a diagram showing a case where a process assigned to a certain time slot in the present invention is completed within a time slot;
It is a figure showing that execution of processing automatically allocated to the next time slot is started ahead of schedule.

FIG. 6 is a timing diagram showing a case where a time slot is to be switched from one time slot to the next time slot, and if there is no process assigned to the next time slot, the current time slot is not switched and the current time slot is not switched; It is a figure showing that processing allocated to a time slot is continued.

FIG. 7 is a diagram showing an execution state of a periodic task in a conventional real-time processing device.

[Explanation of symbols]

 1 slot 1 3 slot 3 2 slot 2

Claims (6)

[Claims] In a real-time processing apparatus having a plurality of fixed-period processes, a cycle of the fastest processing required for control is defined as a basic cycle, and some of the basic cycles are interrupted by a timed timer started at the top of the basic cycle. Means for dividing into time slots, and a plurality of levels provided in one time slot.
A real-time processing device that has means for handling as one group, assigning priorities in groups, and performing execution management. 2. The real-time processing apparatus according to claim 1, further comprising means for changing a time allocated to each time slot by adjusting a timed timer during operation. 3. The real-time processing apparatus according to claim 1, further comprising means for managing a plurality of levels present in one time slot as a scan task group or an event task group for each level. 4. The real-time processing apparatus according to claim 1, further comprising means for managing a plurality of tasks existing in one level by a round-robin method or a priority method. 5. The real-time processing apparatus according to claim 1, wherein when the processing assigned to a certain time slot is completed within the time of the time slot, the execution of the processing assigned to the next time slot is automatically advanced. A real-time processing device having means for starting the process, and means for selecting validity / invalidity of the means. 6. The real-time processing apparatus according to claim 1, wherein, when the time slot is to be switched from one time slot to the next time slot, if there is no process assigned to the next time slot, the time slot is changed. Means for continuing the processing assigned to the current timeslot without switching the
A real-time processing device having means for selecting validity / invalidity of this means.