CONTROL APPARATUS, SYSTEM PROGRAM, AND CONTROL METHOD
FIG7 is a diagram for explaining an intervention function in the computation unit according to the present embodiment
FIG7 is a diagram for explaining the intervention function 2124 in the computation unit 13 according to the present embodiment. Referring to FIG7, the intervention function 2124 is provided in association with the monitoring function 2122. The monitoring function 2122 and the intervention function 2124 are implemented as a part of the scheduler program 212 or an additional function of the scheduler program 212. FIG7 shows a case in which the execution time of the secondary task 242 is long and the high-priority service 252 cannot be executed as an example. In such an execution state, the monitoring function 2122 checks an execution state of the system service task 250 in each monitoring cycle 262 and, when it is determined that the system service task 250 cannot operate in a predetermined proportion of time, outputs an intervention request 274 to the intervention function 2124.
diagram
274
intervention request
7
relay
280
resumption instruction
242
secondary task
262
monitoring cycle
278
intervention end request
252
high-priority service high-priority services
250
system service task
2124
intervention function
254
function functions
276
interruption instruction
256
low-priority service
240
task
270
notification
2122
function
260
control cycle control cycles
212
scheduler program
264
service cycle
['1. A control apparatus (1) for controlling a control object, comprising: a processor (100); a first program (240) which is repeatedly executed by the processor and has a highest execution priority; a second program having a lower execution priority than the first program; a third program having a lower execution priority than the second program; and a scheduler program which manages programs executed by the processor, wherein the second program includes a notification command (224) for outputting a start notification (270) according to start of execution in the processor and outputting an end notification (272) according to completion of execution in the processor, and the scheduler program (212) includes a command (2120) for causing the processor to execute the second and third programs such that execution of the first program is not obstructed, and a command (2122) for determining an execution state of the second program in each predetermined monitoring cycle (262) on the basis of the start notification and the end notification from the second program; characterized by  a fourth program (242) having a higher execution priority than the second program, wherein the scheduler program includes a command (2124) for temporarily interrupting execution of the fourth program when the execution state of the second program does not satisfy predetermined settings, the command for determining the execution state includes a command for determining an execution state of the third program in the monitoring cycle, and the scheduler program includes a command (2124) for temporarily interrupting execution of the second program when the execution state of the third program does not satisfy predetermined settings.', '3. The control apparatus according to claim 1 or 2, wherein the scheduler program  repeatedly executes the first program in each predetermined control cycle (260).']