CN109474476B - Wireless sensor network fault recovery system based on minimum spanning tree - Google Patents
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Abstract
The invention belongs to the technical field of wireless sensors, and particularly relates to a wireless sensor network fault recovery system based on a minimum spanning tree. Firstly, judging whether the network connectivity can be damaged or not by adopting a depth-based priority algorithm; secondly, constructing a minimum spanning tree based on the movement cost, and realizing the selection of the optimal neighbor node of the fault node; on the basis, the best neighbor node is moved to the fault node through a cascade moving algorithm, and the node of the minimum spanning tree is selected to carry out the next cascade moving. By adopting the fault recovery method based on the minimum spanning tree, the one-way distance of the node movement and the total distance of the mobile node can be effectively reduced, thereby saving the time for recovering the network connectivity and effectively ensuring the network security.
Description
Technical Field
The invention belongs to the technical field of wireless sensors, and particularly relates to a wireless sensor network fault recovery system based on a minimum spanning tree.
Background
The wireless sensor network is a wireless communication network formed by a large number of sensor nodes in a self-organizing manner, and aims to cooperatively sense, collect and process information of a sensing object in a network coverage area and process the information, so that users needing the information can obtain a large amount of detailed and reliable information. The probability of a node failure is relatively high due to operation in harsh environments, such as in a battlefield, fire, etc. And the network with the fault should be recovered in time to ensure the normal communication quality. The fault recovery technology of a single node is a method for replacing a fault node based on a neighbor node, and the method comprises the following steps: s1, constructing a strong connected set CDS for the whole network, and broadcasting the set to all nodes; s2, judging whether the failure node causes the damage of network connectivity according to the CDS; s3, selecting a leaf node closest to the fault node or a node which is in a strong connected set and has a neighbor node of the nearest leaf for replacement; there are also techniques for taking measures at the faulty node itself: 1. a server is arranged at a network monitoring end, and after the server is started, a monitoring process is started to monitor fault alarm information; 2. after the node is started, sending a starting message to a server; 3. the server side maintains a node information table according to the starting message sent by the node; 4. and the node judges whether the node has a fault or not, judges the fault level if the node has the fault, and performs corresponding processing according to the fault level. However, the performance indexes of the nodes are not comprehensively considered in the traditional single-node fault recovery method or the algorithm for selecting the replacement nodes.
The sensor node has self energy limitation, and is not suitable to move for a long distance in the fault recovery process. Therefore, the selection strategy of the neighbor node of the failed node is particularly important. But at present, no mature technical scheme for effectively solving the problem that the network connectivity is damaged due to the sending failure of a single node exists.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: when a wireless sensor network node has a fault problem, under the condition that the node energy is limited, how to select a proper neighbor node to replace the fault node.
(II) technical scheme
In order to solve the problems of the prior art, the invention provides a wireless sensor network fault recovery system based on a minimum spanning tree, which comprises: the device comprises a network connectivity judgment module and a fault recovery implementation module;
the network connectivity judgment module is used for judging whether to trigger fault recovery or not based on network connectivity, and after a node fault is generated, judging whether the connectivity of the current network is damaged or not, and then triggering fault recovery according to a judgment result;
the failure recovery implementation module is used for implementing failure recovery based on a minimum spanning tree, and appoints a neighbor node with failure to move to the position of the failed node so as to achieve the purpose of recovering network connectivity in order to solve the problem of network connectivity caused by node failure.
Wherein, the network connectivity judgment module comprises: a network connectivity judgment unit and a failure recovery triggering unit;
the network connectivity judging unit is used for judging network connectivity based on a depth-first algorithm, selects a certain neighbor node of a fault node as a root node, sequentially traverses and searches neighbor nodes of the root node, and continues to perform depth search if the traversal process encounters nodes which are not traversed; and when all the neighbor nodes of a certain node are traversed, returning to the parent node of the node for deep searching again. In the traversal process, if the traversed node set is equal to the neighbor node set of the fault node, stopping the depth search, otherwise, traversing the depth to all the nodes which can be reached from the source node; after the search is finished, when all neighbor nodes of the fault node can be traversed, the network connectivity is considered not to be damaged;
the failure recovery triggering unit is used for triggering failure recovery according to network connectivity and determining whether to trigger failure recovery according to the judgment result of whether the network connectivity of the unit is damaged; if the failure of the current node does not cause the problem of network connectivity destruction, failure recovery is not adopted, otherwise, failure recovery is triggered.
Wherein the failure recovery enforcement module comprises: the system comprises a minimum spanning tree construction unit, an optimal substitute neighbor node selection unit and a fault node replacement unit;
the minimum spanning tree construction unit is used for calculating the movement cost of the adjacent nodes, constructing a minimum spanning tree according to the movement cost of the adjacent nodes, and the minimum movement cost path from each node to other nodes is included in the minimum spanning tree;
the optimal substitute neighbor node selection unit is used for selecting the optimal substitute neighbor node of each node through a minimum spanning tree;
in order to avoid connectivity damage to the network caused by the movement of the neighboring node, the failure node replacement unit is configured to perform a failure node replacement process by using a cascading movement method.
Wherein the minimum spanning tree construction unit calculates the moving cost among the nodes as follows:
the method comprises the steps of firstly setting parameter factors of three indexes of node energy, distance between adjacent nodes and node degree, then calculating products of each index and the parameter factors, and finally summing the products to calculate the movement cost between the nodes.
Wherein the minimum spanning tree construction unit constructs a minimum spanning tree based on the mobile cost as follows:
and taking the node moving cost as a weight edge between adjacent nodes, initializing the minimum spanning tree into an empty set, adding a weight edge to the current minimum spanning tree subset, continuing to perform adding operation if the minimum spanning tree subset is still the minimum spanning tree subset, and stopping the adding operation if the minimum spanning tree subset is not the minimum spanning tree subset.
The optimal substitute neighbor node selection unit selects neighbor nodes based on the minimum spanning tree as follows:
broadcasting the minimum spanning tree information to all nodes in the network by adopting a flooding method, wherein each node can obtain the best substitute neighbor node of the node; when a certain node on the spanning tree moves, selecting a neighbor node on the path with the minimum movement cost on the spanning tree for replacement; the selection of the neighbor node is automatically carried out according to the minimum spanning tree each time, and the aim of quick selection is fulfilled.
Wherein, the fault node replacement unit adopts a cascade moving method to carry out the fault node replacement process as follows:
when a node starts to move, a message is sent to the best substitute neighbor node of the node, then the node moves to the destination position, and the neighbor node receiving the message also carries out the same operation before moving until all nodes on the path with the minimum moving cost finish the moving process.
(III) advantageous effects
In the application background of the wireless sensor network node failure, the invention is based on solving the problem of network connectivity, aiming at the condition of node failure, firstly, the network is deeply searched to judge whether the connectivity is damaged or not, and then whether a failure recovery strategy is carried out or not is determined, then, a minimum spanning tree is built based on the movement cost of the node to select a neighbor node for replacing the failed node, and finally, the neighbor node is moved to the failed node according to the cascade movement theory to replace the failed node so as to recover the network failure. The invention simplifies the complexity of the fault recovery strategy, shortens the average distance of node movement and ensures that the network system can quickly recover the connectivity.
Drawings
Fig. 1 is a schematic diagram of a network based on mobility cost.
Fig. 2 is a schematic diagram of the technical scheme of the invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
In order to solve the problems of the prior art, the invention provides a wireless sensor network fault recovery system based on a minimum spanning tree, which comprises: the device comprises a network connectivity judgment module and a fault recovery implementation module;
the network connectivity judgment module is used for judging whether to trigger fault recovery or not based on network connectivity, and after a node fault is generated, judging whether the connectivity of the current network is damaged or not, and then triggering fault recovery according to a judgment result;
the failure recovery implementation module is used for implementing failure recovery based on a minimum spanning tree, and appoints a neighbor node with failure to move to the position of the failed node so as to achieve the purpose of recovering network connectivity in order to solve the problem of network connectivity caused by node failure.
Wherein, the network connectivity judgment module comprises: a network connectivity judgment unit and a failure recovery triggering unit;
the network connectivity judging unit is used for judging network connectivity based on a depth-first algorithm, selects a certain neighbor node of a fault node as a root node, sequentially traverses and searches neighbor nodes of the root node, and continues to perform depth search if the traversal process encounters nodes which are not traversed; and when all the neighbor nodes of a certain node are traversed, returning to the parent node of the node for deep searching again. In the traversal process, if the traversed node set is equal to the neighbor node set of the fault node, stopping the depth search, otherwise, traversing the depth to all the nodes which can be reached from the source node; after the search is finished, when all neighbor nodes of the fault node can be traversed, the network connectivity is considered not to be damaged;
the failure recovery triggering unit is used for triggering failure recovery according to network connectivity and determining whether to trigger failure recovery according to the judgment result of whether the network connectivity of the unit is damaged; if the failure of the current node does not cause the problem of network connectivity destruction, failure recovery is not adopted, otherwise, failure recovery is triggered.
Wherein the failure recovery enforcement module comprises: the system comprises a minimum spanning tree construction unit, an optimal substitute neighbor node selection unit and a fault node replacement unit;
the minimum spanning tree construction unit is used for calculating the movement cost of the adjacent nodes, constructing a minimum spanning tree according to the movement cost of the adjacent nodes, and the minimum movement cost path from each node to other nodes is included in the minimum spanning tree;
the optimal substitute neighbor node selection unit is used for selecting the optimal substitute neighbor node of each node through a minimum spanning tree;
in order to avoid connectivity damage to the network caused by the movement of the neighboring node, the failure node replacement unit is configured to perform a failure node replacement process by using a cascading movement method.
Wherein the minimum spanning tree construction unit calculates the moving cost among the nodes as follows:
the method comprises the steps of firstly setting parameter factors of three indexes of node energy, distance between adjacent nodes and node degree, then calculating products of each index and the parameter factors, and finally summing the products to calculate the movement cost between the nodes.
Wherein the minimum spanning tree construction unit constructs a minimum spanning tree based on the mobile cost as follows:
and taking the node moving cost as a weight edge between adjacent nodes, initializing the minimum spanning tree into an empty set, adding a weight edge to the current minimum spanning tree subset, continuing to perform adding operation if the minimum spanning tree subset is still the minimum spanning tree subset, and stopping the adding operation if the minimum spanning tree subset is not the minimum spanning tree subset.
The optimal substitute neighbor node selection unit selects neighbor nodes based on the minimum spanning tree as follows:
broadcasting the minimum spanning tree information to all nodes in the network by adopting a flooding method, wherein each node can obtain the best substitute neighbor node of the node; when a certain node on the spanning tree moves, selecting a neighbor node on the path with the minimum movement cost on the spanning tree for replacement; the selection of the neighbor node is automatically carried out according to the minimum spanning tree each time, and the aim of quick selection is fulfilled.
Wherein, the fault node replacement unit adopts a cascade moving method to carry out the fault node replacement process as follows:
when a node starts to move, a message is sent to the best substitute neighbor node of the node, then the node moves to the destination position, and the neighbor node receiving the message also carries out the same operation before moving until all nodes on the path with the minimum moving cost finish the moving process.
In addition, the present invention further provides a method for recovering a wireless sensor network failure based on a minimum spanning tree, as shown in fig. 2, the method includes:
step 1: judging whether to trigger fault recovery or not based on network connectivity;
after the node failure is generated, judging whether the connectivity of the current network is damaged or not, and triggering failure recovery according to the judgment result;
step 2: performing fault recovery based on the minimum spanning tree;
in order to solve the problem of network connectivity caused by node failure, a neighbor node of the failure is appointed to move to the position of the failure node, so that the purpose of restoring the network connectivity is achieved.
Wherein, the step 1 comprises:
step 11: judging network connectivity based on a depth-first algorithm;
selecting a certain neighbor node of the fault node as a root node, sequentially traversing and searching neighbor nodes of the root node, and if the traversal process encounters nodes which are not traversed, continuing to perform depth search; and when all the neighbor nodes of a certain node are traversed, returning to the parent node of the node for deep searching again. In the traversal process, if the traversed node set is equal to the neighbor node set of the fault node, stopping the depth search, otherwise, traversing the depth to all the nodes which can be reached from the source node; after the search is finished, when all neighbor nodes of the fault node can be traversed, the network connectivity is considered not to be damaged;
step 12: triggering fault recovery according to network connectivity;
judging whether the connectivity of the network is damaged according to a depth-first algorithm, and determining whether to trigger fault recovery; if the failure of the current node does not cause the problem of network connectivity destruction, failure recovery is not adopted, otherwise, failure recovery is triggered.
Wherein the step 2 comprises:
step 21: calculating the movement cost of adjacent nodes, and constructing a minimum spanning tree according to the movement cost of the adjacent nodes, wherein the minimum movement cost path from each node to other nodes is included in the spanning tree;
step 22: selecting the optimal substitute neighbor node of each node through the minimum spanning tree;
step 23: in order to avoid the situation that the network is damaged by the movement of the neighbor node, a cascade movement method is adopted to carry out a fault node replacement process.
Wherein, the moving cost between the computing nodes in the step 21 is:
the method comprises the steps of firstly setting parameter factors of three indexes of node energy, distance between adjacent nodes and node degree, then calculating products of each index and the parameter factors, and finally summing the products to calculate the movement cost between the nodes.
Wherein, the step 21 of constructing the minimum spanning tree based on the moving cost is as follows:
and taking the node moving cost as a weight edge between adjacent nodes, initializing the minimum spanning tree into an empty set, adding a weight edge to the current minimum spanning tree subset, continuing to perform adding operation if the minimum spanning tree subset is still the minimum spanning tree subset, and stopping the adding operation if the minimum spanning tree subset is not the minimum spanning tree subset.
In step 22, selecting neighbor nodes based on the minimum spanning tree is:
broadcasting the minimum spanning tree information to all nodes in the network by adopting a flooding method, wherein each node can obtain the best substitute neighbor node of the node; when a certain node on the spanning tree moves, selecting a neighbor node on the path with the minimum movement cost on the spanning tree for replacement; the selection of the neighbor node is automatically carried out according to the minimum spanning tree each time, and the aim of quick selection is fulfilled.
Wherein, the step 23 of performing the fault node replacement by using the cascade moving method comprises the following steps:
when a node starts to move, a message is sent to the best substitute neighbor node of the node, then the node moves to the destination position, and the neighbor node receiving the message also carries out the same operation before moving until all nodes on the path with the minimum moving cost finish the moving process.
Example 1
The embodiment provides a wireless sensor network fault recovery method based on a minimum spanning tree, which comprises the following steps:
(1) based on the network connectivity judgment with depth priority, whether the current network is connected or not can be judged according to the step, and therefore whether a recovery strategy needs to be adopted or not is determined;
(2) implementing a fault recovery strategy based on the minimum spanning tree, selecting the best neighbor node which meets the constraint condition according to the movement cost of the node in the step, and constructing the minimum spanning tree based on the movement cost; meanwhile, by utilizing the minimum spanning tree, the next moving node is quickly selected, and the neighbor node can be moved to the fault node for replacement in a cascading moving mode, so that the aim of restoring connectivity is fulfilled, the moving distance of the node is effectively reduced, and the energy of the node is saved.
Wherein, the step (1) realizes the judgment process when the network is damaged and the processing mechanism of the node fault condition.
The step (2) realizes the construction of the minimum spanning tree based on the node moving cost, selects the best neighbor node through the minimum spanning tree, and replaces the fault node with the neighbor node to realize the purpose of restoring the network connectivity.
Example 2
In order to solve the problem of network real-time connectivity recovery under the condition that a node sends a fault, the embodiment adopts a depth-first-based method to judge whether the whole network is connected or not, if not, the fault recovery is required, neighbor nodes are selected in a fault recovery strategy according to a minimum spanning tree algorithm, and finally the neighbor nodes are moved to the fault node through cascade connection to replace the fault node. After the above steps, the network recovers to the working mode under normal conditions, and on this basis, the present embodiment performs a minimum spanning tree reconstruction process based on the node cost, recalculates the node cost of the node subjected to fault recovery, and updates the minimum spanning tree. The contents of this embodiment are further described below.
1. Triggering a failover policy based on network connectivity
(1) Network connectivity judgment based on depth-first algorithm
Let a certain network G be (V, E), V representing a set of nodes and E representing a set of connecting edges between nodes. The network after the occurrence of the failure is defined as G ' ═ V ', E '. The failed node is defined as u e { v-v' }. In depth-first, the nodes are state labeled. At the beginning, each node is-1, set to 0 when found in the search, and set to 1 when finished. For each node in the network, the following expression is used: for each node u ∈ V, its state value is represented by status [ u ], and the parent node of u is represented by π [ u ]. If u has no parent node (e.g., u-s (s is the root node) or u has not been found), then pi u-NIL. The method comprises the following specific steps:
initializing all node states to be-1, and setting parent nodes to be null;
secondly, selecting a neighbor node u of the current node.
Thirdly, judging whether the u state is-1 or not, and if so, performing deep search.
Setting the state of u to be 0, searching the neighbor nodes of u, and executing the following operations for each neighbor node v:
if the state of the node v is-1, firstly storing the parent node u of v to pi [ v ], then carrying out deep search on the node v, and skipping to the step 2.
If each neighbor node of u is traversed by the depth search, setting the state of u to 1.
Sixthly, judging whether the neighbor nodes of the fault node are all 1 or not, or whether all the nodes except the fault node in the network are traversed or not. The search process is stopped if one of the terms is satisfied.
Seventhly, skipping to the step 2 by the parent node returning to the current node continues
(2) Triggering a failover policy based on network connectivity
If each neighbor node of the fault node can be traversed in the deep search, the network connectivity is not damaged, and a recovery strategy is not required to be triggered. Otherwise, the following steps are required to be continued.
2. Implementing a fault recovery policy based on a minimum spanning tree
(1) Calculating mobility costs between nodes
And if the fault recovery strategy is determined to be executed through the judgment process of the network connectivity, selecting the neighbor node of the fault node. The embodiment designs a selection method for generating the minimum spanning tree according to the movement cost between the nodes. The energy level of the node is divided into 3 stages: low, medium, high, the higher the energy the higher the probability of being chosen. The number of factors given to the 3 energy levels is N1, N2, and N3, where N1 is 100, N2 is 10, and N3 is 1. Meanwhile, the distance between nodes and the degree of the node (referring to the number of edges connected to the neighboring nodes) are also considered in this embodiment. Too long a distance may affect the energy consumption and the life cycle of the node, as well as the time to recover the policy. The larger the degree of the node is, the larger the scale of the cascade movement is, and the total distance of the node movement as a whole is influenced. Therefore, in this embodiment, the number of factors of the node distance is set to be a, the fixed coefficient of a is 0.1, and the fixed coefficient of the node degree is set to be 0.2 (the coefficient values of a and b can be adjusted according to actual conditions). The moving cost formula of the nodes A and B is calculated as follows:
cost(AB)＝NAi+NBi+a*L+b*(DA+DB)
wherein Ni is the energy level of the current node, i belongs to {1,2,3}, L is the distance between the node A and the node B, and D is the degree of the node. By analogy, the moving cost of each pair of adjacent nodes can be calculated.
(2) Building minimum spanning tree based on mobile cost
Establishing a minimum spanning tree by taking the movement cost between nodes as a weight edge, and specifically comprising the following steps:
step 1: before each iteration of the loop, M is a subset of some minimum spanning tree.
Step 2: in each cycle, determining a weight edge (u, v) so that the whole cycle invariance is not violated after adding the weight edge into the set M; that is, M { (u, v) } is still a subset of some minimum spanning tree. Such an edge is referred to as the safe edge (safe edge) of M because it can be safely added to M without breaking the loop invariant described above.
Through the formation of the minimum spanning tree, the optimal replacement neighbor node of each node can be quickly found, and a large amount of time is saved for the following cascade movement.
(3) Fault node replacement based on cascading mobility
When the best neighbor node (BN) moves to the designated position of the fault node, whether the best neighbor node has the neighbor node or not is detected. If so, a moving message needs to be sent to the neighbor node on the minimum spanning tree, and finally, the movement is started to the position of the fault node. After receiving the information, the neighbor node also sends the information to the neighbor node on the minimum spanning tree before moving to the position of the BN, and the process is repeated. When the BN node reaches the destination, a stop message is sent to all nodes on the path, informing the stop of the mobility procedure.
Assuming that the communication radius of a node is r, the formula for cascading moves can be summarized as follows:
where V represents the set of nodes that need to participate in the movement and Li represents the total distance in the course of the movement of node i.
By utilizing the technical scheme and adopting the operation steps, the method can solve the problem of connectivity damage of the wireless sensor network caused by node faults, and the method is verified by an algorithm and verified by a simulation experiment. The result shows that the scheme can well solve the problem of replacing the fault node, effectively shorten the moving distance of the node and ensure the safety of the whole network.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A minimum spanning tree based wireless sensor network failure recovery system, the system comprising: the device comprises a network connectivity judgment module and a fault recovery implementation module;
the network connectivity judgment module is used for judging whether to trigger fault recovery or not based on network connectivity, and after a node fault is generated, judging whether the connectivity of the current network is damaged or not, and then triggering fault recovery according to a judgment result;
the fault recovery implementation module is used for implementing fault recovery based on a minimum spanning tree, and appoints a neighbor node with a fault to move to a fault node position so as to achieve the purpose of recovering network connectivity in order to solve the problem of network connectivity caused by node fault;
the failure recovery enforcement module includes: the system comprises a minimum spanning tree construction unit, an optimal substitute neighbor node selection unit and a fault node replacement unit;
the minimum spanning tree construction unit is used for calculating the movement cost of the adjacent nodes, constructing a minimum spanning tree according to the movement cost of the adjacent nodes, and the minimum movement cost path from each node to other nodes is included in the minimum spanning tree;
the optimal substitute neighbor node selection unit is used for selecting the optimal substitute neighbor node of each node through a minimum spanning tree;
in order to avoid connectivity damage to the network caused by the movement of the neighbor node, the fault node replacement unit is used for performing a fault node replacement process by adopting a cascade movement method;
the optimal substitute neighbor node selection unit selects neighbor nodes based on the minimum spanning tree as follows:
broadcasting the minimum spanning tree information to all nodes in the network by adopting a flooding method, wherein each node can obtain the best substitute neighbor node of the node; when a certain node on the spanning tree moves, selecting a neighbor node on the path with the minimum movement cost on the spanning tree for replacement; the selection of the neighbor node is automatically carried out according to the minimum spanning tree each time, and the aim of quick selection is fulfilled.
2. The minimum spanning tree based wireless sensor network failure recovery system of claim 1 wherein the minimum spanning tree construction unit calculates the cost of movement between nodes as:
the method comprises the steps of firstly setting parameter factors of three indexes of node energy, distance between adjacent nodes and node degree, then calculating products of each index and the parameter factors, and finally summing the products to calculate the movement cost between the nodes.
3. The minimum spanning tree based wireless sensor network failure recovery system according to claim 2, wherein the minimum spanning tree construction unit constructs the minimum spanning tree based on the mobile cost as follows:
and taking the node moving cost as a weight edge between adjacent nodes, initializing the minimum spanning tree into an empty set, adding a weight edge to the current minimum spanning tree subset, continuing to perform adding operation if the minimum spanning tree subset is still the minimum spanning tree subset, and stopping the adding operation if the minimum spanning tree subset is not the minimum spanning tree subset.
4. The system for recovering the wireless sensor network fault based on the minimum spanning tree as claimed in claim 3, wherein the fault node replacing unit performs the fault node replacing process by adopting a cascading moving method as follows:
when a node starts to move, a message is sent to the best substitute neighbor node of the node, then the node moves to the destination position, and the neighbor node receiving the message also carries out the same operation before moving until all nodes on the path with the minimum moving cost finish the moving process.
5. The minimum spanning tree based wireless sensor network failure recovery system of claim 1, wherein the network connectivity determination module comprises: a network connectivity judgment unit and a failure recovery triggering unit;
the network connectivity judging unit is used for judging network connectivity based on a depth-first algorithm, selects a certain neighbor node of a fault node as a root node, sequentially traverses and searches neighbor nodes of the root node, and continues to perform depth search if the traversal process encounters nodes which are not traversed; when all neighbor nodes of a certain node are traversed, returning to a father node of the node for deep search again; in the traversal process, if the traversed node set is equal to the neighbor node set of the fault node, stopping the depth search, otherwise, traversing the depth to all the nodes which can be reached from the source node; after the search is finished, when all neighbor nodes of the fault node can be traversed, the network connectivity is considered not to be damaged;
the failure recovery triggering unit is used for triggering failure recovery according to network connectivity and determining whether to trigger failure recovery according to the judgment result of whether the network connectivity of the unit is damaged; if the failure of the current node does not cause the problem of network connectivity destruction, failure recovery is not adopted, otherwise, failure recovery is triggered.
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