Книга: Real-Time Concepts for Embedded Systems

5.4.2 Task Scheduling

5.4.2 Task Scheduling

From the time a task is created to the time it is deleted, the task can move through various states resulting from program execution and kernel scheduling. Although much of this state changing is automatic, many kernels provide a set of API calls that allow developers to control when a task moves to a different state, as shown in Table 5.2. This capability is called manual scheduling .

Table 5.2: Operations for task scheduling.

Using manual scheduling, developers can suspend and resume tasks from within an application. Doing so might be important for debugging purposes or, as discussed earlier, for suspending a high-priority task so that lower priority tasks can execute.

A developer might want to delay (block) a task, for example, to allow manual scheduling or to wait for an external condition that does not have an associated interrupt. Delaying a task causes it to relinquish the CPU and allow another task to execute. After the delay expires, the task is returned to the task-ready list after all other ready tasks at its priority level. A delayed task waiting for an external condition can wake up after a set time to check whether a specified condition or event has occurred, which is called polling.

A developer might also want to restart a task, which is not the same as resuming a suspended task. Restarting a task begins the task as if it had not been previously executing. The internal state the task possessed at the time it was suspended (for example, the CPU registers used and the resources acquired) is lost when a task is restarted. By contrast, resuming a task begins the task in the same internal state it possessed when it was suspended.

Restarting a task is useful during debugging or when reinitializing a task after a catastrophic error. During debugging, a developer can restart a task to step through its code again from start to finish. In the case of catastrophic error, the developer can restart a task and ensure that the system continues to operate without having to be completely reinitialized.

Getting and setting a task’s priority during execution lets developers control task scheduling manually. This process is helpful during a priority inversion, in which a lower priority task has a shared resource that a higher priority task requires and is preempted by an unrelated medium-priority task. (Priority inversion is discussed in more detail in Chapter 16). A simple fix for this problem is to free the shared resource by dynamically increasing the priority of the lower priority task to that of the higher priority task-allowing the task to run and release the resource that the higher priority task requires-and then decreasing the former lower priority task to its original priority.

Finally, the kernel might support preemption locks, a pair of calls used to disable and enable preemption in applications. This feature can be useful if a task is executing in a critical section of code : one in which the task must not be preempted by other tasks.

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