CN109760044A - A kind of data processing method and device - Google Patents
A kind of data processing method and device Download PDFInfo
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- CN109760044A CN109760044A CN201811605059.8A CN201811605059A CN109760044A CN 109760044 A CN109760044 A CN 109760044A CN 201811605059 A CN201811605059 A CN 201811605059A CN 109760044 A CN109760044 A CN 109760044A
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Abstract
The embodiment of the present invention provides a kind of data processing method and device, is related to data processing field.The embodiment of the present invention can efficiently complete the relevant treatment to robot control program's file.This method comprises: obtaining data processing request；Data processing request is used to indicate and carries out predetermined registration operation to the target control instruction in target program subfile；From the content-data BOB(beginning of block) for storing first control instruction in target program subfile, according to the first pointer information stored in content-data block, the latter content-data block is successively accessed, until finding the object content data block for storing target control instruction；After finding object content data block, predetermined registration operation is executed.The present invention is applied to robot control program's file process.
Description
Technical field
The present invention relates to data processing field more particularly to a kind of data processing method and devices.
Background technique
Currently, starting with robot manipulating task substitution manual work in more and more fields to improve production efficiency.?
Store robot control program's file when, most basic mode be by every control instruction in robot control program's file by
Sequence be sequentially stored in memory space, robot operation when then in order successively execute memory space in control instruction with
Robot is set to complete corresponding operating.Corresponding to the storage mode of this robot control program's file, the later period to control program into
In the presence of very more inconvenience when row respective handling.For example, when needing to inquire the instruction of a certain specified control, firstly, comparing one by one
The each character of memory space finds newline；Secondly, comparing whether this row instruction is to want inquiry instruction, if it is searched
Journey terminates, and if not then continuing to search next newline, and carries out dos command line DOS comparison, searches want until finding line by line in this way
Inquiry instruction.For another example when being inserted into or deleting a certain control instruction, it is also necessary to it is to be inserted to move to consume a large amount of cpu resources
Enter or delete position after all control instructions.
Therefore, it is badly in need of a kind of method that can efficiently complete to carry out data processing to robot control program's file at present.
Summary of the invention
The present invention provides a kind of data processing method and device, can efficiently complete the phase to robot control program's file
Pass processing.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
In a first aspect, the embodiment of the present invention provides a kind of data processing method, this method is applied to the robot to storage
Control program file is handled, and includes target program subfile in robot control program's file；This method comprises: obtaining number
It is requested according to processing；Data processing request is used to indicate and carries out predetermined registration operation to the target control instruction in target program subfile；
It wherein, include n control instruction in target program subfile；N control instruction is stored in line by line respectively in n with behavior unit
Hold in data block, if certain instruction character can not store too much in a content-data block, expansion of content data block can be used
Store remaining instruction character；The first pointer information is also stored in n content-data block respectively, the first pointer information is used to indicate
The storage location of the content-data block adjacent with current content data block；From for storing first in target program subfile
The content-data BOB(beginning of block) of control instruction successively accesses in the latter according to the first pointer information stored in content-data block
Hold data block, until finding the object content data block for storing target control instruction；After finding object content data block,
Execute predetermined registration operation.
Second aspect, the embodiment of the present invention provide a kind of data processing equipment, which is used for storage
Robot control program's file is handled, and includes target program subfile in robot control program's file；The data processing
Device includes: acquiring unit, for obtaining data processing request；Data processing request is used to indicate to target program subfile
In target control instruction carry out predetermined registration operation；It wherein, include n control instruction in target program subfile；N control instruction
It is stored in line by line in n content-data block respectively with behavior unit；The first pointer letter is also stored in n content-data block respectively
Breath, the first pointer information are used to indicate the storage location of the content-data block adjacent with current content data block；First cargo tracer
Member, for from the content-data BOB(beginning of block) for storing first control instruction in target program subfile, according to content number
According to the first pointer information stored in block, the latter content-data block is successively accessed, is referred to until finding for storing target control
The object content data block of order；Processing unit, for executing predetermined registration operation after finding object content data block.
The third aspect, the embodiment of the present invention provide a kind of data processing equipment, comprising: processor, memory, bus and logical
Believe interface；For storing computer executed instructions, processor is connect with memory by bus memory, works as data processing equipment
When operation, processor executes the computer executed instructions of memory storage, so that data processing equipment executes such as above-mentioned first party
Data processing method provided by face.
Fourth aspect, the embodiment of the present invention provide a kind of computer storage medium, including instruction, when it is filled in data processing
When setting operation, so that data processing equipment executes the data processing method as provided by above-mentioned first aspect.
In the embodiment of the present invention, by the way that every control instruction in target program subfile is respectively stored in respective
Hold in data block, and is also stored in each content-data block and indicates depositing for the content-data block adjacent with the content-data block
The mode that storage space is set, and then when needing to instruct progress predetermined registration operation to target control, it is only necessary to from storage target program Ziwen
The content-data BOB(beginning of block) of first control instruction in part, according to the first pointer information stored in content-data block, successively
The latter content-data block is accessed, the object content data block of storage target control instruction can be found, so as to target control
Instruction carries out predetermined registration operation.In data processing method provided by the present invention, by then passing through in a upper content-data block
The first pointer information access this mode of the latter content-data block, gradually inquire interior where target control instruction
Hold data block, therefore needs the mode for searching newline one by one in memory space no longer to position the position of target control instruction
It sets, reduces the expense of cpu resource.In addition, due to being to be believed in the present invention by the first pointer in a upper content-data block
The content-data block gradually inquired where target control instruction to access this mode of the latter content-data block is ceased, because
This is when target control instruction changes (insertion or delete target instruction), it is only necessary to object content data block and with
First pointer information of the adjacent content-data block of object content data block, which is modified, can guarantee the normal operation of program, no
It needs the memory space to entire control program to be adjusted, further improves the efficiency of data processing, reduce cpu resource
Expense.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.
Fig. 1 is a kind of storage organization schematic diagram of robot control program's file provided by the embodiment of the present invention；
Fig. 2 is a kind of flow diagram of the storage method of robot control program's file provided in an embodiment of the present invention
Picture；
Fig. 3 is a kind of structural schematic diagram of root node data block provided in an embodiment of the present invention；
Fig. 4 is a kind of not used freed data blocks branched structure schematic diagram provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of directory data block provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of directory data block branch provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of content-data block branch provided in an embodiment of the present invention；
Fig. 8 is a kind of flow diagram of data processing method provided in an embodiment of the present invention；
Fig. 9 is the flow diagram of another data processing method provided in an embodiment of the present invention；
Figure 10 is the flow diagram of another data processing method provided in an embodiment of the present invention；
Figure 11 is a kind of program runtime data block bifurcation state schematic diagram provided in an embodiment of the present invention；
Figure 12 is a kind of structural schematic diagram of data processing equipment provided in an embodiment of the present invention；
Figure 13 is the structural schematic diagram of another data processing equipment provided in an embodiment of the present invention；
Figure 14 is the structural schematic diagram of another data processing equipment provided in an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawing, the embodiment of the present invention is described.
In embodiments of the present invention, " illustrative " or " such as " etc. words for indicate make example, illustration or explanation.This
Be described as in inventive embodiments " illustrative " or " such as " any embodiment or design scheme be not necessarily to be construed as comparing
Other embodiments or design scheme more preferably or more advantage.Specifically, use " illustrative " or " such as " etc. words purport
Related notion is being presented in specific ways.In addition, unless otherwise indicated, " multiples' " contains in the description of the embodiment of the present invention
Justice refers to two or more.
Firstly, inventive principle of the invention is introduced: for robot control program's file in the prior art into
Various inconvenience present in this mode in memory space are sequentially stored in using by every control instruction when row storage.This hair
It first proposed a kind of storage format of new robot control program's file in bright embodiment.Firstly, in order to avoid to certain
One specific control instruction such as is edited, is deleted, being increased newly at the variation that may influence entirely to control program memory system when processing, this
Different control instructions is respectively stored in corresponding content-data block in storage format provided by inventive embodiments, then
Storage is used to indicate the first pointer information of the storage address of adjacent content data block in content-data block.To a certain spy
When fixed target control instruction is handled, the first command information in content-data block can use, to inquire target control
System instruction, it is no longer necessary to search each character in memory space one by one to count newline, to reduce the expense of CPU.
Further, it is contemplated that robot control program's file would generally include multiple program subfiles or can be taking human as
Multiple program subfiles are divided into, each program subfile executes a certain specific operation for controlling robot.Therefore, in this hair
In storage format provided by bright embodiment, also corresponding to the foundation of program subfile has directory data block.Wherein each catalogue number
There is the mark (specifically can be the information such as the title of program subfile) of corresponding program subfile according to record in block, be used to indicate
Second pointer information of adjacent directory data block storage location, first control for being used to indicate the corresponding program subfile of storage refer to
The third pointer information of the storage location of the content-data block of order.In turn, it is needing to instruct target control progress relevant treatment
When, it can determine that directory data block corresponds to program subfile and wrapped by the third pointer information in successively query directory data block
The storage address of the control instruction included, and determining that the corresponding program subfile of current directory data block is not meant to the program looked for
Continue to access next directory data block by the second pointer information when subfile.
It further, further include the root for being stored with the 4th pointer information in storage format provided by the embodiment of the present invention
Node data block.Wherein, the 4th pointer information is used to indicate the storage of directory data block corresponding with first program subfile
Position.So, when needing to instruct progress relevant treatment to target control, can be come true by parsing root node data block
Determine the storage location of the corresponding directory data block of first program subfile, and then continues later steps.In addition, root node data
The relevant information of freed data blocks can also be stored in block, for example, the storage of the number, freed data blocks of storage freed data blocks
The information such as address.
It below in conjunction with attached drawing, is provided for the embodiments of the invention storage format and is introduced: as shown in Fig. 1, for this
A kind of storage organization schematic diagram of robot control program's file provided by inventive embodiments.Specifically, in memory space,
Include: 1) root node data block, stores the data structure for managing entire robot control program's file, the data structure packet
Contain: file system creation time and version information, entire file system be made of how many data block, the not currently used free time
Number of data blocks, be directed toward file directory data block branch head pointer, be directed toward idle data block branch head pointer and refer to
The information such as the pointer to freed data blocks branch tail.2) branch of freed data blocks composition, the branch is by a series of not used
Idle data block chaining is formed, and the acquisition of new data block is derived from the branch, releases without data block in file system use process
The home to return to for putting back to receipts is also the branch.3) branch of directory data block composition, is linked with chained list by directory data block and is formed, respectively
Directory data block stores the data structure of program subfile, which specifically includes that file creation time, filename, text
The information such as part type, file status, the data block number of file occupancy and some indicator linkings.If filename character is too
Length can not store all characters in a directory data block, and the expansion of one or more catalogue can be created for current directory data block
Block is opened up, to store remaining filename character, with extended file name memory space, directory-extension block is with the link of chain sheet form.4)
Program instruction row is stored arrive content-data block line by line by the branch of content-data block composition, in these content-data blocks
It is stored with the pointer for being directed toward previous content-data block respectively, the pointer for being directed toward the latter content-data block, is directed toward extension content
The pointer and program instruction line text of data block, these data blocks are linked with chained list.If the text word of certain program instruction line
Symbol string is too long, can be able to not be the content-data block in all text characters of a content-data block storage program instruction line
One or more expansion of content data block is created, to store remaining program instruction line text character, is instructed with extender
Memory space, expansion of content data block is with the link of chain sheet form.Since robot program usually executes by row instruction fetch, this presses
The mode of row storage management can greatly improve the efficiency that instruction fetch, line index and row jump, to reduce program operation to system
The consumption of cpu resource meets the requirement that robot field executes high real-time and reliability to program.
Specifically, as shown in fig. 1 by means of arrows, in root node data block, by " being directed toward first freed data blocks
Pointer " can find the storage location of freed data blocks 1；Catalogue data can be found by " pointer for being directed toward directory data block "
The storage location of block 1.In addition, further including other corresponding contents in root node data block.
In directory data block, by taking directory data block k as an example, including " pointer for being directed toward previous directory data block "
The corresponding directory data block of previous program subfile for direction；" pointer for being directed toward the latter directory data block " is for referring to
To the corresponding directory data block of the latter program subfile；" pointer for being directed toward extension directory data block " is for being directed toward from the mesh
(directory data block k does not extend directory data block to the directory data block that record data block expands in attached drawing 1, can refer to mesh herein
Record data block n.It can be seen that the name character of the corresponding program subfile of directory data block n is too many, can not all store
Into directory data block n, it is therefore desirable to store remaining name character with extension directory data block, i.e., extend catalogue number in figure
According to the character content stored in block 1)；" pointer for being directed toward content-data block " is for being directed toward corresponding program of the directory data block
The content-data block that first control instruction of file is stored.
In content data block, with the content-data block of corresponding first control instruction of directory data block k, " content number
According to block (first control instruction) " for.It include " pointer for being directed toward directory data block " in the content-data block for being directed toward mesh
Data block is recorded, in addition, if content-data block is not the content-data block of first control instruction of corresponding program subfile, this
Place should be directed toward previous content-data block, as shown in " content-data block (kth control instruction) " in attached drawing 1.In addition, this is interior
Hold in data block further includes " pointer for being directed toward the latter content-data block " for being directed toward the content of next control instruction of storage
Data block.In addition, it could be seen that since the control instruction string character stored in the content-data block is more, the content number
Two growth data blocks are needed according to block to store and can not be stored in remaining control instruction string character therein.
Embodiment one:
Below in conjunction with the storage mode for robot control program's file that the embodiments of the present invention provide, the present invention is implemented
Example also provides a kind of storage method of robot control program's file.As shown in Fig. 2, this method comprises:
S101, initialization program file storage management system create the branch of root node data block and freed data blocks.
Specifically, as shown in Fig. 3, the data structure of root node data block storage is used to manage entire file system, it should
Data structure member includes: file system creation time, file system version information, the included data block number of entire file system
Mesh, the pointer for being directed toward directory data block, is directed toward freed data blocks chained list branch head at not currently used freed data blocks number
Pointer and the pointer etc. for being directed toward the ending of idle data block chained list branch.
The branch of freed data blocks, the branch are linked with doubly linked list by a series of not used freed data blocks and are formed,
New data block can be obtained from the branch to use to program file, temporary unused data block is then needed to be reinserted into the branch
For using later.It is branch's example of not used freed data blocks shown in attached drawing 4.
Before initializing robot program's file storage management system, comprehensive assessment first and analysis reality scene are needed
The robot program's subfile total quantity and each robot that middle robot program's file storage management system may need to store
The approximate length of every row instruction, then determines that robot program's file stores according to assessment and analysis result in program subfile
Individual data block size used in management system (i.e. the memory space byte number of individual data block occupancy) and entire machine
The total data block number mesh that device people's program file storage management system includes, initial phase are completed entire robot program's file and are deposited
The predistribution for storing up management system space is avoided by way of this pre-allocated space in common robot program's storage at present
Using many potential problems existing for the dynamic space method of salary distribution, time-consuming, distribution failure and distribution memory space consumption are such as distributed
Lead to system crash etc. to the greatest extent.
S102, robot control program's file is stored to robot program's file storage management system.
Firstly, it is necessary to create the corresponding directory data block of each program subfile；Secondly, need will be in program subfile
Control instruction is deposited into several content-data blocks line by line or one by one.If storing multiple program subfiles, and program
When content is more in subfile, it will create the directory data block branch being made of multiple directory data blocks and by multiple content numbers
The content-data block branch formed according to block.
The composition and relevant operation of directory data block branch and content-data block branch is explained in detail below:
Directory data block branch is formed by multiple directory data blocks, and the data structure information of directory data block storage is for convenience
The management of file, as shown in Fig. 5, primary structure member include: to be directed toward the pointer of previous directory data block (note: to work as mesh
When to record data block be the 1st directory data block, the pointer be actually pointed to for it is empty 0), be directed toward the pointer of next directory data block
(note: when directory data block is last 1 directory data block, the pointer be actually pointed to for it is empty 0), be directed toward this directory-extension catalogue
The pointer of data block, the pointer for being directed toward this directory data block corresponding content-data block branch head, file type information, file shape
State information, file include data block information, file attribute information, file creation time information and file name information.Pass through catalogue
When data block storage file information, if file name character can not store in a directory data block too much, need to extend
One or more directory data block stores remaining name character, with extended file name memory space.Illustratively, attached
In the example of Fig. 6, the filename of the 1st directory data block (i.e. directory data block 1) storage is shorter, therefore does not need extension catalogue number
According to block；But the directory data block k filename to be stored is long, therefore needs that mesh can not be put into using extension directory data block storage
The remaining filename character of block k is recorded, occupies 2 extension directory data blocks in the example to store remaining filename character；
The directory data block n last for directory data block branch occupies 1 extension directory data block to store corresponding remaining text
Part name character.
Content-data block branch is formed by multiple content-data blocks that chained list links.The data structure of content-data block is main
Include: the pointer for being directed toward previous content-data block, the pointer for being directed toward next content-data block, be directed toward the content-data block
The pointer of growth data block and the text string of control instruction.The present invention is to improve executing efficiency, line by line by the control of program
The text string of system instruction is stored to content-data block, if control instruction text string is too long, when can not be stored in a content-data block,
Extension content-data block can be used and store remaining control instruction text string character, it is empty to extend the storage of control instruction text string
Between.In the example of attached drawing 7, includes 3 control instructions in program subfile " 001-test.JOB ", use 3 content-datas
Block stores the corresponding text string of 3 control instructions, and since to correspond to text string all longer for the 1st, 2,3 control instruction.Therefore 3
Content-data block all employs 1 extension content-data block to store and can not be stored in remaining text string character therein.
After robot program's file storage management system stores robot program's subfile, logical construction such as 1 institute of attached drawing
Show, the tree being made of shaped like one several chained list branches.
Embodiment two:
The principle of storage format and storage method based on above-mentioned robot control program's file, the embodiment of the present invention mention
For a kind of data processing method.This method is applied to handle robot control program's file of storage.Such as 8 institute of attached drawing
Show, this method comprises:
S201, data processing request is obtained.
Wherein data processing request is used to indicate and carries out default behaviour to the target control instruction in target program subfile
Make.
S202, parsing root node data block determine and first according to the 4th pointer information stored in root node data block
The storage location of the corresponding directory data block of a program subfile.
Wherein, the 4th pointer information is used to indicate the storage position of directory data block corresponding with first program subfile
It sets.
Specifically, the 4th pointer letter in storage format as described above and storage method, in root node data block
Breath, specially " pointer for being directed toward directory data block ".In the specific implementation, those skilled in the art other also may be selected can be with
The information of the storage location of the corresponding directory data block of first program subfile is as the 4th pointer information in the present invention.
In addition, in some implementations, individual root node data block can not also be established, and obtain by other means
Get the storage location of directory data block corresponding with first program subfile.
S203, from catalogue data BOB(beginning of block) corresponding with first program subfile, according to what is stored in directory data block
Second pointer information successively accesses the latter directory data block, until finding target directory corresponding with target program subfile
Data block.
Wherein, when the latter directory data block is corresponding with extension directory data block, step 203 is specifically included: Cong Yu
The corresponding catalogue data BOB(beginning of block) of one program subfile, according to the second pointer information stored in directory data block, after inquiry
The storage address of one directory data block.And according to the latter directory data block and the corresponding extension of the latter directory data block
The content of directory data block judges whether the latter directory data block is the corresponding target directory data of target program subfile
Block.If it is not, then continuing the storage address of inquiry the latter directory data block again, until finding corresponding with target program subfile
Target directory data block.
The mark of target program subfile is wherein stored in target directory data block.
According to the storage format of foregoing description and storage method it is found that robot control program is literary in the embodiment of the present invention
Part may include multiple program subfiles.When robot control program's file includes at least two program subfiles, target program
It at this time further include having and at least two program Ziwens in memory space when subfile is one at least two program subfiles
One-to-one at least two directory data block of part.And by the storage format of foregoing description and storage method it is found that this extremely
Few two directory data blocks are stored with respectively: the mark of program subfile, the second pointer information and third pointer information.Wherein
Second pointer information is used to indicate the storage location of the directory data block adjacent with current directory data block, and third pointer information is used
The storage location of the content-data block of first control instruction of corresponding program subfile is stored in instruction.
Specifically, the mark of program subfile specifically includes journey in the storage format and storage method of foregoing description
File name, file type, file block number and the file attribute of sequence subfile.
S204, according to the third pointer information stored in target directory data block, determine in storage target program subfile
First control instruction content-data block storage location.
Illustratively, above method step is illustrated by taking attached drawing 1 as an example: the control instruction if desired handled is kth
Article 2 control instruction in a program subfile.Firstly, by parsing " root node data block ", according to " root node data block "
In the pointer of directory data block " be directed toward ", determine the storage location of directory data block 1.Then since directory data block 1, root
According to " pointer for being directed toward the latter directory data block " in directory data block, the storage position of the latter directory data block is successively obtained
The latter directory data block is set and accesses, until finding directory data block k corresponding with program subfile k.Then according to catalogue
" pointer for being directed toward content-data block " in data block k determines the content-data block of first control instruction in program subfile k
Storage location.
S205, from the content-data BOB(beginning of block) for storing first control instruction in target program subfile, according to
The first pointer information stored in content-data block successively accesses the latter content-data block, until finding storage target control
The object content data block of instruction.
By storage format and the storage method of foregoing description it is found that may include in target program subfile in the present invention
N control instruction；N control instruction is respectively stored in n content-data block；It is also stored with respectively in n content-data block
First pointer information, the first pointer information are used to indicate the storage location of the content-data block adjacent with current content data block.
Specifically, the program subfile includes n item control by taking the corresponding program subfile of directory data block k in attached drawing 1 as an example
System instruction.Wherein every control instruction is respectively stored in corresponding content-data block that (" (first control refers to content-data block
Enable) " ... " content-data block (kth control instruction) " ... " content-data block (nth control instruction) "), wherein each
Content-data block includes " pointer for being directed toward previous content-data block " (note: to the content-data of first control instruction of storage
Block, the pointer be oriented to it is empty 0) and " pointer for being directed toward the latter content-data block " (note: to storage the last item control instruction
Content-data block, the pointer be oriented to it is empty 0).
S206, after finding object content data block, execute predetermined registration operation.
Specifically, the predetermined registration operation in the embodiment of the present invention, may include: to read control instruction, more new control instruction, compile
Control instruction is collected, control instruction, newly-increased control instruction is deleted and executes each generic operations such as control instruction.
Specifically, predetermined registration operation includes to object content data block and the corresponding growth data block of object content data block
Predetermined registration operation.
Specifically, when data processing request is specifically used for instruction, in the adjacent position that target control instructs, insertion is inserted into control
When system instruction, step S206 specifically includes following S206a1-S206a2:
S206a1, creation are inserted into content-data block, will be inserted into control instruction and are stored in and are inserted into content-data block.
Specifically, by storage format and the storage method of foregoing description it is found that root node data in the embodiment of the present invention
The pointer for being directed toward freed data blocks is stored in block.Therefore, step S206a1 can specifically include:
1) the 5th pointer information that the storage location of freed data blocks is used to indicate in root node data block is parsed.
2) control instruction will be inserted into store into freed data blocks.
Furthermore, it is contemplated that the length for being inserted into control instruction may be greater than the memory length of a content-data block.Cause
This, the embodiment of the invention also includes: it, will be to if the memory space inadequate in freed data blocks is inserted into control instruction to store
The remainder of insertion control instruction is stored into growth data block.And the growth data block is directed toward in storage in freed data blocks
Pointer.
S206a2, update object content data block, content-data block and script and object content data block phase are inserted into
The first pointer information in adjacent content-data block.
Specifically, updating first in the data block after it will be inserted into control instruction and store into freed data blocks
Pointer information, and update in object content data block and originally the content-data block adjacent with object content data block first
Pointer information.
In addition, then step S206 is specifically included when data processing request is specifically used for instruction delete target control instruction:
1) the first pointer information in content-data block originally adjacent with object content data block is updated.
2) content in the target data block for needing to delete is removed, and establishes pointer in target data block, so that will
Target data block is inserted into freed data blocks branch.
In the embodiment of the present invention, due to object content data block be by the first pointer information in adjacent content data block come
Inquired, therefore when needing delete target control instruction, it is only necessary to by script it is adjacent with object content data block in
The first pointer information held in data block is modified, and the in the content-data block adjacent with object content data block originally is made
One pointer information can be across object content data block.
In the embodiment of the present invention, by the way that every control instruction in target program subfile is respectively stored in respective
Hold in data block, and is also stored in each content-data block and indicates depositing for the content-data block adjacent with the content-data block
The mode that storage space is set, and then when needing to instruct progress predetermined registration operation to target control, it is only necessary to from storage target program Ziwen
The content-data BOB(beginning of block) of first control instruction in part, according to the first pointer information stored in content-data block, successively
The latter content-data block is accessed, the object content data block of storage target control instruction can be found, so as to target control
Instruction carries out predetermined registration operation.In data processing method provided by the present invention, by then passing through in a upper content-data block
The first pointer information access this mode of the latter content-data block, gradually inquire interior where target control instruction
Hold data block, therefore needs the mode for searching newline one by one in memory space no longer to position the position of target control instruction
It sets, reduces the expense of cpu resource.In addition, due to being to be believed in the present invention by the first pointer in a upper content-data block
The content-data block gradually inquired where target control instruction to access this mode of the latter content-data block is ceased, because
This is when target control instruction changes and (deletes or increase), it is only necessary to object content data block and and object content
First pointer information of the adjacent content-data block of data block, which is modified, can guarantee the normal operation of program, not need to whole
The memory space of a control program is adjusted, and is further improved the efficiency of data processing, is reduced the expense of cpu resource.
Embodiment three:
In another embodiment, in view of in some cases, there is also delete some program in the embodiment of the present invention
The demand of file.Therefore the embodiment of the present invention provides a kind of data processing method, as shown in Fig. 9, this method comprises:
S301, data processing request is obtained.
S302, the content for parsing data processing request.
If it is determined that data processing request, which is used to indicate, carries out default behaviour to the target control instruction in target program subfile
Make, then according to the description of above-described embodiment two, successively executes the corresponding contents in S202-S206.
Target program subfile is deleted if it is determined that data processing request is used to indicate, then executes following S303-
The content of S305.
S303, parsing root node data block determine and first according to the 4th pointer information stored in root node data block
The storage location of the corresponding directory data block of a program subfile.
S304, from catalogue data BOB(beginning of block) corresponding with first program subfile, according to what is stored in directory data block
Second pointer information successively accesses the latter directory data block, until finding target directory corresponding with target program subfile
Data block.
The realization step of above-mentioned S303 and S304 can refer to the corresponding contents of S202 and S203 in embodiment two, herein no longer
It repeats.
S305, according to the third pointer information in target directory data block, determine included by target program subfile
Content-data block branch.It is deleted one by one forward from the content-data BOB(beginning of block) of the tail portion of content-data block branch.Then by target
Directory data block is deleted, and updates the second pointer information in the directory data block adjacent with target directory data block.It will delete
Increase corresponding pointer information in data block after content, and modify the pointer information of the freed data blocks of script, to will delete
Except in the data block insertion freed data blocks branch after content.
Example IV:
In another embodiment, it is considered in some cases, in robot program's operational process in the embodiment of the present invention
Specific " program execution state data structure " logging program current execution state can be passed through.Therefore the embodiment of the present invention also mentions
For a kind of data processing method, as shown in Fig. 10, this method comprises:
S401, data processing request is obtained.
Wherein data processing request is used to indicate and carries out default behaviour to the target control instruction in target program subfile
Make.
S402, judge whether target control instruction belongs to identical program subfile with currently running control instruction.
If it is not, then completing the corresponding contents of S202-S206 according to the content of embodiment two.
If so, executing following S403-S404:
S403, from the content-data BOB(beginning of block) for storing currently running control instruction, according to what is stored in content-data block
First pointer information successively accesses the latter or previous content-data block, until finding for storing target control instruction
Object content data block.
S404, after finding object content data block, execute predetermined registration operation.
The embodiment of specific S404 can refer to the description of step S206 in embodiment two.
It is currently executed in robot program's operational process by specific " program execution state data structure " logging program
State.The data structure mainly includes two pointers, and one is directed toward the corresponding directory data block of current execution program, is realized current
The file destination of execution quickly searchs and locates, and one is directed toward the content-data block being carrying out, and realizes capable quick positioning, such as attached
Shown in Figure 11 example.
If editing certain line program text or jumping to the execution of certain row, pass through " program execution state data structure " first
In two pointers find the control instruction being currently executing, then forward or moved backward in content data block branch
The pointer realizes by line index and eventually finds target line.Similarly refer to for being inserted into new control before and after certain control instruction
The operation of certain control instruction is enabled or deleted, is to be quickly found out target control instruction according to this line index mode, for inserting
Entering operation is then to obtain new data block from free block branch and be inserted into before or after target control instruction after filling；For delete operation
Target control instruction is removed from content-data block branch then and is reinserted into free block branch.It is stored using this row
It is the time that can substantially shorten line index, row jumps with the advantage of index, to improve program instruction execution efficiency, reduces
Program runs the consumption to system CPU resource.
Embodiment five:
Two, three, four data processing method based on the above embodiment, the embodiment of the present invention also provide a kind of data processing dress
It sets, the data processing equipment is for handling robot control program's file of storage, in robot control program's file
Including target program subfile.As shown in Fig. 12, which includes: acquiring unit 501, the first query unit
502 and processing unit 503.
Wherein:
Acquiring unit 501, for obtaining data processing request；Data processing request is used to indicate to target program Ziwen
Target control instruction in part carries out predetermined registration operation；It wherein, include n control instruction in target program subfile；The control of n item refers to
Order is respectively stored in n content-data block；The first pointer information, the first pointer are also stored in n content-data block respectively
Information is used to indicate the storage location of the content-data block adjacent with current content data block；
First query unit 502, for the content-data from first control instruction in storage target program subfile
BOB(beginning of block) successively accesses the latter content-data block according to the first pointer information stored in content-data block, until finding use
In the object content data block of storage target control instruction；
Processing unit 503, for executing predetermined registration operation after finding object content data block.
Optionally, robot control program's file includes at least two program subfiles, and target program subfile is at least
One in two program subfiles；At least two program subfiles and at least two directory data blocks correspond, and at least two
A directory data block is stored with respectively: the mark of program subfile, the second pointer information and third pointer information；Second pointer
Information is used to indicate the storage location of the directory data block adjacent with current directory data block, and third pointer information, which is used to indicate, to be deposited
Contain the storage location of the content-data block of first control instruction of corresponding program subfile.Data processing equipment 50, is also wrapped
It includes: the second query unit 504 and position determination unit 505；
Second query unit 504 is used for from catalogue data BOB(beginning of block) corresponding with first program subfile, according to catalogue
The second pointer information stored in data block successively accesses the latter directory data block, until finding and target program subfile
Corresponding target directory data block；The mark of target program subfile is wherein stored in target directory data block；
Position determination unit 505 refers to for the first query unit from first control in storage target program subfile
The content-data BOB(beginning of block) of order successively accesses the latter content-data according to the first pointer information stored in content-data block
Block, until being stored before finding the object content data block for storing target control instruction according in target directory data block
Third pointer information, determine storage target program subfile in first control instruction content-data block storage position
It sets.
Optionally, position determination unit 505 are also used in the second query unit from corresponding with first program subfile
Catalogue data BOB(beginning of block) successively accesses at least two directory data blocks according to the second pointer information stored in directory data block,
Until root node data block is parsed, according to root node before finding target directory data block corresponding with target program subfile
The 4th pointer information stored in data block determines the storage location of directory data block corresponding with first program subfile；
Wherein, the 4th pointer information is used to indicate the storage location of directory data block corresponding with first program subfile.
Optionally, data processing request is inserted into control instruction in the adjacent position that target control instructs specifically for instruction；
Processing unit 503 is inserted into content-data block specifically for creation, will be inserted into control instruction and is stored in and is inserted into content-data
In block；It updates object content data block, be inserted into content-data block and content number originally adjacent with object content data block
According to the first pointer information in block.
Optionally, data processing request is specifically used for instruction delete target control instruction；Processing unit 503, is specifically used for
Update the first pointer information in content-data block originally adjacent with object content data block.
Optionally, data processing equipment further include: judging unit 506；
Judging unit 506, for the first query unit from first control instruction in storage target program subfile
Content-data BOB(beginning of block) successively accesses the latter content-data block, directly according to the first pointer information stored in content-data block
To before the object content data block found for storing target control instruction, target control instruction and currently running control are judged
Whether system instruction belongs to identical program subfile；
First query unit 502, if judging that target control instruction refers to currently running control specifically for judging unit
Order is not belonging to identical program subfile, then from the content number for storing first control instruction in target program subfile
According to BOB(beginning of block), according to the first pointer information stored in content-data block, the latter content-data block is successively accessed, until finding
For storing the object content data block of target control instruction；
First query unit 502, if being also used to judging unit judges target control instruction and currently running control instruction
Belong to identical program subfile, then from the content-data BOB(beginning of block) for storing currently running control instruction, according to content-data
The first pointer information stored in block successively accesses the latter or previous content-data block, until finding for storing mesh
Mark the object content data block of control instruction.
Using integrated unit, attached drawing 13 illustrates data processing equipment involved in above-described embodiment
A kind of possible structural schematic diagram.Data processing equipment 60 includes: processing module 601, communication module 602 and memory module
603.Processing module 601 is for carrying out control management to the movement of data processing equipment 60, for example, processing module 601 is for branch
Hold the process S201-S206 in the execution attached drawing 8 of data processing equipment 60.Communication module 602 for support data processing equipment with
The communication of other entities.The program code and data of the processing unit for storing data of memory module 603.
Wherein, processing module 601 can be processor or controller, such as can be central processing unit (central
Processing unit, CPU), general processor, digital signal processor (digital signal processor, DSP),
Specific integrated circuit (application-specific integrated circuit, ASIC), field programmable gate array
It is (field programmable gate array, FPGA) or other programmable logic device, transistor logic, hard
Part component or any combination thereof.It may be implemented or execute to combine and various illustratively patrol described in the disclosure of invention
Collect box, module and circuit.Processor is also possible to realize the combination of computing function, such as includes one or more microprocessors
Combination, DSP and the combination of microprocessor etc..Communication module 602 can be transceiver, transmission circuit or communication interface etc..It deposits
Storage module 603 can be memory.
When processing module 601 is processor as shown in Fig. 14, communication module 602 is the transceiver of attached drawing 14, storage
When module 603 is the memory of attached drawing 14, data processing equipment involved in the embodiment of the present invention can be at following data
Manage device 70.
Referring to shown in attached drawing 14, which includes: processor 701, transceiver 702, memory 703 and total
Line 704.
Wherein, processor 701, transceiver 702, memory 703 are connected with each other by bus 704；Bus 704 can be outer
If component connection standard (peripheral component interconnect, PCI) bus or expanding the industrial standard structure
(extended industry standard architecture, EISA) bus etc..It is total that the bus can be divided into address
Line, data/address bus, control bus etc..Only to be indicated with a thick line in figure, it is not intended that an only bus convenient for indicating
Or a type of bus.
Processor 701 can be a general central processor (Central Processing Unit, CPU), micro process
Device, application-specific integrated circuit (Application-Specific Integrated Circuit, ASIC) or one or more
A integrated circuit executed for controlling the present invention program program.
Memory 703 can be Nand flash storage or MRAM (Magnetic Random Access
Memory, magnetic RAM).It is also possible to read-only memory (Read-Only Memory, ROM) or static letter can be stored
Breath and instruction other kinds of static storage device, random access memory (Random Access Memory, RAM) or
The other kinds of dynamic memory that information and instruction can be stored, is also possible to Electrically Erasable Programmable Read-Only Memory
(Electrically Erasable Programmable Read-only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other optical disc storages, optical disc storage (including compression optical disc, laser disc, light
Dish, Digital Versatile Disc, Blu-ray Disc etc.), magnetic disk storage medium or other magnetic storage apparatus or can be used in carry or
Store have instruction or data structure form desired program code and can by any other medium of computer access, but
It is without being limited thereto.Memory, which can be, to be individually present, and is connected by bus with processor.Memory can also be integrated with processor
Together.
Wherein, memory 702 is used to store the application code for executing the present invention program, and is controlled by processor 701
System executes.Transceiver 702 is used to receive the content of external equipment input, and processor 701 is used to execute to store in memory 703
Application code, to realize the function of each dummy unit in data processing equipment described in the embodiment of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
Specific work process, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When being realized using software program, can entirely or partly realize in the form of a computer program product.The computer
Program product includes one or more computer instructions.On computers load and execute computer program instructions when, all or
It partly generates according to process or function described in the embodiment of the present invention.The computer can be general purpose computer, dedicated meter
Calculation machine, computer network or other programmable devices.The computer instruction can store in computer readable storage medium
In, or from a computer readable storage medium to the transmission of another computer readable storage medium, for example, the computer
Instruction can pass through wired (such as coaxial cable, optical fiber, number from a web-site, computer, server or data center
Word user line (Digital Subscriber Line, DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another
A web-site, computer, server or data center are transmitted.The computer readable storage medium can be computer
Any usable medium that can be accessed either includes the numbers such as one or more server, data centers that medium can be used to integrate
According to storage equipment.The usable medium can be magnetic medium (for example, floppy disk, hard disk, tape), optical medium (for example, DVD),
Or semiconductor medium (such as solid state hard disk (Solid State Disk, SSD)) etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention is answered described is with scope of protection of the claims
It is quasi-.
Claims (12)
1. a kind of data processing method, which is characterized in that the method be applied to robot control program's file of storage into
Row is handled, and includes target program subfile in robot control program's file；The described method includes:
Obtain data processing request；The data processing request is used to indicate and refers to the target control in target program subfile
It enables and carries out predetermined registration operation；It wherein, include n control instruction in the target program subfile；The n control instruction is with behavior
Unit is stored in line by line respectively in n content-data block；The first pointer letter is also stored in the n content-data block respectively
Breath, first pointer information are used to indicate the storage location of the content-data block adjacent with current content data block；
From the content-data BOB(beginning of block) for storing first control instruction in the target program subfile, according to content number
According to the first pointer information stored in block, the latter content-data block is successively accessed, until finding for storing the target control
Make the object content data block of instruction；
After finding the object content data block, the predetermined registration operation is executed.
2. data processing method according to claim 1, which is characterized in that robot control program's file includes at least
Two program subfiles, the target program subfile are one in at least two programs subfile；Described at least two
A program subfile and at least two directory data blocks correspond, and at least two directory data block is stored with respectively: journey
The mark of sequence subfile, the second pointer information and third pointer information；Second pointer information is used to indicate and current mesh
The storage location of the adjacent directory data block of data block is recorded, the third pointer information is used to indicate the corresponding program subfile of storage
First control instruction content-data block storage location；
In the content-data BOB(beginning of block) from for storing first control instruction in the target program subfile, according to
The first pointer information stored in content-data block successively accesses the latter content-data block, until finding described for storing
Before the object content data block of target control instruction, the method also includes:
From catalogue data BOB(beginning of block) corresponding with first program subfile, believed according to the second pointer stored in directory data block
Breath successively accesses the latter directory data block, until finding target directory data block corresponding with the target program subfile；
The mark of the target program subfile is wherein stored in the target directory data block；
According to the third pointer information stored in the target directory data block, the storage target program subfile is determined
In first control instruction content-data block storage location.
3. data processing method according to claim 2, which is characterized in that described from corresponding with first program subfile
Catalogue data BOB(beginning of block) at least two catalogue is successively accessed according to the second pointer information stored in directory data block
Data block, until before finding target directory data block corresponding with the target program subfile, the method also includes:
Root node data block is parsed, according to the 4th pointer information stored in the root node data block, is determined described with first
The storage location of the corresponding directory data block of a program subfile；Wherein, the 4th pointer information is used to indicate and first
The storage location of the corresponding directory data block of program subfile.
4. data processing method according to claim 1, which is characterized in that the data processing request is specifically used for instruction
Control instruction is inserted into the adjacent position insertion of target control instruction；
It is described after finding the object content data block, execute the predetermined registration operation, specifically include:
Creation is inserted into content-data block, and the control instruction that is inserted into is stored in described be inserted into content-data block；
Update the object content data block, it is described be inserted into content-data block and originally and the object content data block phase
The first pointer information in adjacent content-data block.
5. data processing method according to claim 1, which is characterized in that the data processing request is specifically used for instruction
Delete the target control instruction；
It is described after finding the object content data block, execute the predetermined registration operation, specifically include:
Update the first pointer information in content-data block originally adjacent with the object content data block.
6. data processing method according to claim 1, which is characterized in that from for storing the target program subfile
In the content-data BOB(beginning of block) of first control instruction successively visited according to the first pointer information stored in content-data block
Ask the latter content-data block, until before finding the object content data block for storing the target control instruction, it is described
Method further include:
Judge whether the target control instruction belongs to identical program subfile with currently running control instruction；
If it is not, then from the content-data BOB(beginning of block) for storing first control instruction in the target program subfile, root
According to the first pointer information stored in content-data block, the latter content-data block is successively accessed, until finding for storing
State the object content data block of target control instruction；
If so, being stored from the content-data BOB(beginning of block) for storing the currently running control instruction according in content-data block
The first pointer information, the latter or previous content-data block are successively accessed, until finding for storing the target control
Make the object content data block of instruction.
7. a kind of data processing equipment, which is characterized in that the data processing equipment is used for the robot control program to storage
File is handled, and includes target program subfile in robot control program's file；The data processing equipment includes:
Acquiring unit, for obtaining data processing request；The data processing request is used to indicate in target program subfile
Target control instruction carry out predetermined registration operation；It wherein, include n control instruction in the target program subfile；The n item control
System instruction is stored in n content-data block line by line respectively with behavior unit；It is also stored respectively in the n content-data block
There is the first pointer information, first pointer information is used to indicate the storage of the content-data block adjacent with current content data block
Position；
First query unit, for from the content-data for storing first control instruction in the target program subfile
BOB(beginning of block) successively accesses the latter content-data block according to the first pointer information stored in content-data block, until finding use
In the object content data block for storing the target control instruction；
Processing unit, for executing the predetermined registration operation after finding the object content data block.
8. data processing equipment according to claim 7, which is characterized in that robot control program's file includes at least
Two program subfiles, the target program subfile are one in at least two programs subfile；Described at least two
A program subfile and at least two directory data blocks correspond, and at least two directory data block is stored with respectively: journey
The mark of sequence subfile, the second pointer information and third pointer information；Second pointer information is used to indicate and current mesh
The storage location of the adjacent directory data block of data block is recorded, the third pointer information is used to indicate the corresponding program subfile of storage
First control instruction content-data block storage location；
The data processing equipment, further includes: the second query unit and position determination unit；
Second query unit is used for from catalogue data BOB(beginning of block) corresponding with first program subfile, according to catalogue number
According to the second pointer information stored in block, the latter directory data block is successively accessed, until finding and the target program Ziwen
The corresponding target directory data block of part；The mark of the target program subfile is wherein stored in the target directory data block
Know；
The position determination unit, in first query unit from for storing in the target program subfile
The content-data BOB(beginning of block) of one control instruction successively accesses latter according to the first pointer information stored in content-data block
A content-data block, until before finding the object content data block for storing the target control instruction, according to the mesh
The third pointer information stored in mark directory data block determines first control in the storage target program subfile
The storage location of the content-data block of instruction.
9. data processing equipment according to claim 8, which is characterized in that
The position determination unit is also used in second query unit from catalogue number corresponding with first program subfile
At least two directory data block is successively accessed, directly according to the second pointer information stored in directory data block according to BOB(beginning of block)
To before finding target directory data block corresponding with the target program subfile, root node data block is parsed, according to described
The 4th pointer information stored in root node data block determines the directory data block corresponding with first program subfile
Storage location；Wherein, the 4th pointer information is used to indicate depositing for directory data block corresponding with first program subfile
Storage space is set.
10. data processing equipment according to claim 7, which is characterized in that the data processing request is specifically used for instruction
Control instruction is inserted into the adjacent position insertion of target control instruction；
The processing unit is inserted into content-data block specifically for creation, by it is described be inserted into control instruction be stored in it is described
It is inserted into content-data block；Update the object content data block, it is described be inserted into content-data block and originally with it is described
The first pointer information in the adjacent content-data block of object content data block.
11. data processing equipment according to claim 7, which is characterized in that the data processing request is specifically used for instruction
Delete the target control instruction；
The processing unit, specifically for updating first in content-data block originally adjacent with the object content data block
Pointer information.
12. data processing equipment according to claim 7, which is characterized in that the data processing equipment further include: judgement is single
Member；
The judging unit, in first query unit from for storing first in the target program subfile
The content-data BOB(beginning of block) of control instruction successively accesses in the latter according to the first pointer information stored in content-data block
Hold data block, until judging the target control before finding the object content data block for storing the target control instruction
Whether system instruction belongs to identical program subfile with currently running control instruction；
First query unit, if being specifically used for the judging unit judges the target control instruction and currently running control
System instruction is not belonging to identical program subfile, then from for storing first control instruction in the target program subfile
Content-data BOB(beginning of block) the latter content-data block is successively accessed according to the first pointer information stored in content-data block,
Until finding the object content data block for storing the target control instruction；
First query unit, if being also used to the judging unit judges the target control instruction and currently running control
Instruction belongs to identical program subfile, then from the content-data BOB(beginning of block) for storing the currently running control instruction, according to
The first pointer information stored in content-data block successively accesses the latter or previous content-data block, until finding use
In the object content data block for storing the target control instruction.
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| CN201811605059.8A CN109760044A (en) | 2018-12-26 | 2018-12-26 | A kind of data processing method and device |
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| CN110253538A (en) * | 2019-05-22 | 2019-09-20 | 北京镁伽机器人科技有限公司 | Exercise data storage and robot control method, equipment, system and storage medium |
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