整个系统是一个较为复杂的实时多任务控制系统，合理的任务划分对系统的运行效率、实时性和吞吐量有较大影响。若使任务划分过细，会使任务过于频繁切换，从而增加系统开销。而任务分解不够彻底会影响系统运行的并行性。-The whole system is a more complex real-time multi-task control system, a reasonable division of tasks running on the system s efficiency, timeliness and throughput have a greater impact. Ruo Shi tasks into too small, will make the task too frequent switching, thereby increasing system overhead. The task is not enough to completely break down will affect system operation parallelism.