Apparatus and method for executing components based on thread pool

摘要

An apparatus for executing components based on a thread pool includes a component executor configured to have a set priority and period, to register components having the set priority and period, and to execute the registered components. Further, the apparatus for executing the components based on the thread pool includes a thread pool configured to allocate a thread for executing the component executor; and an Operating System (OS) configured to create an event for allocating the thread to the component executor in each set period.

主权项

1. An apparatus for executing components based on a thread pool, the apparatus comprising:
create a component executor, using a processor, having a set priority and period; register components having the set priority and period set for the component executor; sequentially execute the registered components when a thread is allocated by the thread pool for a robot; an Operating System (OS) configured to create an event for allocating the thread to the component executor in each set period; and return the allocated thread when the execution of the registered components has been completed, wherein if the execution of the registered components did not complete within the set period:
increment a counter and then returning the allocated thread;check a value of the counter using a new thread when the new thread is allocated to the component executor;determine a failed component based on the information stored in internal memory when the value of the counter is a value equal to or higher than a preset threshold value:create, in response to the determining of the failed component, a new component executor having the set priority and the set period using the new thread and transferring the components, and registering the components other than the failed component with the new component executor; anddelete the transferred components by the component executor and execute the registered components using the new component executor.