Control device, non-transitory computer-readable medium, and control method

A non-transitory computer-readable medium comprising a program executed by a control device including a processor controlling a control target, the program comprising:

• a scheduler program configured to manage a program executed by the processor according to a priority within a predetermined period;
• a first program for real time control processing of the control target, the first program having a highest priority of execution executed by the processor in the period;
• a second program for related processing related to the real time control, the second program having a lower priority of execution than that of the first program;
• and
• a third program of a system service, the third program having a lower priority of execution than that of the second program and executed when a spare time of the processor exists in the period,
• wherein the scheduler program includes a switch program that causes the processor to interrupt the execution of the second program to start the execution of the third program when the execution of the second program is started and then when a predetermined type of an instruction code is executed in the second program within the period.

A control method for controlling a control device including a processor controlling a control target,

• the control device including
• a first program for real time control processing of the control target, the first program having a highest priority of execution executed by the processor in a predetermined period,
• a second program for related processing related to the real-time control, the second program having a lower priority of execution than that of the first program, and
• a third program of a system service, the third program having a lower priority of execution than that of the second program and executed when there is a spare time of a processor in the period,
• the control method comprising managing a program executed by the processor according to a priority within the period,
• wherein the managing step includes
• within the period,
• starting the execution of the second program and then determining whether a predetermined type of an instruction code is executed in the second program, and
• causing the processor to interrupt the execution of the second program to start the execution of the third program when the determination indicates that the predetermined type of the instruction code is executed in the second program.