CN110209514B - In the method that embedded type sensor access platform realizes DDS service - Google Patents
In the method that embedded type sensor access platform realizes DDS service Download PDFInfo
- Publication number
- CN110209514B CN110209514B CN201910707491.6A CN201910707491A CN110209514B CN 110209514 B CN110209514 B CN 110209514B CN 201910707491 A CN201910707491 A CN 201910707491A CN 110209514 B CN110209514 B CN 110209514B
- Authority
- CN
- China
- Prior art keywords
- data
- processing unit
- data processing
- mcu
- embedded
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/54—Interprogram communication
- G06F9/546—Message passing systems or structures, e.g. queues
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Hardware Redundancy (AREA)
Abstract
The present invention relates to the method for realizing DDS service in embedded type sensor access platform, embedded hardware carries as sensor access platform and carries out message communicating using DDS service between embedded real-time operating system, with data processing unit.The present invention is based on embedded building sensor access platform, it can be achieved that inexpensive hardware redundancy backup；Meanwhile being serviced based on embedded realization DDS, complete DDS is formed with data processing unit and is serviced, and perfect abnormal restoring mechanism is provided.
Description
Technical field
The invention belongs to automatic Pilot technical fields, are related to the communication of sensor, controller, and in particular to built-in sensing
The method of DDS service is realized between device access platform and data processing unit.
Background technique
At the beginning of 21 century, automatic Pilot is fast-developing by means of AI technology, and automatic Pilot can be disassembled from technical aspect as ring
Border perception, accurate positioning, decision and planning and control and execution.Enterprise is the same with traditional vehicle, automatic Pilot there is still a need for by
Environment sensing is done in vehicle-mounted multisensory, but no matter is considered from software or hardware, it is ensured that the high reliability of whole system
And high stability；Usual hardware aspect important sensor, domain controller need to do redundancy backup, and software aspects need to provide perfect
Abnormal restoring mechanism, to guarantee that entire platform is healthy and strong.
Currently, domestic automatic Pilot company generallys use robot operating system ROS (Robot Operating
System automatic Pilot software platform) is constructed, the advantage of ROS is to be widely used in Industry Control, provides message based hair
Cloth-subscription distributed communication mechanism, is easy to multiple-sensor integration；But simultaneously, ROS is grasped dependent on UBUNTU or WINDOWS
Make system, hardware platform certainly will be there are certain requirements, do hardware redundancy backup, hardware cost increases；In addition, each sensor of ROS
Node communicates, and centered on Lai Yu ROS Mater, lacks abnormal restoring mechanism, once ROS Master exception or congestion, by shadow
Ring whole system message communicating.
Relative to ROS, Data distributing DDS (Data Distribution Service for Real-Time-
Systems distributed communication) equally may be implemented, realize that complete P2P node is associated with using RTPS service discovery protocol, building
The network topology of non-stop layer, and QoS service quality policy abundant, including abnormal restoring are provided；DDS has standardized point simultaneously
Data publication, transmitting and received interface and behavior, define data-centered Publish-subscribe in cloth real-time system
(Publish/Subscribe) mechanism provides one and platform-independent data model, insertion of this programme based on low cost
Formula constructs sensor and accesses hardware platform, separates with data processing unit, while carrying embedded real-time operating system, operation essence
Simple Micro DDS realizes that complete DDS service message communicates with data processing unit.
Summary of the invention
Goal of the invention: in order to overcome deficiency existing for ROS system in the prior art, the present invention is provided based on DDS agreement
Automatic Pilot distributed communication method, while considering hardware redundancy backup cost, using embedded hardware, and realize that DDS is serviced.
Technical solution: in order to solve the above technical problems, provided by the invention realize DDS in embedded type sensor access platform
The method of service, embedded hardware is as sensor (GPS, IMU, millimetre-wave radar, ultrasonic radar etc.) access platform, sum number
It is communicated according to DDS service message is based between processing unit；The embedded hardware is as sensor access platform, using low cost
Hardware simultaneously carries embedded real-time operating system.
Data acquisition is separated with data processing, improves system stability, multiple embedded hardwares are through DDS service connection one
Data processing unit reaches sensor access platform redundancy backup.Sensor can the active and standby embedded hardware of adaptive access, difference
Hardware interface realizes the driving for not depending on particular hardware interface, according to access sensing data type, carries out data parsing hair
It send, realizes rapid deployment
It is serviced based on embedded realization DDS, message interaction fully complies with DDS specification.
1) first in a network, sensor access platform periodicity sending multicast goes discovery (Discovery) data processing
Unit；
2) data cell replys ACK according to connection request, carries own IP address, and sensor access platform completes data
Processing unit discovery, independent of sensor access platform or data processing unit boot sequence.
3) after the completion of discovery (Discovery), DDS creates the session (Session) based on UDP, carries mark sensing
Unique KEY value of device back end；
4) to data processing unit log-on data type (Topic Type), title (Topic Name) and qos policy；
Qos policy includes two kinds of data transmission policies selections of most reliable (Reliability) and most efficient (Best Effort), wherein
In most reliable strategy, publisher confirms whether data normally receive by subscriber's response (Ack), if loss of data carries out weight
It passes；And it is most efficiently tactful, cover untreated legacy data in subscriber's receiving queue, it is ensured that latest data transmits in time；Simultaneously
The weight (Ownership strength) of supporting node ownership is arranged, and different nodes, weight possesses more greatly data transmission route.
5) create data publisher (Publisher) or subscriber (Subscriber), it is same carry data type and
Title.
6) creation corresponding data reads and writes (DataWriter/DataReader) example.
7) if data processing unit is there are data type and the identical publish/subscribe node of title, sensor access is flat
Platform is found mutually with data processing unit node, completes association, carries out data communication.
8) data processing unit periodically sends heartbeat (Heartbeat) to sensor access platform, informs current data
Processing unit operating condition.
As shown in figure 3, this programme has high stability and perfect Restoration Mechanism.
1) hardware backup is done using MCU, reduces cost.
2) realize that the weight (Ownership of different Node Ownerships is arranged when registering qos policy in DDS service based on MCU
Strength), different nodes, weight is bigger preferentially to possess data transmission route.Assuming that MCU1 strength is 1, MCU2
Strength is 2, then MCU2 possesses prioritized data transmission route, when MCU2 exception, can be quickly switched into MCU1.
3) MCU realizes house dog (WatchDog) function, it can be achieved that quickly restarting (Reset) when abnormal.
4) data processing unit DDS services qos policy and provides existence (Liveliness) function, passes through periodical presence
Packet, detects whether exception, restores (Recovery) automatically when abnormal.
5) data processing unit periodically sends heartbeat (Heartbeat) to the side the MCU period, in data cell abnormal restoring
In the process, when MCU does not receive heartbeat, restart and rediscover (Discovery) data processing unit.
The utility model has the advantages that embedded hardware of the sensor access part using low cost, has hardware backup low cost, Gao Wen
Qualitative, system exception restores the advantages such as fast；Sensor can the active and standby embedded hardware of adaptive access, different hardware interface, realize
The driving for not depending on particular hardware interface carries out data parsing and sends, realize quick portion according to access sensing data type
Administration；It is separated with data processing unit, using distributed hardware structure, reduces system exception probability；It services and counts using DDS simultaneously
Message communicating is carried out according to processing unit, perfect abnormal restoring mechanism is provided.
Except it is above-described present invention solves the technical problem that, constitute technical solution technical characteristic and by these technologies
Outside advantage brought by the technical characteristic of scheme.To keep the object of the invention, technical scheme and beneficial effects clearer, below will
In conjunction with the attached drawing in the embodiment of the present invention, to other for including in the other technologies problem of the invention that can solve, technical solution
The advantages of technical characteristic and these technical characteristics are brought does apparent, complete description.
Detailed description of the invention
Fig. 1 is the system architecture diagram of the embodiment of the present invention；
Fig. 2 is the message interaction schematic diagram of DDS service；
Fig. 3 is the schematic diagram of Restoration Mechanism in DDS service.
Specific embodiment
Embodiment:
DDS service is widely used in industrial control field, convenient for the access and data communication of multisensor, and is had
The advantage of AUTOSAR is merged, based on this programme is serviced by DDS, completes sensing data communication.
As shown in Figure 1, this programme does sensor access using low cost MCU (Microcontroller Unit), MCU is logical
Often with standby USB port, Ethernet interface, serial ports, CAN bus, sensor is facilitated to access；Carry embedded real-time operating system (such as
FreeRTOS), and realize that the Micro DDS that simplifies for meeting DDS specification is serviced, carried out by DDS service with data processing unit
Sensing data publication is completed in communication, and data processing is completed by high-performance data processing unit.
As shown in Fig. 2, being serviced based on embedded realization DDS, message interaction fully complies with DDS specification.
By taking the common IMU of certain money as an example, MCU is accessed using serial ports, is realized according to customized IMU data format (idl file)
The information such as the parsing of serial data, including four elements, angular speed, linear acceleration.
struct Imu
{
Header header;
Quaternion orientation;
double orientation_covariance[9];
Vector3 angular_velocity;
double angular_velocity_covariance[9];
Vector3 linear_acceleration;
double linear_acceleration_covariance[9];
};
After MCU starting, periodicity sending finds message on multicast address 239.255.0.2, port 7400, in data
After processing unit is replied, request, node association are initiated the connection.
In node association process, it then follows DDS specification, including registration message, creation publisher or subscriber, creation data
Read and write example；Node association base is data type, data name, and it is sensor_msgs: that data type is defined in this example:
Msg::dds_::Imu_, data name rt/micro_dds/imu_raw；Data processing unit subscription same data type,
Data name data will complete auto-associating between node.
MCU task is switched to 1ms, it is ensured that the real-time of IMU data publication.
As shown in figure 3, since sensor access platform needs to carry out hardware backup, for main MCU, settable IMU node
QoS weight is N+1, and IMU node QoS weight is N in backup MCU, although master backup IMU node while to data processing unit,
But weight it is high possess high priority data power.
It when some MCU abnormal restarting or completes not working, backup MCU possesses high priority data power, guarantees system sensing
Device data access is normal；Data processing unit periodic heartbeat informs operating condition, and when abnormal restoring, MCU is restarted to be counted again
According to unit discovery, node association process.
The present invention provides completely new idea and method for the redundancy backup that automatic Pilot sensor accesses, and specific implementation should
There are many method and approach of technical solution, and described embodiments are some of the embodiments of the present invention, rather than whole implementation
Example.The component of embodiments of the present invention, which are generally described and illustrated herein in the accompanying drawings can with a variety of different configurations arranging and
Design.Therefore, claimed invention is not intended to limit to the detailed description of the embodiment of the present invention provided in attached drawing
Range, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Claims (4)
1. a kind of method for realizing DDS service in embedded type sensor access platform, it is characterised in that: in embedded hardware sum number
According to progress DDS service message communication between processing unit；The embedded hardware is as sensor access platform, using low cost
MCU simultaneously carries embedded real-time operating system；
Sensor access part is separated, using distributed hardware knot using the embedded hardware of low cost with data processing unit
Structure；Sensor can the active and standby embedded hardware of adaptive access, different hardware interface, realize and do not depend on the drive of particular hardware interface
It is dynamic, according to access sensing data type, carries out data parsing and send, realize rapid deployment；Simultaneously using DDS service and data
Processing unit carries out message communicating, provides perfect abnormal restoring mechanism；
The embedded hardware of multiple redundancy backups services one data processing unit of connection through DDS, and the implementation process of DDS service is such as
Under:
Step 1, in a network, MCU periodicity sending multicast removes discovery data processing unit；
Step 2, data processing unit replys the response for carrying own IP address according to connection request, and MCU completes data processing list
Member discovery；
Step 3, after the completion of discovery, MCU creates the session based on UDP, carries unique KEY of mark sensing data node
Value；
Step 4, to data processing unit Register Sensor data type, title and qos policy；
Step 5, data publisher or subscriber are created, it is same to carry data type and title；
Step 6, the reading of creation corresponding data or realistic example；
Step 7, if data processing unit is there are data type and the identical publish/subscribe node of title, MCU and data processing
Cell node is found mutually, completes association, carries out data communication；
Step 8, data processing unit periodically sends heartbeat to the side MCU, and during data cell abnormal restoring, MCU is received
When less than heartbeat, MCU, which stresses to open, rediscovers data processing unit.
2. the method according to claim 1 for realizing DDS service in embedded type sensor access platform, it is characterised in that:
In step 4, the qos policy includes most reliably selecting with most efficient two kinds of data transmission policies, wherein in most reliable strategy,
Publisher confirms whether data normally receive by subscriber's response, is retransmitted if loss of data；And it is most efficiently tactful,
Cover untreated legacy data in subscriber's receiving queue, it is ensured that latest data transmits in time；The weight of Node Ownership is arranged,
Different nodes, weight possess more greatly data transmission route.
3. the method according to claim 2 for realizing DDS service in embedded type sensor access platform, it is characterised in that:
When registering qos policy, in main MCU and backup MCU, the weight of different Node Ownerships is set, and the bigger node of weight possesses
Higher data transmission route.
4. the method according to claim 3 for realizing DDS service in embedded type sensor access platform, it is characterised in that:
Data processing unit qos policy is provided there are sexual function, is wrapped by periodically existing, is detected whether exception, automatically extensive when abnormal
It is multiple.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910707491.6A CN110209514B (en) | 2019-08-01 | 2019-08-01 | In the method that embedded type sensor access platform realizes DDS service |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910707491.6A CN110209514B (en) | 2019-08-01 | 2019-08-01 | In the method that embedded type sensor access platform realizes DDS service |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110209514A CN110209514A (en) | 2019-09-06 |
| CN110209514B true CN110209514B (en) | 2019-11-15 |
Family
ID=67797875
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910707491.6A Active CN110209514B (en) | 2019-08-01 | 2019-08-01 | In the method that embedded type sensor access platform realizes DDS service |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110209514B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110650073B (en) * | 2019-09-12 | 2021-06-11 | 江苏伦肯智能科技有限公司 | CAN bus communication method for mass data transmission |
| CN112398928B (en) * | 2020-11-04 | 2024-04-16 | 广东源泉科技有限公司 | Operation method of Internet of things equipment software |
| CN112104538B (en) * | 2020-11-18 | 2021-02-12 | 奥特酷智能科技(南京)有限公司 | DDS middleware communication method based on CAN bus data transmission |
| CN112583927B (en) * | 2020-12-23 | 2022-04-15 | 北京航空航天大学 | Service management system based on airborne embedded real-time operating system |
| CN112272132B (en) * | 2020-12-23 | 2021-03-30 | 奥特酷智能科技(南京)有限公司 | DDS protocol real-time transmission method and system for realizing CAN data based on FPGA |
| CN112804109A (en) * | 2021-03-10 | 2021-05-14 | 奥特酷智能科技(南京)有限公司 | DDS-based server client interaction model |
| CN113806109A (en) * | 2021-09-15 | 2021-12-17 | 诚迈科技（南京）股份有限公司 | Cabin system for realizing SOA (service oriented architecture) based on ROS2 and operation method thereof |
| CN114785877B (en) * | 2022-04-14 | 2023-02-17 | 奥特酷智能科技(南京)有限公司 | Method for analyzing RTPS protocol in DDS communication in real time or offline manner |
| CN115460076B (en) * | 2022-08-18 | 2023-07-28 | 中国航空工业集团公司洛阳电光设备研究所 | Embedded-oriented distributed information processing node construction method |
| CN115883200B (en) * | 2022-11-29 | 2024-05-03 | 中国第一汽车股份有限公司 | Log security management method, device, platform and medium |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106452841B (en) * | 2016-09-13 | 2019-07-26 | 中国电子科技集团公司第三十二研究所 | Method for using transmission service quality in robot operating system |
| CN109017629B (en) * | 2018-06-21 | 2021-07-16 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle and card-inserting type structure, module and vehicle-mounted computing platform thereof |
-
2019
- 2019-08-01 CN CN201910707491.6A patent/CN110209514B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110209514A (en) | 2019-09-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110209514B (en) | In the method that embedded type sensor access platform realizes DDS service | |
| EP2321908B1 (en) | Method and system for message processing | |
| US8024396B2 (en) | Distributed behavior controlled execution of modeled applications | |
| US6934952B2 (en) | Method and apparatus for managing multiple instances of server code on a machine | |
| CN107493191B (en) | Cluster node and self-scheduling container cluster system | |
| JP2003503899A (en) | Stack type intelligent switching system | |
| JP2004519024A (en) | System and method for managing a cluster containing multiple nodes | |
| CN105993161A (en) | Scalable address resolution | |
| CN109547875A (en) | A kind of FC exchange network arbitrary port access design method | |
| US9531597B2 (en) | Methods and systems to maintain data coherency | |
| WO2022227414A1 (en) | Real-time soft bus implementation method oriented to intelligent rail transit system | |
| US7966394B1 (en) | Information model registry and brokering in virtualized environments | |
| US11917004B2 (en) | Prioritizing data replication packets in cloud environment | |
| CN112887356A (en) | System for sharing memory data distribution service and operation method thereof | |
| JP2022523452A (en) | Data processing method and equipment | |
| CN112929418B (en) | Rapid IO high-speed communication method and system based on publish-subscribe | |
| CN109560903A (en) | A kind of vehicle-mounted command communications system of complete disaster tolerance | |
| US11102293B2 (en) | System and method for migrating an agent server to an agent client device | |
| Rodrigues et al. | A transparent light-weight group service | |
| CN112929206A (en) | Method and device for configuring cloud physical machine in cloud network environment | |
| WO2022042393A1 (en) | Configuration error information transmission method and device | |
| CN209134427U (en) | A kind of vehicle-mounted command communications system of complete disaster tolerance | |
| CN107070676A (en) | The virtualized management method of the network equipment | |
| Schneider et al. | Can Ethernet be real-time | |
| CN110716827A (en) | Hot backup method suitable for distributed system and distributed system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 210012 room 401-404, building 5, chuqiaocheng, No. 57, Andemen street, Yuhuatai District, Nanjing, Jiangsu Province Patentee after: AUTOCORE INTELLIGENT TECHNOLOGY (NANJING) Co.,Ltd. Address before: 211800 building 12-289, 29 buyue Road, Qiaolin street, Pukou District, Nanjing City, Jiangsu Province Patentee before: AUTOCORE INTELLIGENT TECHNOLOGY (NANJING) Co.,Ltd. |