CN114222352A - Dynamic network access method of WAIC network access equipment based on preconfigured network topology - Google Patents
Dynamic network access method of WAIC network access equipment based on preconfigured network topology Download PDFInfo
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Abstract
The invention provides a dynamic network access method of WAIC network access equipment based on a pre-configured network topology, which comprises the following steps of establishing a network topology structure containing a plurality of nodes according to requirements and configuring network topology information: after power-on, initializing network access management information of each node based on preconfigured network topology information, and loading initialization information to each node; scanning neighboring nodes in the working range of each node based on the Polling frame and the Polling response frame; based on the initialization information of each node, performing identity recognition on all adjacent nodes scanned by each node and marking recognition states; and performing data link network access based on the Connect frame and the Connect response frame to complete dynamic network access. The dynamic network access method designed by the invention pre-configures each node in the network topology structure before network access, can effectively prevent the invasion of hidden nodes (namely illegal nodes and connectionless nodes), and improves the reliable transmission of application data.
Description
Technical Field
The invention belongs to the technical field of network communication, relates to a network access method (called WAIC for short) of wireless avionic communication network access equipment, and particularly relates to a dynamic network access method of the WAIC network access equipment based on a preconfigured network topology.
Background
With the continuous development of aviation manufacturing industry, the production cost of the aircraft is gradually reduced, the flight safety and the reliability are continuously improved, wherein the wireless network gradually replaces a wired network for communication due to the advantages of flexible deployment, aircraft weight reduction and the like, the wireless network access follows the 802.11 standard, and the three steps of scanning, authentication and connection are followed in the network access management process.
Wireless Avionics internal-Communications (WAIC local area network, WAIC network for short) is a communication formation of Wireless networks that can share an operating frequency band of 4.2GHz to 4.4GHz with radio navigation devices and satellite earth detection devices. Compared with the traditional airborne communication system, the WAIC network communication is mainly applied to safety-related systems such as sensors, actuators and airborne equipment operation state monitoring and the like, and is accessed to the network; however, due to the existence of factors such as the distribution of the devices accessing the WAIC network in different cabins, different communication requirements among the devices, and the electromagnetic influence among various electronic devices in each cabin, the phenomenon that communication nodes between adjacent electronic devices are not found or the communication cannot be completed for a long time in the process of establishing communication exists, so that the communication performance of the airborne WAIC network is seriously affected, and the problem that the normal operation of the airplane is affected due to the loss of key airborne information is caused.
Disclosure of Invention
The invention aims to provide a dynamic network access method of WAIC network access equipment based on a preconfigured network topology, the network topology is preconfigured according to the use requirement before the equipment is accessed, and the corresponding communication requirement is realized by authenticating nodes needing to be communicated when the equipment is accessed, so that the normal communication of an airborne WAIC network is ensured, and the normal work of an airplane is further ensured.
The technical scheme for realizing the purpose of the invention is as follows: a dynamic network access method of WAIC network access equipment based on a pre-configured network topology comprises the following steps:
s1, establishing a network topology structure containing a plurality of nodes according to the requirement, and configuring network topology information:
s2, after the equipment is powered on, initializing the network access management information of each node based on the preconfigured network topology information, and loading the initialization information to each node; the initialization information at least comprises adjacent nodes establishing communication links with the nodes;
s3, scanning the neighboring nodes in the working range of each node based on the Polling frame and the Polling response frame, and establishing a neighboring node record table of each node according to the scanning result; wherein, the adjacent node record list at least comprises the adjacent node establishing communication link with the node;
s4, based on the initialization information of each node, carrying out identity recognition on all adjacent nodes in the adjacent node record list and marking recognition states;
and S5, performing data link network access based on the Connect frame and the Connect response frame, and connecting nodes in network topology information pre-configured in a network topology structure to complete dynamic network access of the WAIC network access equipment.
The core of the dynamic network access method for designing the WAIC network access equipment in the invention is step-by-step implementation, hierarchical management and dynamic access strategy, and the dynamic identification of the wireless equipment and the multi-hop connection management of a communication link are realized according to preconfigured network topology information, namely: each node in the network topology structure is preconfigured before network access to form preconfigured network topology information, so that subsequent scanning, identification, marking and network access connection can be performed according to the preconfigured network topology information, undefined adjacent nodes in the network topology information and adjacent nodes defined in the network topology information but having no communication link connection relation can be prevented from accessing the network, intrusion of hidden nodes (namely illegal nodes and connectionless nodes) is effectively prevented, reliable transmission of application data is improved, and network access safety is ensured.
In step S1, the nodes in the network topology include a gateway node, a relay node, and a terminal node. The gateway node is a root node of the WAIC network centralized management and is used for establishing a communication link with at least one of the relay node and the terminal node. The relay node is an intermediate node of the WAIC network and is used for establishing communication link connection with one or more of the gateway node, other relay nodes and the terminal node. The terminal node is an end node of the WAIC network, establishes communication link connection with the gateway node or the relay node, establishes connection with the application layer interface equipment, and provides data transceiving control for the application layer interface equipment.
Further, in step S2, in the initialization process of each node, the gateway node serves as a root node for centralized management of the WAIC network, and initializes the local network access management information according to the complete configuration network topology information. And the relay node and the terminal node initialize local network access information according to the configured network topology information, the role information and the identification information of each node and the pre-configured adjacent node information.
Further, in step S2, the initialization information of the node further includes role information of the node in the network topology, a relationship between the node and its neighboring nodes that establish communication links, a pre-configured neighboring node table that establishes communication links with the node, and a data link communication table.
In step S3, the neighbor node record table of each node is established according to a periodic scanning manner, and each node periodically scans the neighbor nodes and continuously updates the neighbor node record table until the neighbor node record table at least includes the neighbor nodes that have been preconfigured in step S1 and establish communication links with the node.
Further, the neighbor node record table further includes undefined neighbor nodes in the network topology information, and defined neighbor nodes in the network topology information but without communication link connection relationship.
In step S4, the identification of all neighboring nodes in the neighboring node record table of each node includes determining the identity of the neighboring node, the connection relationship between the neighboring node and the communication link of the node, and the level of the network cascade of the node. The labels of the adjacent nodes comprise illegal nodes, connectionless nodes and identified nodes.
Further, in the step S4, the identifying and labeling of all neighboring nodes scanned in the neighboring node record table includes the following steps:
s401, identifying all adjacent nodes in an adjacent node record table according to the initialization information loaded by the nodes;
s402, judging whether the adjacent node is a network node pre-configured in the node initialization information, if so, entering a step S403, and otherwise, marking the identity recognition state of the adjacent node as an illegal node in an adjacent node record table;
s403, judging whether the connection relation between the adjacent node and the node is consistent with the relation defined by the configured network topology, if so, entering the step S404, and if not, marking the identification state of the adjacent node as a connectionless node in an adjacent node record table;
s404, marking the identity recognition state of the adjacent node as a recognized node in the adjacent node record table; confirming the hierarchical relation of the node in the WAIC network based on the preconfigured network topology information and the identification information of the node; in the WAIC network, setting an identity authentication passing mark of the node;
s405, repeating the steps S401 to S404, and marking the new neighbor nodes which are scanned in the step S3 and are added into the neighbor node record table and are not in the identification state.
In step S5, the network access process includes the following steps:
s501, establishing a hierarchical relationship of each node in a network topology structure;
s502, sequentially sending Connect frames according to the number of the layers from small to large;
s503, establishing a hierarchical data link diagram of the network topology structure according to a management mechanism of a Connect response frame fed back from large to small according to the number of hierarchies.
Compared with the prior art, the invention has the beneficial effects that: compared with the traditional wireless self-organizing network access management, the dynamic network access method of the WAIC network access equipment designed by the invention not only can meet the requirement of airborne multi-hop deterministic connection, but also can realize the requirements of dynamic maintenance of wireless network topology and deterministic management of communication links, and provides reliable and safe data communication links for wireless communication in an airborne environment.
2. The dynamic network access method of the WAIC network access equipment identifies and marks each adjacent node recorded in the adjacent node record table after the nodes are scanned, isolates the undefined adjacent node in the network topology information and the defined adjacent node without the connection relation of the communication link in the network topology information, can effectively prevent the invasion of hidden nodes (namely illegal nodes and connectionless nodes), simultaneously omits the flow of complex secret key management, improves the execution efficiency of network management, saves protocol overhead, provides reliable data link for the data communication of application layers, and ensures the reliable transmission of application data.
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In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings used in the description of the embodiment will be briefly introduced below. It should be apparent that the drawings in the following description are only for illustrating the embodiments of the present invention or technical solutions in the prior art more clearly, and that other drawings can be obtained by those skilled in the art without any inventive work.
FIG. 1 is a flow chart of a dynamic network access method of a WAIC network access device based on a pre-configured network topology according to the present invention;
FIG. 2 is a network topology model of a WAIC network in accordance with an embodiment;
FIG. 3 is a flowchart of a node periodically scanning neighboring nodes in an embodiment
FIG. 4 is a flowchart of identifying and labeling neighboring nodes for node scanning in an embodiment
Fig. 5 is a flow diagram of a node data link connection of a WAIC network in an embodiment.
Detailed Description
The invention will be further described with reference to specific embodiments, and the advantages and features of the invention will become apparent as the description proceeds. These examples are illustrative only and do not limit the scope of the present invention in any way. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention, and that such changes and modifications may be made without departing from the spirit and scope of the invention.
In the description of the present embodiments, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
The WAIC local area network (WAIC network for short) is composed of a gateway node G, a relay node R and a terminal node E, the topological model of the WAIC network is shown in figure 2, and a plurality of nodes of the network topological structure comprise the gateway node G, the relay node R and the terminal node E. As shown in fig. 2, a network topology includes a network management node G, 1 or more relay nodes, and 1 or more terminal nodes E.
The gateway node G is a root node of the WAIC network centralized management and is used for establishing a communication link with at least one of the relay node R and the terminal node E, and the gateway node G is also used for interconnecting with other WAIC networks and interconnecting with a wired network besides ensuring normal data communication to be responsible for maintenance and management of the whole network. The relay node R is an intermediate node of the WAIC network, establishes communication link connection with one or more of the gateway node G, other relay nodes R and the terminal node E, and provides routing and forwarding functions for wireless link data transmission of the WAIC network. The terminal node E is an end node of the WAIC network, establishes communication link connection with the gateway node G or the relay node R, establishes connection with the application layer interface equipment, receives or sends data required by the application layer interface equipment, and provides data transceiving control for the application layer interface equipment.
In the WAIC network access process, in order to avoid the invasion of hidden nodes (namely illegal nodes and connectionless nodes), the reliable transmission performance of application data is improved, and the network access security is ensured.
In this embodiment, as shown in fig. 1, a dynamic network access method for a WAIC network access device based on a preconfigured network topology includes the following steps:
s1, establishing a network topology structure containing a plurality of nodes according to the requirement, and configuring network topology information.
In this step, the network topology is pre-configured to determine network topology information, for example: the method comprises the steps of presetting identities (also called roles, such as a gateway node G, a relay node R and a terminal node E) of all nodes of a network topology structure, presetting the adjacent nodes of all nodes and the relationship between the adjacent nodes (such as a parent-child relationship or a brother relationship, also called a superior-subordinate relationship or a peer relationship), presetting the hierarchy (a first level, a second level, … … and a final level) of all nodes and communication links with other adjacent nodes.
And S2, after the equipment is powered on, initializing the network access management information of each node based on the preconfigured network topology information, and loading the initialization information to each node.
In this step, since the neighboring nodes that establish communication links with each node in the preconfigured network topology information are preset in advance and need to be connected, the initialization information at least includes the neighboring nodes that establish communication links with each node.
In this step, after the device is powered on, each node needs to be initialized, and the network topology information preconfigured in step S1 is loaded into each node respectively. The gateway node is used as a root node for WAIC network centralized management, and local network access management information is initialized according to complete configuration network topology information; and the relay node and the terminal node initialize local network access information according to the configured network topology information, the role information and the identification information of each node and the pre-configured adjacent node information.
Further, the initialization information of the node includes, in addition to the neighboring nodes that establish communication links with the nodes, role information of the node in the network topology (whether it is a gateway node G, a relay node R, or a terminal node E), a relationship between the node and the neighboring nodes that establish communication links with the node (whether it is a superior-inferior relationship or a peer-level relationship), a pre-configured neighboring node table that establishes communication links with the node, and a data link communication table.
S3, scanning the adjacent nodes in the working range of each node based on the Polling frame and the Polling response frame, and establishing an adjacent node record table of each node according to the scanning result.
Wherein, the neighbor node record table at least comprises neighbor nodes establishing communication links with the nodes.
In this embodiment, when the device is powered on, because some nodes are not working or abnormal, in one scan, the case that the neighboring nodes are not scanned out due to incomplete scanning may occur, therefore, in this embodiment, the neighboring node record table of each node is established according to a periodic scanning manner, since the step only scans the adjacent nodes of the node and does not judge the adjacent nodes, but the adjacent nodes establishing communication link connection with the node are clear during initialization and need to be connected during network access connection, each node periodically scans for neighbor nodes, it must be ensured that all neighbor nodes in the pre-configuration that establish a communication link with the neighbor node are scanned, i.e. the neighbor node record table needs to be updated continuously until at least the neighbor node preconfigured in step S1 and establishing a communication link with the node is included in the neighbor node record table.
More specifically, referring to fig. 3, the periodically scanning the neighbor nodes to establish the neighbor node record table includes the following steps:
s301, judging whether the scanning is periodic scanning, if so, entering a step S302, and if not, ending the scanning of the adjacent nodes;
s302, inquiring and judging whether a Polling frame is received, if so, entering a step S303, and if not, entering a step S304;
s303, analyzing the Polling frame and acquiring the information of the neighbor node, and judging whether the neighbor node is recorded in a neighbor node recording table, if so, entering a step S304, otherwise, entering a step S305; s304, adding the discovered neighbor nodes into a neighbor node record table, sending Polling response frames to the neighbor nodes, and modifying the number of the recorded neighbor nodes;
s305, reading the number of the adjacent nodes, comparing the number with the preset adjacent nodes, judging whether all the adjacent nodes are found, if so, ending the scanning in the period, and if not, turning to S306;
s306, organizing and sending a Polling frame;
s307, judging whether a Polling response frame is received or not;
if not, judging whether corresponding ultrasound exists or not, if the response is overtime, ending the adjacent node scanning, and if the response is not overtime, continuously judging whether a Polling response frame is received or not;
if the Polling response frame is received, the process goes to step S308;
s308, analyzing the Polling response frame and acquiring the neighbor node information, judging whether the neighbor node is added into the neighbor node record table or not, if so, ending the scanning, if not, adding the Polling response frame into the neighbor node record table and marking the scanning, and meanwhile, ending the scanning of the period.
In this step, when scanning is performed within the working range of the node, all neighboring nodes having the same working frequency band as that of the node may be scanned, so that the neighboring node record table includes, in addition to the neighboring node which is preconfigured in step S1 and establishes a communication link with the node, an undefined neighboring node in the network topology information, and a defined neighboring node in the network topology information but without a connection relationship of the communication link.
And S4, based on the initialization information of each node, identifying the identities of all the adjacent nodes in the adjacent node record list and marking the identification states.
Since the step S3 only scans the neighboring nodes and does not determine them, the scanned neighboring nodes need to be identified and labeled to provide a basis for network access connection in the subsequent step S5, and therefore, in this step, the identities of all neighboring nodes in the neighboring node record table of each node are identified and labeled.
The identification of the neighboring node includes determining the identity of the neighboring node (i.e., whether the neighboring node is a gateway node G, a relay node R, or a terminal node E), the connection relationship between the neighboring node and the communication link of the node (whether there is a connection or no connection), and the number of network cascade layers of the node (first, second, … …, last). The labels of the adjacent nodes comprise illegal nodes, connectionless nodes and identified nodes, wherein the illegal nodes refer to undefined nodes in the configuration network topology information of the WAIC network, the connectionless nodes refer to nodes which are defined in the configuration network topology information of the WAIC network but do not establish a communication link connection relation with the nodes, and the identified nodes refer to nodes which are defined in the configuration network topology information of the WAIC network and establish a communication link connection relation with the nodes.
The method comprises the following steps of scanning all neighbor node identities in a neighbor node record table, and identifying and marking the identities of all the neighbor nodes, wherein the adjacent node identities are scanned in the neighbor node record table and comprise the following steps:
s401, identifying all adjacent nodes in an adjacent node record table according to the initialization information loaded by the nodes;
s402, judging whether the adjacent node is a network node pre-configured in the node initialization information, if so, entering a step S403, and otherwise, marking the identity recognition state of the adjacent node as an illegal node in an adjacent node record table;
s403, judging whether the connection relation between the adjacent node and the node is consistent with the relation defined by the configured network topology, if so, entering the step S404, and if not, marking the identification state of the adjacent node as a connectionless node in an adjacent node record table;
s404, marking the identity recognition state of the adjacent node as a recognized node in the adjacent node record table; confirming the hierarchical relation of the node in the WAIC network based on the preconfigured network topology information and the identification information of the node; in the WAIC network, setting an identity authentication passing mark of the node;
s405, repeating the steps S401 to S404, and marking the new neighbor nodes which are scanned in the step S3 and are added into the neighbor node record table and are not in the identification state.
The specific process of identifying and labeling the identities of all the neighboring nodes scanned in the neighboring node record table is shown in fig. 4.
It should be noted that, when the neighboring node is marked as a connectionless node or an illegal node, the network access management of the illegal node may be terminated in advance, and the connectionless node is prohibited from entering the subsequent data link management process.
And S5, performing data link network access based on the Connect frame and the Connect response frame, and connecting nodes in network topology information pre-configured in a network topology structure to complete dynamic network access of the WAIC network access equipment.
The network access process of all nodes defined in the WAIC network comprises the following steps:
s501, establishing a hierarchical relationship of each node in a network topology structure;
s502, sequentially sending Connect frames according to the number of the layers from small to large;
s503, establishing a hierarchical data link diagram of the network topology structure according to a management mechanism of a Connect response frame fed back from large to small according to the number of hierarchies.
The specific process of all the nodes defined in the WAIC network for network entry is shown in fig. 5.
Through periodic iteration and hierarchy progression, a complete data link topological graph of the WAIC network can be finally established at the gateway node, and support is provided for centralized WAIC network management.
By designing the dynamic network access method of the WAIC network access equipment, each node in the network topology structure is preconfigured before network access to form preconfigured network topology information, so that subsequent scanning, identification, marking and network access connection can be performed according to the preconfigured network topology information, undefined adjacent nodes in the network topology information and adjacent nodes defined in the network topology information but having no communication link connection relation can be prevented from network access, intrusion of hidden nodes (namely illegal nodes and connectionless nodes) is effectively prevented, reliable transmission of application data is improved, and network access safety is ensured.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. A dynamic network access method of WAIC network access equipment based on preconfigured network topology is characterized in that: the method comprises the following steps:
s1, establishing a network topology structure containing a plurality of nodes according to the requirement, and configuring network topology information:
s2, after the equipment is powered on, initializing the network access management information of each node based on the preconfigured network topology information, and loading the initialization information to each node; the initialization information at least comprises adjacent nodes establishing communication links with the nodes;
s3, scanning the neighboring nodes in the working range of each node based on the Polling frame and the Polling response frame, and establishing a neighboring node record table of each node according to the scanning result; wherein, the adjacent node record list at least comprises the adjacent node establishing communication link with the node;
s4, based on the initialization information of each node, carrying out identity recognition on all adjacent nodes in the adjacent node record list and marking recognition states;
and S5, performing data link based on the Connect frame and the Connect response frame, connecting nodes in network topology information pre-configured in the network topology structure, and completing dynamic network access of the WAIC network access equipment.
2. The dynamic network entry method for the WAIC network access device of claim 1, wherein: in step S1, the nodes in the network topology structure include a gateway node, a relay node, and a terminal node;
the gateway node is a root node of the WAIC network centralized management and is used for establishing a communication link with at least one of the relay node and the terminal node;
the relay node is an intermediate node of the WAIC network and is used for establishing communication link connection with one or more of a gateway node, other relay nodes and a terminal node;
the terminal node is an end node of the WAIC network, establishes communication link connection with the gateway node or the relay node, establishes connection with the application layer interface equipment, and provides data transceiving control for the application layer interface equipment.
3. The dynamic network entry method for the WAIC network access device of claim 2, wherein: in step S2, in the initialization process of each node, the gateway node serves as a root node for WAIC network centralized management, and initializes local network access management information according to complete configuration network topology information;
and the relay node and the terminal node initialize local network access information according to the configured network topology information, the role information and the identification information of each node and the pre-configured adjacent node information.
4. The dynamic network access method of the WAIC network access equipment according to any one of claims 1 to 3, characterized in that: in step S2, the initialization information of the node further includes role information of the node in the network topology, a relationship between the node and a neighboring node establishing a communication link with the node, a pre-configured neighboring node table establishing a communication link with the node, and a data link communication table.
5. The dynamic network entry method for the WAIC network access device of claim 1, wherein: in step S3, the neighbor node record table of each node is established according to a periodic scanning manner, each node periodically scans neighbor nodes, and continuously updates the neighbor node record table until the neighbor node record table at least includes the neighbor nodes that are pre-configured in step S1 and establish communication links with the node.
6. The dynamic network entry method for the WAIC network access device of claim 5, wherein: the neighbor node record table also includes undefined neighbor nodes in the network topology information and defined neighbor nodes in the network topology information but without communication link connection relation.
7. The dynamic network entry method for the WAIC network access device of claim 1, wherein: in step S4, the identification of all neighboring nodes in the neighboring node record table of each node includes determining the identity of the neighboring node, the connection relationship between the neighboring node and the communication link of the node, and the level number of the network cascade of the node; the labels of the adjacent nodes comprise illegal nodes, connectionless nodes and identified nodes.
8. The dynamic network entry method for the WAIC network access device of claim 7, wherein: in step S4, the method for identifying and labeling all neighboring nodes scanned in the neighboring node record table includes the following steps:
s401, identifying all adjacent nodes in an adjacent node record table according to the initialization information loaded by the nodes;
s402, judging whether the adjacent node is a network node pre-configured in the node initialization information, if so, entering a step S403, and otherwise, marking the identity recognition state of the adjacent node as an illegal node in an adjacent node record table;
s403, judging whether the connection relation between the adjacent node and the node is consistent with the relation defined by the configured network topology, if so, entering the step S404, and if not, marking the identification state of the adjacent node as a connectionless node in an adjacent node record table;
s404, marking the identity recognition state of the adjacent node as a recognized node in the adjacent node record table; confirming the hierarchical relation of the node in the WAIC network based on the preconfigured network topology information and the identification information of the node; in the WAIC network, setting an identity authentication passing mark of the node;
s405, repeating the steps S401 to S404, and marking the new neighbor nodes which are scanned in the step S3 and are added into the neighbor node record table and are not in the identification state.
9. The dynamic network entry method for the WAIC network access device of claim 1, wherein: in step S5, the network access process includes the following steps:
s501, establishing a hierarchical relationship of each node in a network topology structure;
s502, sequentially sending Connect frames according to the number of the layers from small to large;
s503, establishing a hierarchical data link diagram of the network topology structure according to a management mechanism of a Connect response frame fed back from large to small according to the number of hierarchies.
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| CN116405389A (en) * | 2023-06-06 | 2023-07-07 | 井芯微电子技术(天津)有限公司 | Communication control method of rapidIO network |
| CN116405389B (en) * | 2023-06-06 | 2023-09-05 | 井芯微电子技术(天津)有限公司 | Communication control method of rapidIO network |
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