Quick message response method for autonomous task planning software

Abstract

The invention relates to a message quick response method for autonomous task planning software, and belongs to the technical field of satellite information processing. Comprising the following steps: establishing a multi-message response time mode of autonomous task planning software under a non-message blocking condition; establishing a multi-message response time mode of the autonomous task planning software under a message blocking condition; according to a multi-message response time mode under the non-message blocking condition, designing an interrupt response process of the autonomous task planning software under the non-message blocking condition; according to a multi-message response time mode under the message blocking condition, designing an interrupt response process of the autonomous task planning software under the message blocking condition; selecting an interrupt response process corresponding to the autonomous task planning software according to the message state information; according to the method, the response time of the autonomous task planning message is shortened, and successful response when a large number of autonomous task planning messages arrive is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of satellite information processing and relates to a message rapid response method for autonomous mission planning software. Background Art Satellites need to be able to interact with satellite services for mission planning data. Compared with the previous data interaction between control systems and satellite services, satellites have stronger real-time requirements, requiring rapid response to ground-based mission acceptance requests, rapid completion of emergency mission processing and insertion, etc. Otherwise, message blocking will occur when large-scale messages arrive, and the entire group of messages will be lost due to failure to respond in real time. However, the message response mechanism of each node in the current satellite system has a long message response time, which cannot guarantee the rapid response of autonomous mission planning messages, and cannot guarantee timely processing of data without loss when large-scale messages arrive. Summary of the invention

[0002] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and to propose a method for rapid message response for autonomous task planning software, thereby shortening the response time of autonomous task planning messages and ensuring successful response when a large number of autonomous task planning messages arrive.

[0003] The solution of the present invention is: A message rapid response method for autonomous mission planning software, comprising: Establish a multi-message response time model for autonomous mission planning software without message blocking; Establish a multi-message response time model for autonomous mission planning software under message blocking conditions; According to the multi-message response time mode under the condition of no message blocking, the interrupt response process of the autonomous task planning software under the condition of no message blocking is designed; According to the multi-message response time mode under message blocking conditions, the interrupt response process of the autonomous task planning software under message blocking conditions is designed; Select the interrupt response process corresponding to the autonomous task planning software according to the message status information.

[0004] In the above-mentioned method for rapid message response of autonomous task planning software, the multi-message response time mode under the condition of no message blocking is: The speed at which the external satellite service system sends messages is slower than the speed at which the autonomous mission planning software processes one frame of messages. That is, after the autonomous mission planning software has processed one frame of messages, the next frame of messages has not arrived yet. The autonomous mission planning software first enters the main task operation, and after the next frame of messages arrives, the autonomous mission planning software re-enters the interruption to achieve the goal of preventing frame loss.

[0005] In the above-mentioned method for rapid message response of autonomous task planning software, under the condition of no message blocking, the time composition of autonomous task planning software processing one frame of message is: Entering interrupt time, context protection time, calling interrupt processing function time, reading 1 frame of data from FIFO buffer, exiting interrupt time, context recovery time.

[0006] In the above-mentioned method for rapid message response of autonomous task planning software, the multi-message response time mode under the message blocking condition is: The speed at which the external satellite service system sends data is faster than the speed at which the autonomous mission planning software processes 1 frame interruption. That is, when the autonomous mission planning software is still processing the 1st frame message, the 2nd frame message has entered the FIFO cache; when processing the 2nd frame message, the subsequent frame messages have entered the FIFO cache; until the FIFO cache message volume is full and the next frame message read by the autonomous mission planning software has been squeezed out of the FIFO cache, message loss occurs.

[0007] In the above-mentioned method for rapid message response of autonomous task planning software, the interrupt response process of the autonomous task planning software under the condition of no message blocking is specifically as follows: S11, when the autonomous mission planning software receives a 1-frame message sent by the external satellite service system, it stores the message into the FIFO buffer, sets the interrupt flag, and enters the interrupt; S12, performing context protection; S13, read interrupt flag; S14, clear the interrupt flag; S15, calling the interrupt processing function in the autonomous task planning software to read the message in the FIFO buffer, and deleting the message from the FIFO buffer after reading; S16, the interrupt processing function processes the frame message, and exits the interrupt after the processing is completed; S17: Perform context recovery.

[0008] In the above-mentioned method for rapid message response of autonomous task planning software, the interrupt flag clearing action of S14 is first performed to prevent erroneous reading from occurring when other interrupt flags are set subsequently.

[0009] In the above-mentioned method for rapid message response of autonomous task planning software, the interrupt response process of the autonomous task planning software under message blocking conditions is specifically as follows: S21, when the autonomous mission planning software receives a 1-frame message sent by the external satellite service system, it stores the message into the FIFO buffer, sets the interrupt flag, and enters the interrupt; S22, performing context protection; S23, read interrupt flag; S24, clear the interrupt flag; S25, calling the interrupt processing function in the autonomous task planning software to read the message in the FIFO buffer, and deleting the message from the FIFO buffer after reading; S26, the interrupt processing function processes the frame message; after the processing is completed, return to S23 and continue to read the interrupt flag; until the interrupt flag does not exist in the FIFO buffer, exit the interrupt; S27: Perform context recovery.

[0010] In the above-mentioned method for rapid message response of autonomous task planning software, when the autonomous task planning software performs interrupt response under message blocking conditions, when there are multiple message processing processes, it does not exit the interrupt, and continues to query whether there is a new interrupt flag in the current interrupt, and uses the FIFO cache to process continuous messages in the same interrupt.

[0011] In the above-mentioned method for rapid message response of autonomous task planning software, when continuous messages enter the autonomous task planning software, an interrupt response process is adopted under message blocking conditions to eliminate the context protection and context recovery time of each frame message interrupt response, thereby saving time.

[0012] In the above-mentioned method for rapid message response of autonomous task planning software, the method for selecting the interrupt response process corresponding to the autonomous task planning software is: When the autonomous mission planning software receives the second frame message from the external satellite service system after completing the interrupt response to the first frame message, the response process without message blocking is selected; when the autonomous mission planning software receives the second frame message from the external satellite service system after not completing the interrupt response to the first frame message, the response process under message blocking is selected.

[0013] The beneficial effects of the present invention compared with the prior art are: (1) When data is injected without message blocking, the present invention can shorten the response time compared with the prior art; (2) When data is injected under message blocking conditions, the present invention ensures that each frame of data is not lost and can shorten the response time compared to the prior art; (3) The present invention adaptively selects the corresponding interrupt response process according to the message sending mode of the external satellite service system, thereby saving the time of the autonomous mission planning software to handle the interrupt, shortening the message response time, and ensuring the success of the response. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a flowchart of the rapid response to a message of the present invention; Figure 2 It is a response timing diagram of the present invention under the condition of no message blocking; Figure 3 This is a timing diagram of interrupt response under message blocking conditions of the present invention. DETAILED DESCRIPTION

[0015] The present invention will be further described below in conjunction with the embodiments.

[0016] The present invention provides a method for rapid message response of autonomous task planning software, which shortens the response time of autonomous task planning messages and ensures successful response when a large number of autonomous task planning messages arrive.

[0017] A rapid message response method for autonomous mission planning software, such as Figure 1 As shown, the specific steps include: Establish a multi-message response time model for autonomous mission planning software under non-message blocking conditions.

[0018] The multi-message response time pattern without message blocking is: The speed at which the external satellite service system sends messages is slower than the speed at which the autonomous mission planning software processes one frame of messages. That is, after the autonomous mission planning software has processed one frame of messages, the next frame of messages has not arrived yet. The autonomous mission planning software first enters the main task operation, and after the next frame of messages arrives, the autonomous mission planning software re-enters the interruption to achieve the goal of preventing frame loss.

[0019] Under the condition of no message blocking, the time composition of the autonomous task planning software processing one frame of message is: Entering interrupt time, context protection time, calling interrupt processing function time, reading 1 frame of data from FIFO buffer, exiting interrupt time, context recovery time.

[0020] Establish a multi-message response time model for autonomous mission planning software under message blocking conditions.

[0021] The multi-message response time pattern under message blocking conditions is: The speed at which the external satellite service system sends data is faster than the speed at which the autonomous mission planning software processes 1 frame interruption. That is, when the autonomous mission planning software is still processing the 1st frame message, the 2nd frame message has entered the FIFO cache; when processing the 2nd frame message, the subsequent frame messages have entered the FIFO cache; until the FIFO cache message volume is full and the next frame message read by the autonomous mission planning software has been squeezed out of the FIFO cache, message loss occurs.

[0022] According to the multi-message response time pattern under the condition of no message blocking, the interrupt response process of the autonomous task planning software under the condition of no message blocking is designed.

[0023] like Figure 2 As shown in the figure, the interrupt response process of the autonomous task planning software under the condition of no message blocking is as follows: S11. When the autonomous mission planning software receives a 1-frame message sent by the external satellite service system, it stores the message in the FIFO buffer, sets the interrupt flag, and enters the interrupt.

[0024] S12. Perform context protection.

[0025] S13. Read the interrupt flag.

[0026] S14, clear the interrupt flag; first perform the clear interrupt flag action of S14 to prevent erroneous reading when other interrupt flags are set later.

[0027] S15, calling the interrupt processing function in the autonomous task planning software to read the message in the FIFO buffer, and deleting the message from the FIFO buffer after reading.

[0028] S16: The interrupt processing function processes the frame message, and exits the interrupt after the processing is completed.

[0029] S17: Perform context recovery.

[0030] According to the multi-message response time pattern under message blocking conditions, the interrupt response process of the autonomous task planning software under message blocking conditions is designed.

[0031] like Figure 3 As shown in the figure, the interrupt response process of the autonomous task planning software under message blocking conditions is as follows: S21. When the autonomous mission planning software receives a 1-frame message sent by the external satellite service system, it stores the message in the FIFO buffer, sets the interrupt flag, and enters the interrupt.

[0032] S22. Perform context protection.

[0033] S23, read the interrupt flag.

[0034] S24. Clear the interrupt flag.

[0035] S25, calling the interrupt processing function in the autonomous task planning software to read the message in the FIFO buffer, and deleting the message from the FIFO buffer after reading.

[0036] S26, the interrupt processing function processes the frame message; after the processing is completed, return to S23 and continue to read the interrupt flag; until the interrupt flag does not exist in the FIFO buffer, exit the interrupt.

[0037] S27: Perform context recovery.

[0038] When the autonomous task planning software performs interrupt response under message blocking conditions and there are multiple message processing processes, it does not exit the interrupt, but continues to query whether there is a new interrupt flag in the current interrupt, and uses the FIFO cache to process continuous messages in the same interrupt.

[0039] When continuous messages enter the autonomous task planning software, the interrupt response process under the message blocking condition is adopted to save the context protection and context recovery time of each frame message interrupt response, thus saving time.

[0040] Select the interrupt response process corresponding to the autonomous task planning software according to the message status information.

[0041] The method for selecting the interrupt response process corresponding to the autonomous task planning software is: When the autonomous mission planning software receives the second frame message from the external satellite service system after completing the interrupt response to the first frame message, the response process without message blocking is selected; when the autonomous mission planning software receives the second frame message from the external satellite service system after not completing the interrupt response to the first frame message, the response process under message blocking is selected.

[0042] The present invention performs schedulability analysis on the reception and response of autonomous task planning messages of real-time embedded systems, improves the message response mechanism of each node in the real-time embedded system, and shortens the message response time. When the autonomous task planning message arrives, by saving the time of in-and-out interrupts and context switching, the system scheduling overhead is shortened to improve the response time. After testing and on-orbit verification, the response time of the autonomous task planning message is shortened, and the successful response when a large number of autonomous task planning messages arrive is guaranteed.

[0043] The present invention is tested and verified using autonomous task planning software testing equipment. The test results show that the beneficial effects of the present invention compared with the prior art are that the present invention can shorten the response time compared with the prior art when data is injected under the condition of no message blocking, and the present invention ensures that each frame of data is not lost when data is injected under the condition of message blocking, and can shorten the response time compared with the prior art. The injection of 9 frames of variable address parameters is realized by two consecutive interrupt processing, and the injection of 37 frames of EEPROM programs is realized by 8 consecutive interrupt processing, which verifies the solution proposed by the present invention, saves the time of autonomous task planning software processing interrupts, shortens the message response time, and ensures the success of the response.

[0044] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A method for rapid message response in autonomous task planning software, characterized in that: include: Establish a multi-message response time model for autonomous mission planning software without message blocking; Establish a multi-message response time model for autonomous mission planning software under message blocking conditions; According to the multi-message response time mode under the condition of no message blocking, the interrupt response process of the autonomous task planning software under the condition of no message blocking is designed; According to the multi-message response time mode under message blocking conditions, the interrupt response process of the autonomous task planning software under message blocking conditions is designed; Select the interrupt response process corresponding to the autonomous task planning software according to the message status information.

2. A method for rapid message response for autonomous task planning software according to claim 1, characterized in that: The multi-message response time pattern under the condition of no message blocking is: The speed at which the external satellite service system sends messages is slower than the speed at which the autonomous mission planning software processes one frame of messages. That is, after the autonomous mission planning software has processed one frame of messages, the next frame of messages has not arrived yet. The autonomous mission planning software first enters the main task operation, and after the next frame of messages arrives, the autonomous mission planning software re-enters the interruption to achieve the goal of preventing frame loss.

3. A method for rapid message response for autonomous task planning software according to claim 2, characterized in that: Under the condition of no message blocking, the time composition of the autonomous task planning software processing one frame of message is: Entering interrupt time, context protection time, calling interrupt processing function time, reading 1 frame of data from FIFO buffer, exiting interrupt time, context recovery time.

4. A method for rapid message response for autonomous task planning software according to claim 3, characterized in that: The multi-message response time pattern under the message blocking condition is: The speed at which the external satellite service system sends data is faster than the speed at which the autonomous mission planning software processes 1 frame interruption. That is, when the autonomous mission planning software is still processing the 1st frame message, the 2nd frame message has entered the FIFO buffer; When processing the second frame message, the subsequent frame messages have entered the FIFO buffer; Message loss occurs only when the FIFO buffer message volume is full and the next frame message read by the autonomous task planning software has been squeezed out of the FIFO buffer.

5. A method for rapid message response for autonomous task planning software according to claim 4, characterized in that: The interrupt response process of the autonomous task planning software under the condition of no message blocking is specifically as follows: S11, when the autonomous mission planning software receives a 1-frame message sent by the external satellite service system, it stores the message into the FIFO buffer, sets the interrupt flag, and enters the interrupt; S12, performing context protection; S13, read interrupt flag; S14, clear the interrupt flag; S15, calling the interrupt processing function in the autonomous task planning software to read the message in the FIFO buffer, and deleting the message from the FIFO buffer after reading; S16, the interrupt processing function processes the frame message, and exits the interrupt after the processing is completed; S17: Perform context recovery.

6. A method for rapid message response for autonomous task planning software according to claim 5, characterized in that: First, perform the clear interrupt flag action of S14 to prevent erroneous reading when other interrupt flags are set later.

7. A method for rapid message response for autonomous task planning software according to claim 5, characterized in that: The interrupt response process of the autonomous task planning software under message blocking conditions is specifically as follows: S21, when the autonomous mission planning software receives a 1-frame message sent by the external satellite service system, it stores the message into the FIFO buffer, sets the interrupt flag, and enters the interrupt; S22, performing context protection; S23, read interrupt flag; S24, clear the interrupt flag; S25, calling the interrupt processing function in the autonomous task planning software to read the message in the FIFO buffer, and deleting the message from the FIFO buffer after reading; S26, the interrupt processing function processes the frame message; after the processing is completed, return to S23 and continue to read the interrupt flag; until the interrupt flag does not exist in the FIFO buffer, exit the interrupt; S27: Perform context recovery.

8. A method for rapid message response for autonomous task planning software according to claim 7, characterized in that: When the autonomous task planning software performs interrupt response under message blocking conditions and there are multiple message processing processes, it does not exit the interrupt, but continues to query whether there is a new interrupt flag in the current interrupt, and uses the FIFO cache to process continuous messages in the same interrupt.

9. A method for rapid message response for autonomous task planning software according to claim 7, characterized in that: When continuous messages enter the autonomous task planning software, the interrupt response process under the message blocking condition is adopted to save the context protection and context recovery time of each frame message interrupt response, thus saving time.

10. A method for rapid message response for autonomous task planning software according to claim 7, characterized in that: The method for selecting the interrupt response process corresponding to the autonomous task planning software is: When the autonomous mission planning software receives the second frame message from the external satellite service system after completing the interrupt response to the first frame message, the response process without message blocking is selected; when the autonomous mission planning software receives the second frame message from the external satellite service system after not completing the interrupt response to the first frame message, the response process under message blocking is selected.

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