Control apparatus, control method and non-transitory storage medium

A non-transitory storage medium storing a system program executed in a control apparatus having a processor for controlling a control object,

• wherein the system program includes a first program 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, and a third program having a lower execution priority than the second program, the fourth program having a higher execution priority than the second program,
• the second and third programs include a notification command for outputting a start notification according to start of execution in the processor and outputting an end notification according to completion of execution in the processor, and the system program includes a scheduler program which manages programs executed by the processor,
• the scheduler program executes a command for causing the processor to execute the second and third programs such that execution of the first program is not obstructed, and a command for determining an execution state of the second and third programs in each predetermined monitoring cycle on the basis of the start notification and the end notification from the second and third programs,
• the second and the third program is determined to require a larger amount of computing resources and an execution state of the second program and of the third program does not satisfy a predetermined setting corresponding to the second program and the third program, and
• the scheduler program executes a command for interrupting execution of the fourth program in response to having determined that the second and the third program requires the larger amount of computing resources and the execution state of the second program and of the third program does not satisfy the predetermined setting corresponding to the second program and the third program.

A control method of a control apparatus having a processor for controlling a control object,

• wherein the processor is configured to execute a plurality of programs, wherein the plurality of programs comprises a first program, a second program, a third program, a fourth program, wherein the first program is repeatedly executed by the processor and has a highest execution priority, the second program having a lower execution priority than the first program, the third program having a lower execution priority than the second program and the fourth program having a higher execution priority than the second program,
• wherein the second and third programs include a notification command for outputting a start notification according to start of execution in the processor and outputting an end notification according to completion of execution in the processor,
• the control method comprising:
• a step of causing the processor to execute the second and third programs such that execution of the first program is not obstructed;
• a step of determining an execution state of the second and third programs in each predetermined monitoring cycle on the basis of the start notification and the end notification from the second and third programs;
• a step of determining that the second and the third program requires a larger amount of computing resources and an execution state of the second program and of the third program does not satisfy a predetermined setting corresponding to the second program and the third program;
• and
• a step of interrupting execution of the fourth program in response to having determined that the second and the third program requires the larger amount of computing resources and the execution state of the second program and of the third program does not satisfy the predetermined setting corresponding to the second program and the third program.