| 摘要 |
PROBLEM TO BE SOLVED: To monitor whether or not execution of a task is ended within the time of a time partition (TP).SOLUTION: A controller according to the present invention includes: scheduling means for scheduling and executing a control related task according to scheduling information indicating scheduling contents of the plurality of TPs including a control related TP in which the control related task for performing processing related to control of a control object; and a storage part for storing execution end information indicating execution end or execution non-end of the control related task. The scheduling means updates the execution end information to the execution non-end when switching the TP related to the control related TP, and updates the execution end information to the execution end when the execution of the control related task is ended. The scheduling means detects the case that the execution end information indicates the execution non-end before updating the execution end information to the execution non-end when switching the TP related to the control related TP. |
