CN107273219A - Apparatus control method and device - Google Patents
Apparatus control method and device Download PDFInfo
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- CN107273219A CN107273219A CN201710294288.1A CN201710294288A CN107273219A CN 107273219 A CN107273219 A CN 107273219A CN 201710294288 A CN201710294288 A CN 201710294288A CN 107273219 A CN107273219 A CN 107273219A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/54—Interprogram communication
- G06F9/542—Event management; Broadcasting; Multicasting; Notifications
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- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
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- G06F11/3017—Monitoring arrangements specially adapted to the computing system or computing system component being monitored where the computing system is implementing multitasking
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/445—Program loading or initiating
- G06F9/44505—Configuring for program initiating, e.g. using registry, configuration files
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- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
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Abstract
The disclosure is directed to a kind of apparatus control method and device, methods described includes：Obtain the information flow between all functional modules and functional module in micro-nano satellite；It is determined that robot operating system ROS nodes corresponding with each functional module；All ROS nodes are generated according to described information stream and determine ROS calculating figures；Determine the communication mode between ROS nodes；Corresponding with each ROS nodes independent operating file of generation, and control the corresponding operating file of different ROS nodes to run；The communication information between record ROS nodes operation information operationally and ROS is used as log information.ROS nodes can individually be compiled, debug and run in this method, so many people's concurrent developments can be supported preferably so that efficiency is greatly improved, and because the corresponding executable file of ROS nodes can be with loose couplings, so flexibility and scalability are greatly improved.
Description
Technical field
This disclosure relates to micro-nano satellite technical field, more particularly to a kind of apparatus control method and device.
Background technology
Micro-nano satellite technology is quickly grown in recent years, and exploring field from initially simple university research rapidly goes to bright
The research field of aobvious practical ability and huge commercial value.With COTS, (Commercial Off The Shelf, commercialization is ready-made
Product) device and a large amount of new technologies application, the ability of microsatellite is greatly improved, or even is connect in the ability of indivedual aspects
Closely it is even more than Large-scale satellite.
The software of satellite is a complicated multi-task software system, for ensuring that the in-orbit normal operation of satellite is heavy to closing
Will.It is increasingly complicated with space tasks, requirement to software on star also more and more higher.Relative to large satellite, micro-nano satellite is very
Many units are integrated, and a satellite is opened up in such as day, and the function of house keeping computer, attitude control computer, number pipe computer is integrated
In a house keeping computer, and then the functional task quantity for resulting in the need for performing is more.
On current micro-nano star software more use embedded OS (such as VxWorks, μ COS, Free RTOS), it is necessary to
The functional task module of execution may be dispersed in multiple subsystems, such as tracking-telemetry and command subsystem, attitude control subsystem, data handling subsystem,
Navigation subsystem etc., each subsystem may have independent hardware, it is also possible to which multiple subsystems share a set of hardware, be dividing
System is internal can to run multiple functional tasks.It can be connected, be realized not by star internal bus by star internal bus between subsystem
With the communication between the task of subsystem.Inside subsystem, functional task is typically based on embedded real-time operating system realization,
Each functional task one thread of correspondence, is communicated between thread and together by means such as semaphore, message, global variables
Step, is protected to public resource by mutex, the matching between friction speed thread is realized by queue.
This communication mode, although in terms of real-time preferably, but having larger limitation in terms of flexibility and autgmentability.
Because the functional task of these independent operatings is run in the way of multithreading, each other in the presence of extensive information exchange, logic
Relation and operation constraint are increasingly complex, often need multiple software engineers to be separately encoded in early stage, are then integrating
It is compiled into a unified Software Mirroring.There is many deficiencies in this design pattern, be also unfavorable in terms of standardization, autgmentability
, when tackling complex space task, there is larger limitation in team collaboration in terms of software flexibility, scalability.
The content of the invention
This application discloses a kind of apparatus control method and device, to solve to be based on embedded operation system described in background technology
The problem of there is standardization, flexibility and poor scalability in the micro-nano satellite software of system.
In order to solve the above technical problems, the following technical scheme of disclosure：
A kind of apparatus control method, including：
Obtain the information flow between all software function modules and functional module in micro-nano satellite；
It is determined that robot operating system ROS nodes corresponding with each functional module；
Figure is calculated according to described information stream and all ROS nodes generation ROS, the ROS calculating figure includes：ROS nodes,
ROS message, ROS message subjects, ROS services and ROS Message Record bags；
The communication mode between ROS nodes is determined according to the characteristics of the information interaction of the corresponding functional module of ROS nodes,
The communication mode includes：Message mode and method of service；
Generation and each ROS nodes individually corresponding operating file, and control the corresponding operation of different ROS nodes
Running paper；
The communication information between record ROS nodes operation information operationally and ROS is used as log information.
Alternatively, it is described to calculate and scheme according to described information stream and all ROS nodes generation ROS, including：
The communication information between different ROS nodes is obtained according to described information stream；
Determine that ROS message, ROS services, ROS message subjects and ROS between ROS nodes disappear according to the communication information
Breath record bag；
According to the ROS nodes, ROS message, ROS message subjects, ROS services and the generation of ROS Message Records bag
ROS calculates figure.
Alternatively, it is described according to ROS nodes to the information interaction of right functional module the characteristics of determine ROS nodes it
Between communication mode, including：
According to the characteristics of the information interaction of the corresponding functional module of ROS nodes, transmission information between ROS nodes is judged
Whether mode is one-to-many；
When the mode of transmission information between ROS nodes is one-to-many, determine that ROS publisher nodes and multiple ROS receive section
Point；
Set up message subject corresponding with the ROS publisher nodes；
The ROS publisher nodes are controlled to regularly publish the broadcast message related to the message subject；
Control the ROS receiving nodes when being broadcast the message described in demand, institute is subscribed to from the message subject of the foundation
State broadcast message.
Alternatively, it is described according to ROS nodes to the information interaction of right functional module the characteristics of determine ROS nodes it
Between communication mode, including：
The characteristics of according to ROS nodes to the information interaction of right functional module, judge transmission information between ROS nodes
Mode whether be point-to-point；
When the mode of transmission information between ROS nodes is point-to-point, two ROS that will carry out point-to-point transmission information are saved
Point determines ROS nodes pair, and described one ROS node of ROS nodes centering is that message initiates node, and another ROS nodes connect for message
Receive node；
Set up in the message recipient node with the ROS nodes to corresponding first call back function；
When needing to carry out point-to-point transmission information, the message initiates node and sends information to the message recipient node
Request；When the message recipient node receives information request, the message recipient node calls first call back function,
When first call back function asks generation to reply message according to described information, the message recipient node disappears the reply
Breath is sent to the message and initiates node.
Alternatively, it is described according to ROS nodes to the information interaction of right functional module the characteristics of determine ROS nodes it
Between communication mode, including：
The characteristics of according to ROS nodes to the information interaction of right functional module, judge whether needed between ROS nodes
Tasks synchronization；
When needing tasks synchronization between ROS nodes, it is determined that synchronous initiate ROS nodes and at least one synchronization reception ROS
Node；
The second call back function corresponding with the tasks synchronization is set up in the synchronous receiving node；
It is described same when the synchronous reception ROS nodes receive the synchronization request that the synchronous initiation ROS nodes are sent
Step receives ROS nodes and calls second call back function, is replied when second call back function is generated according to the synchronization request
During message, described reply message is sent to the synchronous initiation ROS nodes by the synchronous ROS nodes that receive.
A kind of plant control unit, including：
Acquiring unit, for obtaining the information flow in micro-nano satellite between all functional modules and functional module；
Node determining unit, for determining robot operating system ROS nodes corresponding with each functional module；
Figure generation unit is calculated, for calculating and scheming according to described information stream and all ROS nodes generation ROS, the ROS meters
Nomogram includes：ROS nodes, ROS message, ROS message subjects, ROS services and ROS Message Record bags；
Communication mode determining unit, for being determined according to the characteristics of the information interaction of the corresponding functional module of ROS nodes
Communication mode between ROS nodes, the communication mode includes：Message mode and method of service；
File generating unit, for generating and each ROS nodes individually corresponding operating file；
Running paper unit, for controlling the corresponding operating file operation of different ROS nodes；
Recording unit, for recording the communication information between ROS nodes operation information operationally and ROS as day
Will information.
Alternatively, the calculating figure generation unit, including：
The communication information obtains subelement, for obtaining the communication information between different ROS nodes according to described information stream；
Information determination subelement, for determined according to the communication information ROS message between ROS nodes, ROS service,
ROS message subjects and ROS Message Record bags；
Subelement is generated, for according to the ROS nodes, ROS message, ROS message subjects, ROS services and ROS message
The record bag generation ROS calculates figure.
Alternatively, the communication mode determining unit, including：
First judgment sub-unit, for according to the characteristics of the information interaction of the corresponding functional module of ROS nodes, judging
Whether the mode of transmission information is one-to-many between ROS nodes；
Node determination subelement, for when the mode of transmission information between ROS nodes is one-to-many, determining that ROS is issued
Node and multiple ROS receiving nodes；
Message subject sets up subelement, for setting up message subject corresponding with the ROS publisher nodes；
Subelement is issued, is disappeared for controlling the ROS publisher nodes to regularly publish the broadcast related to the message subject
Breath；
Subelement is subscribed to, for controlling the ROS receiving nodes when being broadcast the message described in demand, from disappearing for the foundation
The broadcast message is subscribed in breath theme.
Alternatively, the communication mode determining unit, including：
Second judgment sub-unit, judges the characteristics of for according to ROS nodes to the information interaction of right functional module
Whether the mode of transmission information is point-to-point between ROS nodes；
Node is to determination subelement, for that when the mode of transmission information between ROS nodes is point-to-point, will carry out point pair
Two ROS nodes of point transmission information determine ROS nodes pair, and described one ROS node of ROS nodes centering is that message initiates section
Point, another ROS nodes are message recipient node；
First sets up subelement, for being set up in the message recipient node with the ROS nodes to corresponding first
Call back function；
Information request transmission sub-unit, for when needing to carry out point-to-point transmission information, the message initiate node to
The message recipient node sends information request；
First calls subelement, for when the message recipient node receives information request, the message sink section
Point calls first call back function；
First message transmission sub-unit, for being replied message when first call back function according to described information request generation
When, described reply message is sent to the message initiation node by the message recipient node.
Alternatively, the communication mode determining unit, including：
3rd judgment sub-unit, judges the characteristics of for according to ROS nodes to the information interaction of right functional module
Whether tasks synchronization is needed between ROS nodes；
Synchronization node determination subelement, for when needing tasks synchronization between ROS nodes, it is determined that synchronous initiate ROS sections
Point and at least one synchronization receive ROS nodes；
Second sets up subelement, for being set up in the synchronous receiving node second time corresponding with the tasks synchronization
Letter of transfer number；
Second calls subelement, for receiving the synchronous initiation ROS nodes transmission when the synchronous ROS nodes that receive
Synchronization request when, the synchronous ROS nodes that receive call second call back function；
Second transmission sub-unit, for when second call back function according to the synchronization request generation reply message when,
Described reply message is sent to the synchronous initiation ROS nodes by the synchronous ROS nodes that receive.
The technical scheme provided by this disclosed embodiment can include the following benefits：
The apparatus control method that the embodiment of the present application is provided, can be according to defending when realizing Satellite Software based on ROS
The information flow between all functional modules and functional module in star software, is first converted to ROS nodes, then by functional module
The ROS calculating figures for including ROS nodes are determined again, the Satellite Software of micro-nano satellite is designed with ROS theories, due to ROS systems tool
There is good communication mechanism, this enables the corresponding executable file of each ROS nodes to be designed separately, and operationally
The corresponding executable file of ROS nodes can be with loose couplings, and therefore, each functional module can be run as separate threads, example
Such as using the remote control in micro-nano satellite, program control, number are passed, equipment control functional module is realized as ROS nodes, in exploitation
Can be with stand-alone development, such technical staff can individually write the functional module of each in micro-nano satellite to form independent operation text
Part, after the completion of ROS nodes can individually compile, debug and run, this mode can preferably support many people's concurrent developments so that
Efficiency is greatly improved, and because the corresponding executable file of ROS nodes can be with loose couplings, so flexibility and expansible
Property is greatly improved.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not
The disclosure can be limited.
Brief description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the implementation for meeting the application
Example, and be used to together with specification to explain the principle of the application.
, below will be to embodiment or the back of the body in order to illustrate more clearly of the technical scheme in the embodiment of the present application or background technology
The accompanying drawing used required in the description of scape technology is briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without having to pay creative labor, can also obtain other accompanying drawings according to these accompanying drawings.
Software function schematic diagram on a kind of star for micro-nano satellite that Fig. 1 provides for the embodiment of the present application；
The schematic flow sheet for the apparatus control method that Fig. 2 provides for the embodiment of the present application；
The structural representation for the plant control unit that Fig. 3 provides for the embodiment of the present application.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the application, it is real below in conjunction with the application
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present application is clearly and completely described, it is clear that described implementation
Example is only a part of embodiment of the application, rather than whole embodiments.Based on the embodiment in the application, this area is general
The every other embodiment that logical technical staff is obtained under the premise of creative work is not made, should all belong to the application guarantor
The scope of shield.
Software schematic diagram on a kind of star for micro-nano satellite that Fig. 1 provides for the embodiment of the present application.
As shown in figure 1, figure includes multiple common function modules of micro-nano satellite, including：Remote measurement, remote control, number biography, parameter
Upper note, note on software, clock, beacon, program control, gesture stability etc., arrow in the information flow such as Fig. 1 between each functional module on star
Head direction.
The schematic flow sheet for the apparatus control method that Fig. 2 provides for the embodiment of the present application.
As shown in Fig. 2 this method comprises the following steps：
S101, obtains the information flow between all functional modules and functional module in micro-nano satellite.
Each micro-nano satellite, according to the difference of design requirement, the functional module with different functional modules and uniqueness
Between information flow.So, in the embodiment of the present application, first have to obtain some essential informations of target micro-nano satellite.Such as Fig. 1
Shown, figure includes the information flow between all functional modules and functional module of micro-nano satellite.In the embodiment of the present application,
Information flow between the functional module and functional module of micro-nano satellite can be by technical staff according to micro-nano satellite design
There is provided, or, the parameters that micro-nano satellite is extracted directly from design are obtained.
S102, it is determined that robot operating system ROS nodes corresponding with each functional module.
ROS (Robot Operating System, robot operating system), is aimed at designed by robot software's exploitation
A set of computer operating system framework out, comes from the STAIR projects of Stanford University Artificial Intelligence Laboratory in 2007 earliest
Between robot technology company Willow Garage personal robot project (Personal Robotics Program)
Cooperation, promote it to develop by Willow Garage companies after 2008.
ROS is a sub-operating system increased income there is provided the service similar to operating system, including hardware abstraction description,
Message transmission, program distribution package management between bsp driver management, the execution of common functions, program, it also provides some works
Tool and storehouse are used for the program for obtaining, set up, writing and performing multimachine fusion.ROS is not traditional operating system,
ROS primary design object is to improve rate of code reuse in robot research and development field.ROS operation framework is that one kind uses ROS
Communication module realizes the processing framework of intermodule loose couplings.This enables executable file to be designed separately, and operationally
Loose couplings.
In the embodiment of the present application, after the functional module of micro-nano satellite is got, first have to determine according to ROS nodes
Rule, determine ROS nodes corresponding with functional module in each micro-nano satellite, generates and micro-nano satellite pair based on this
The ROS calculating figures answered.
S103, calculates and schemes according to described information stream and all ROS nodes generation ROS.
Under normal circumstances, ROS is by calculating figure (Compute Graph) come self-organising software.The element of calculating figure includes：
(1) ROS nodes：Main calculation procedure.
(2) ROS node managers：Registration and lookup for node.
(3) ROS parameter servers：Run data through the core position that keyword has system.
(4) ROS message：For the communication between node.
(5) ROS message subjects：The data/address bus for being route and being managed to message.
(6) ROS is serviced：Point-to-point data interaction.
(7) ROS Message Records bag：Data record for preserving and playing back ROS message.
In the embodiment of the present application, it is determined that ROS calculating figures at least include：ROS nodes, ROS message, ROS message masters
Topic, ROS services and Message Record bag.
In the application one embodiment, step S103 may comprise steps of：
S11, the communication information between different ROS nodes is obtained according to described information stream.
S12, according to the communication information determine ROS message between ROS nodes, ROS services, ROS message subjects and
ROS Message Record bags；
S13, is generated according to the ROS nodes, ROS message, ROS message subjects, ROS services and ROS Message Records bag
The ROS calculates figure.
S104, the communication between ROS nodes is determined according to the characteristics of the information interaction of the corresponding functional module of ROS nodes
Mode.
In this embodiment of the present application, the communication mode includes：Message mode and method of service.In addition, functional module
Information interaction the characteristics of include：Point-to-point, one-to-many, tasks synchronization etc., wherein, two functional module progress are referred to point
Two-way point-to-point information exchange is serviced using ROS and realized between one-to-one transmission, functional module.ROS service suitable for request,
The occasion of response mode work.General utility functions can be made to ROS services, called for other functional modules.
It is one-to-many to refer to that One function module carries out broadcast type between message broadcast, functional module to multiple functional modules
Communication is realized by ROS message subjects.It is required for during the operation of the multiple modules of the information such as clock on telemetry, star, can be with
Clock module on telemetry message theme and clock information theme, telemetry module and star is set up to issue to the two message subjects respectively
Telemetry message and clock information are disappeared accordingly, it is necessary to can be subscribed to using the module of remote measurement and clock to the two message subjects
Breath；
Tasks synchronization refers to need between two functional modules to carry out tasks synchronization, due to ROS nodes do not have semaphore and
Mutex, so resource is all encapsulated in intra-node.So, the synchronization between node can only be serviced by ROS message or ROS
Complete.Message receiver or service provider design call back function, message receiver are placed on receiving message or server and provide
Call back function is triggered when receiving service request, and then realizes tasks synchronization.
S105, generation and each ROS nodes individually corresponding operating file, and control different ROS nodes correspondences
Operating file operation.
Because ROS systems provide good communication mechanism, this enables executable file to be designed separately, and in operation
When loose couplings.So calculating figure when generating ROS corresponding with functional module in micro-nano satellite, and determine ROS calculating figures
In after communication mode between each ROS nodes, each functional module in micro-nano satellite can be used as a ROS node to come real
Existing, each functional module can be run as separate threads during operation.For example the remote control in micro-nano satellite, program control, number are passed, set
The functional modules such as standby management, can be with stand-alone development in exploitation respectively as the realization of ROS nodes.
ROS nodes can generate text by catkin_create_pkg instrument creations, catkin_create_pkg instruments
Part catalogue, configuration file and compilation script, form independent operating file.After the completion of node can individually compile, debug and transport
OK.This mode can preferably support many people's concurrent developments.
S106, the communication information between record ROS nodes operation information operationally and ROS is used as log information.
In the embodiment of the present application, journal function can be realized by ROS Message Records bag, also can self-developing daily record mould
Block, ROS Message Records function can record multiclass ROS message simultaneously.In order to carry out effective monitoring to micro-nano satellite running,
In the embodiment of the present application, when recording operation information or log information, and not all record, but can be selectively to part
Operation information and log information are recorded, in a particular application, select which operation information and log information, and technical staff can
With sets itself.
The apparatus control method that the embodiment of the present application is provided, can be according to defending when realizing Satellite Software based on ROS
The information flow between all functional modules and functional module in star software, is first converted to ROS nodes, then by functional module
The ROS calculating figures for including ROS nodes are determined again, the Satellite Software of micro-nano satellite is designed with ROS theories, due to ROS systems tool
There is good communication mechanism, this enables the corresponding executable file of each ROS nodes to be designed separately, and operationally
The corresponding executable file of ROS nodes can be with loose couplings, and therefore, each functional module can be run as separate threads, example
Such as using the remote control in micro-nano satellite, program control, number are passed, equipment control functional module is realized as ROS nodes, in exploitation
Can be with stand-alone development, such technical staff can individually write the functional module of each in micro-nano satellite to form independent operation text
Part, after the completion of ROS nodes can individually compile, debug and run, this mode can preferably support many people's concurrent developments so that
Efficiency is greatly improved, and because the corresponding executable file of ROS nodes can be with loose couplings, so flexibility and expansible
Property is greatly improved.
In the application one embodiment, abovementioned steps S104 may comprise steps of.
S21, according to the characteristics of the information interaction of the corresponding functional module of ROS nodes, judges to transmit letter between ROS nodes
Whether the mode of breath is one-to-many；
When the mode of transmission information between ROS nodes is one-to-many, step S21 is performed.
S21, determines ROS publisher nodes and multiple ROS receiving nodes；
S22, sets up message subject corresponding with the ROS publisher nodes；
S23, controls the ROS publisher nodes to regularly publish the broadcast message related to the message subject；
S24, controls the ROS receiving nodes when being broadcast the message described in demand, is ordered from the message subject of the foundation
Read the broadcast message.
In the application one embodiment, abovementioned steps S104 may comprise steps of.
S31, the characteristics of according to ROS nodes to the information interaction of right functional module, judges transmission between ROS nodes
Whether the mode of information is point-to-point；
When the mode of transmission information between ROS nodes is point-to-point, S32 is performed.
S32, when the mode of transmission information between ROS nodes is point-to-point, will carry out two of point-to-point transmission information
ROS nodes determine ROS nodes pair, and described one ROS node of ROS nodes centering is that message initiates node, and another ROS nodes are to disappear
Cease receiving node；
S33, sets up with the ROS nodes to corresponding first call back function in the message recipient node；
S34, when needing to carry out point-to-point transmission information, the message is initiated node and sent to the message recipient node
Information request；When the message recipient node receives information request, the message recipient node calls first readjustment
Function, when first call back function asks generation to reply message according to described information, the message recipient node will be described
Reply message and be sent to the message initiation node.
In the application one embodiment, abovementioned steps S104 may comprise steps of.
S41, judge the characteristics of according to ROS nodes to the information interaction of right functional module between ROS nodes whether
Need tasks synchronization；
When needing tasks synchronization between ROS nodes, S42 is performed.
S42, it is determined that synchronous initiate ROS nodes and at least one synchronization reception ROS node；
S43, sets up the second call back function corresponding with the tasks synchronization in the synchronous receiving node；
S44, when the synchronous reception ROS nodes receive the synchronization request that the synchronous initiation ROS nodes are sent, institute
State the synchronous ROS nodes that receive and call second call back function, when second call back function is generated according to the synchronization request
When replying message, described reply message is sent to the synchronous initiation ROS nodes by the synchronous ROS nodes that receive.
The description of embodiment of the method more than, it is apparent to those skilled in the art that the application can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to by hardware, but in many cases the former
It is more preferably embodiment.Understood based on such, the technical scheme of the application substantially makes tribute to prior art in other words
The part offered can be embodied in the form of software product, and the computer software product is stored in a storage medium, bag
Some instructions are included to so that a computer equipment (can be personal computer, server, or network equipment etc.) performs
The all or part of step of each embodiment methods described of the application.And foregoing storage medium includes：Read-only storage
(ROM), random access memory (RAM), magnetic disc or CD etc. are various can be with the medium of store program codes.
Corresponding with the apparatus control method embodiment shown in the application Fig. 2, present invention also provides a kind of control of equipment
Device；Referring to a kind of structural representation of Fig. 3 plant control units provided for the embodiment of the present application.
As shown in figure 3, the device can include：Acquiring unit 11, node determining unit 12, calculate figure generation unit 13,
Communication mode determining unit 14, file generating unit 15, running paper unit 16 and recording unit 17, wherein,
Acquiring unit 11, for obtaining the information flow in micro-nano satellite between all functional modules and functional module；
Node determining unit 12, for determining robot operating system ROS nodes corresponding with each functional module；
Figure generation unit 13 is calculated, for calculating and scheming according to described information stream and all ROS nodes generation ROS, the ROS
Calculating figure includes：ROS nodes, ROS message, ROS message subjects, ROS services and ROS Message Record bags；
Communication mode determining unit 14, for true according to the characteristics of the information interaction of the corresponding functional module of ROS nodes
Determine the communication mode between ROS nodes, the communication mode includes：Message mode and method of service；
File generating unit 15, for generating and each ROS nodes individually corresponding operating file.
Running paper unit 16, for controlling the corresponding operating file operation of different ROS nodes；
Recording unit 17, for recording the communication information conduct between ROS nodes operation information operationally and ROS
Log information.
In the application one embodiment, figure generation unit is calculated, including：
The communication information obtains subelement, for obtaining the communication information between different ROS nodes according to described information stream；
Information determination subelement, for determined according to the communication information ROS message between ROS nodes, ROS service,
ROS message subjects and ROS Message Record bags；
Subelement is generated, for according to the ROS nodes, ROS message, ROS themes, ROS services and ROS Message Records
The bag generation ROS calculates figure.
In the application one embodiment, the communication mode determining unit, including：
First judgment sub-unit, for according to the characteristics of the information interaction of the corresponding functional module of ROS nodes, judging
Whether the mode of transmission information is one-to-many between ROS nodes；
Node determination subelement, for when the mode of transmission information between ROS nodes is one-to-many, determining that ROS is issued
Node and multiple ROS receiving nodes；
Message subject sets up subelement, for setting up message subject corresponding with the ROS publisher nodes；
Subelement is issued, is disappeared for controlling the ROS publisher nodes to regularly publish the broadcast related to the message subject
Breath；
Subelement is subscribed to, for controlling the ROS receiving nodes when being broadcast the message described in demand, from disappearing for the foundation
The broadcast message is subscribed in breath theme.
In the application one embodiment, the communication mode determining unit, including：
Second judgment sub-unit, judges the characteristics of for according to ROS nodes to the information interaction of right functional module
Whether the mode of transmission information is point-to-point between ROS nodes；
Node is to determination subelement, for that when the mode of transmission information between ROS nodes is point-to-point, will carry out point pair
Two ROS nodes of point transmission information determine ROS nodes pair, and described one ROS node of ROS nodes centering is that message initiates section
Point, another ROS nodes are message recipient node；
First sets up subelement, for being set up in the message recipient node with the ROS nodes to corresponding first
Call back function；
Information request transmission sub-unit, for when needing to carry out point-to-point transmission information, the message initiate node to
The message recipient node sends information request；
First calls subelement, for when the message recipient node receives information request, the message sink section
Point calls first call back function；
First message transmission sub-unit, for being replied message when first call back function according to described information request generation
When, described reply message is sent to the message initiation node by the message recipient node.
In the application one embodiment, the communication mode determining unit, including：
3rd judgment sub-unit, judges the characteristics of for according to ROS nodes to the information interaction of right functional module
Whether tasks synchronization is needed between ROS nodes；
Synchronization node determination subelement, for when needing tasks synchronization between ROS nodes, it is determined that synchronous initiate ROS sections
Point and at least one synchronization receive ROS nodes；
Second sets up subelement, for being set up in the synchronous receiving node second time corresponding with the tasks synchronization
Letter of transfer number；
Second calls subelement, for receiving the synchronous initiation ROS nodes transmission when the synchronous ROS nodes that receive
Synchronization request when, the synchronous ROS nodes that receive call second call back function；
Second transmission sub-unit, for when second call back function according to the synchronization request generation reply message when,
Described reply message is sent to the synchronous initiation ROS nodes by the synchronous ROS nodes that receive.
For convenience of description, it is divided into various units during description apparatus above with function to describe respectively.Certainly, this is being implemented
The function of each unit can be realized in same or multiple softwares and/or hardware during application.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.Especially for device or
For system embodiment, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to method
The part explanation of embodiment.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit that separating component illustrates can be or may not be it is physically separate, the part shown as unit can be or
Person may not be physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Can root
Some or all of module therein is factually selected to realize the purpose of this embodiment scheme the need for border.Ordinary skill
Personnel are without creative efforts, you can to understand and implement.
Herein, only emphasis describes difference with other schemes to each preferred scheme, as long as each preferred scheme
Do not conflict, can be combined, the embodiment formed after combination is also within category disclosed in this specification, it is contemplated that
Text is succinct, herein with regard to no longer individually being described to combining formed embodiment.
It is understood that the application can be used in numerous general or special purpose computing system environments or configuration.For example：It is individual
People's computer, server computer, handheld device or portable set, laptop device, multicomputer system, based on microprocessor
The system of device, set top box, programmable consumer-elcetronics devices, network PC, minicom, mainframe computer including to take up an official post
DCE of what system or equipment etc..
The application can be described in the general context of computer executable instructions, such as program
Module.Usually, program module includes performing particular task or realizes routine, program, object, the group of particular abstract data type
Part, data structure etc..The application can also be put into practice in a distributed computing environment, in these DCEs, by
Remote processing devices connected by communication network perform task.In a distributed computing environment, program module can be with
Positioned at including in the local and remote computer-readable storage medium including storage device.
It should be noted that herein, the relational terms of such as " first " and " second " or the like are used merely to one
Individual entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operate it
Between there is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Cover including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include those
Key element, but also other key elements including being not expressly set out, or also include for this process, method, article or set
Standby intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in the process including the key element, method, article or equipment.
Described above is only the embodiment of the application, is made skilled artisans appreciate that or realizing this Shen
Please.A variety of modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can in other embodiments be realized in the case where not departing from spirit herein or scope.Therefore, the application
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. a kind of apparatus control method, it is characterised in that including：
Obtain the information flow between all functional modules and functional module in micro-nano satellite；
It is determined that robot operating system ROS nodes corresponding with each functional module；
Figure is calculated according to described information stream and all ROS nodes generation ROS, the ROS calculating figure includes：ROS nodes, ROS
Message, ROS message subjects, ROS services and ROS Message Record bags；
The communication mode between ROS nodes is determined according to the characteristics of the information interaction of the corresponding functional module of ROS nodes, it is described
Communication mode includes：Message mode and method of service；
Generation and each ROS nodes individually corresponding operating file, and control the corresponding operating file of different ROS nodes
Operation；
The communication information between record ROS nodes operation information operationally and ROS is used as log information.
2. according to the method described in claim 1, it is characterised in that described to be generated according to described information stream and all ROS nodes
ROS calculates figure, including：
The communication information between different ROS nodes is obtained according to described information stream；
ROS message, ROS services, ROS message subjects and the ROS message note between ROS nodes are determined according to the communication information
Record bag；
The ROS meters are generated according to the ROS nodes, ROS message, ROS message subjects, ROS services and ROS Message Records bag
Nomogram.
3. according to the method described in claim 1, it is characterised in that it is described according to ROS nodes between right functional module
The characteristics of information exchange, determines the communication mode between ROS nodes, including：
According to the characteristics of the information interaction of the corresponding functional module of ROS nodes, the mode of transmission information between ROS nodes is judged
Whether it is one-to-many；
When the mode of transmission information between ROS nodes is one-to-many, ROS publisher nodes and multiple ROS receiving nodes are determined；
Set up message subject corresponding with the ROS publisher nodes；
The ROS publisher nodes are controlled to regularly publish the broadcast message related to the message subject；
The ROS receiving nodes are controlled when being broadcast the message described in demand, subscribe to described wide from the message subject of the foundation
Broadcast message.
4. according to the method described in claim 1, it is characterised in that it is described according to ROS nodes between right functional module
The characteristics of information exchange, determines the communication mode between ROS nodes, including：
The characteristics of according to ROS nodes to the information interaction of right functional module, judge the side of transmission information between ROS nodes
Whether formula is point-to-point；
It is when the mode of transmission information between ROS nodes is point-to-point, two ROS nodes for carrying out point-to-point transmission information are true
Determine ROS nodes pair, described one ROS node of ROS nodes centering is that message initiates node, and another ROS nodes are message sink section
Point；
Set up in the message recipient node with the ROS nodes to corresponding first call back function；
When needing to carry out point-to-point transmission information, the message initiates node please to message recipient node transmission information
Ask；When the message recipient node receives information request, the message recipient node calls first call back function, when
When first call back function is replied message according to described information request generation, the message recipient node is replied message described
It is sent to the message and initiates node.
5. according to the method described in claim 1, it is characterised in that it is described according to ROS nodes between right functional module
The characteristics of information exchange, determines the communication mode between ROS nodes, including：
The characteristics of according to ROS nodes to the information interaction of right functional module, judge whether need task between ROS nodes
It is synchronous；
When needing tasks synchronization between ROS nodes, it is determined that synchronous initiate ROS nodes and at least one synchronization reception ROS node；
The second call back function corresponding with the tasks synchronization is set up in the synchronous receiving node；
When the synchronous reception ROS nodes receive the synchronization request that the synchronous initiation ROS nodes are sent, the synchronization connects
Receive ROS nodes and call second call back function, when second call back function is replied message according to synchronization request generation
When, described reply message is sent to the synchronous initiation ROS nodes by the synchronous ROS nodes that receive.
6. a kind of plant control unit, it is characterised in that including：
Acquiring unit, for obtaining the information flow in micro-nano satellite between all functional modules and functional module；
Node determining unit, for determining robot operating system ROS nodes corresponding with each functional module；
Figure generation unit is calculated, for calculating and scheming according to described information stream and all ROS nodes generation ROS, the ROS calculates figure
Include：ROS nodes, ROS message, ROS message subjects, ROS services and ROS Message Record bags；
Communication mode determining unit, for determining that ROS is saved according to the characteristics of the information interaction of the corresponding functional module of ROS nodes
Communication mode between point, the communication mode includes：Message mode and method of service；
File generating unit, for generating and each ROS nodes individually corresponding operating file；
Running paper unit, for controlling the corresponding operating file operation of different ROS nodes；
Recording unit, believes for recording the communication information between ROS nodes operation information operationally and ROS as daily record
Breath.
7. device according to claim 6, it is characterised in that the calculating figure generation unit, including：
The communication information obtains subelement, for obtaining the communication information between different ROS nodes according to described information stream；
Information determination subelement, for determining that the ROS message between ROS nodes, ROS services, ROS disappear according to the communication information
Cease theme and ROS Message Record bags；
Subelement is generated, for according to the ROS nodes, ROS message, ROS message subjects, ROS services and ROS Message Records
The bag generation ROS calculates figure.
8. device according to claim 6, it is characterised in that the communication mode determining unit, including：
First judgment sub-unit, for according to the characteristics of the information interaction of the corresponding functional module of ROS nodes, judging that ROS is saved
Whether the mode of transmission information is one-to-many between point；
Node determination subelement, for when the mode of transmission information between ROS nodes is one-to-many, determining ROS publisher nodes
With multiple ROS receiving nodes；
Message subject sets up subelement, for setting up message subject corresponding with the ROS publisher nodes；
Subelement is issued, for controlling the ROS publisher nodes to regularly publish the broadcast message related to the message subject；
Subelement is subscribed to, for controlling the ROS receiving nodes when being broadcast the message described in demand, from the message master of the foundation
The broadcast message is subscribed in topic.
9. device according to claim 6, it is characterised in that the communication mode determining unit, including：
Second judgment sub-unit, judges that ROS is saved the characteristics of for according to ROS nodes to the information interaction of right functional module
Whether the mode of transmission information is point-to-point between point；
Node is to determination subelement, for that when the mode of transmission information between ROS nodes is point-to-point, will carry out point-to-point biography
Two ROS nodes for passing information determine ROS nodes pair, and described one ROS node of ROS nodes centering is that message initiates node, separately
One ROS nodes are message recipient node；
First sets up subelement, is adjusted back for being set up in the message recipient node with the ROS nodes to corresponding first
Function；
Information request transmission sub-unit, for when needing to carry out point-to-point transmission information, the message initiates node to described
Message recipient node sends information request；
First calls subelement, for when the message recipient node receives information request, the message recipient node to be adjusted
With first call back function；
First message transmission sub-unit, for when first call back function according to described information ask generation reply message when,
Described reply message is sent to the message initiation node by the message recipient node.
10. device according to claim 6, it is characterised in that the communication mode determining unit, including：
3rd judgment sub-unit, judges that ROS is saved the characteristics of for according to ROS nodes to the information interaction of right functional module
Whether tasks synchronization is needed between point；
Synchronization node determination subelement, for when needing tasks synchronization between ROS nodes, it is determined that it is synchronous initiate ROS nodes and
At least one synchronously receives ROS nodes；
Second sets up subelement, for setting up the second readjustment letter corresponding with the tasks synchronization in the synchronous receiving node
Number；
Second calls subelement, for receiving the same of the synchronous initiation ROS nodes transmission when the synchronous ROS nodes that receive
During step request, the synchronous ROS nodes that receive call second call back function；
Second transmission sub-unit, it is described for when second call back function is replied message according to synchronization request generation
Described reply message is sent to the synchronous initiation ROS nodes by the synchronous ROS nodes that receive.
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