CN116887418B - Method, device and medium for scheduling high priority messages in EPA network - Google Patents
Method, device and medium for scheduling high priority messages in EPA network Download PDFInfo
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/12—Wireless traffic scheduling
- H04W72/1221—Wireless traffic scheduling based on age of data to be sent
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/50—Allocation or scheduling criteria for wireless resources
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- H04W72/566—Allocation or scheduling criteria for wireless resources based on priority criteria of the information or information source or recipient
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Abstract
The present disclosure relates to methods, apparatus, and media for scheduling high priority messages in EPA networks. The method comprises the following steps: the first node equipment in the EPA network encapsulates the high-priority message into a target high-priority data message and sends out a transmission task of the target high-priority data message; responding to the transmission task of the target high priority data message being initiated and the port of the first node device transmitting the data message of the cycle data message Wen Huofei, interrupting the transmission of the data message of the cycle currently executing or the transmission of the data message of the non-cycle data, so as to transmit the target high priority data message; and re-executing the interrupted data packet transmission or the non-data packet transmission in response to the completion of the target high priority data packet transmission. Therefore, the method and the device can at least reduce the processing response time of the high-priority message, meet the requirement of low transmission delay of the high-priority message, and at least avoid packet loss.
Description
Technical Field
The present disclosure relates generally to the field of communication technology, and in particular, to a method, apparatus, and storage medium for scheduling high priority messages in an EPA network.
Background
Industrial automation Ethernet (Ethernet for Plant Automation, abbreviated as EPA) is an open network communication platform that directly applies the mainstream technologies in the field of commercial computer communication such as Ethernet, TCP/IP, etc. to industrial field devices.
In the message scheduling scheme of the conventional EPA network, the minimum communication period is a macro period, the macro period is divided into a period and an aperiodic period, the node equipment in the EPA network transmits the periodic data messages related to the periodic message in the period, and transmits the aperiodic data messages related to the aperiodic message in the aperiodic period.
In the message scheduling scheme of a conventional EPA network, non-periodic data messages transmitted in non-periodic periods of one macrocycle essentially correspond to messages that are not delay-sensitive to transmission, processing response time based on event triggering in the previous macrocycle or macrocycles of the macrocycle. However, for high priority messages that are event trigger based sensitive to transmission delay, processing response time (e.g., require processing response time much less than the macrocycle), the message scheduling scheme of conventional EPA networks cannot meet the real-time requirements of the transmission.
In summary, the shortcomings of the message scheduling scheme of the conventional EPA network are: the real-time requirements of the transmission of high priority messages cannot be met.
Disclosure of Invention
In view of the above problems, the present disclosure provides a method, an apparatus, and a storage medium for scheduling a high-priority message in an EPA network, which can at least reduce the processing response time of the high-priority message, meet the requirement of low transmission delay of the high-priority message, and at least avoid packet loss.
According to a first aspect of the present disclosure there is provided a method of scheduling high priority messages in an EPA network, the method comprising: the first node equipment in the EPA network encapsulates the high-priority message into a target high-priority data message and sends out a transmission task of the target high-priority data message; responding to the transmission task of the target high priority data message being initiated and the port of the first node device transmitting the data message of the cycle data message Wen Huofei, interrupting the transmission of the data message of the cycle currently executing or the transmission of the data message of the non-cycle data, so as to transmit the target high priority data message; and re-executing the interrupted data packet transmission or the non-data packet transmission in response to the completion of the target high priority data packet transmission.
In some embodiments, the transmission task comprises a sending task, the method further comprising: in response to the high priority message being generated at the first node device, the first node device initiates a transmission task of the target high priority data message to transmit the target high priority data message via the port of the first node device.
In some embodiments, the transmission task comprises a forwarding task, the method further comprising: in response to the high priority message being received via a first one of the ports of the first node device, the first node device initiates a forwarding task for the target high priority data message to forward the target high priority data message via a second one of the ports of the first node device.
In some embodiments, the method further comprises: the first node equipment initiates a task for sending or forwarding a target high-priority data message; judging whether a port of the first node equipment is forwarding or transmitting a high-priority data message; if the port of the first node equipment is forwarding or transmitting the high-priority data message, waiting for the completion of forwarding or transmitting the high-priority data message; if the port of the first node equipment is not forwarding or transmitting the high priority data message, judging whether the port of the first node equipment is transmitting the data message Wen Huofei cycle data message; if the port of the first node device is not transmitting the data message of the data message Wen Huofei cycles, the target priority data message is started to be transmitted or forwarded.
In some embodiments, the method further comprises: the first node equipment initiates a task for sending a target cycle data message or a target non-cycle data message; judging whether the preset sending time of the target cycle data message or the target non-cycle data message is reached; if the preset sending time of the target cycle data message or the target non-cycle data message is reached, starting to send the target cycle data message or the target non-cycle data message; if the preset sending time of the target cycle data message or the target non-cycle data message is not reached, judging whether to forward an invalid message and a high priority data message; if the invalid message and the high priority data message are forwarded, calculating the time length occupied by the invalid message and the time length occupied by the high priority data message, and updating the preset sending time of the target data message or the target non-cycle data message based on the calculated time length occupied by the invalid message and the calculated time length occupied by the high priority data message.
In some embodiments, the method further comprises: responding to the starting of sending the target cycle data message or the target non-cycle data message, and judging whether the sending of the target cycle data message or the target non-cycle data message is completed or not; if the target cycle data message or the target non-cycle data message is not transmitted, judging whether to request to transmit or forward the high-priority data message; if the request is sent or forwarded to the high priority data message, the transmission of the target data message with the number of periods or the target data message with the number of non-periods is interrupted to start to send or forward the high priority data message; judging whether the high-priority data message is sent or forwarded; and if the high-priority data message is sent or forwarded, retransmitting the target cycle data message or the target non-cycle data message.
In some embodiments, the method further comprises: the second node equipment monitors an invalid message and a target high priority data message transmitted by the first node equipment, and calculates the time length occupied by the invalid message and the time length occupied by the target high priority data message; and updating the scheduled sending time of the data message Wen Huofei cycles of the data message corresponding to the second node device based on the calculated time length occupied by the invalid message and the calculated time length occupied by the high priority data message.
In some embodiments, a period of elasticity is included between adjacent macrocycles.
According to a second aspect of the present disclosure there is also provided a node device in an EPA network, the node device comprising: the high-priority message encapsulation module is configured to encapsulate the high-priority message into a target high-priority data message and send out a transmission task of the target high-priority data message; a port configured to transmit and receive data; and a scheduling module configured to interrupt the currently executing cycle data message transmission or the non-cycle data message transmission in response to the transmission task of the target high priority data message being initiated and the port transmitting the cycle data message Wen Huofei, to schedule the node device to transmit the target high priority data message, and to schedule the node device to re-execute the interrupted cycle data message transmission or the non-cycle data message transmission in response to the target high priority data message transmission being completed.
In some embodiments, the node device further comprises: the periodic message encapsulation module is configured to encapsulate the periodic message into a target periodic data message and initiate a transmission task of the target periodic data message; and the non-periodic message encapsulation module is configured to encapsulate the non-periodic message into a target non-periodic data message and initiate a transmission task of the target non-periodic data message.
According to a third aspect of the present disclosure, there is also provided a computing device comprising: at least one processor; and at least one memory coupled to the at least one processor and storing instructions for execution by the at least one processor, the instructions when executed by the at least one processor cause the computing device to perform the method according to the first aspect of the present disclosure.
According to a fourth aspect of the present disclosure, there is also provided a computer readable storage medium having stored thereon computer program code which, when executed, performs the method according to the first aspect of the present disclosure.
The summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the disclosure, nor is it intended to be used to limit the scope of the disclosure.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present disclosure, and other drawings may be obtained according to the provided drawings without inventive effort to those of ordinary skill in the art.
Fig. 1 illustrates a block diagram of a node device in an EPA network in accordance with an embodiment of the present disclosure.
Fig. 2 illustrates a flow chart of a method of scheduling high priority messages in an EPA network in accordance with an embodiment of the present disclosure.
Fig. 3 illustrates a flow chart of a method of sending or forwarding high priority data messages according to an embodiment of the present disclosure.
Fig. 4 illustrates a flow chart of a method of sending a cycle data message Wen Huofei cycle data message in accordance with an embodiment of the present disclosure.
Fig. 5A illustrates a schematic diagram of an EPA network in accordance with an embodiment of the present disclosure.
Fig. 5B illustrates a schematic diagram of scheduling of a data packet for a cycle of a node device in the EPA network shown in fig. 5A.
Fig. 5C illustrates a schematic diagram of the scheduling of high priority data messages for node devices in the EPA network shown in fig. 5A.
Fig. 5D illustrates a simplified schematic diagram of the partial schedule of fig. 5B.
Fig. 5E illustrates a simplified schematic diagram of the partial schedule of fig. 5C.
Fig. 6 illustrates a schematic diagram of a communication cycle of an EPA network in accordance with an embodiment of the present disclosure.
Fig. 7 illustrates a block diagram of an exemplary electronic device for implementing embodiments of the present disclosure.
Detailed Description
As described above, the message scheduling scheme of the conventional EPA network cannot meet the real-time requirement of transmission of high priority messages.
To at least partially address one or more of the above-mentioned problems, as well as other potential problems, the present disclosure proposes a solution for scheduling high priority messages in an EPA network. In the technical scheme of the disclosure, a first node device in an EPA network encapsulates a high priority message into a target high priority data message, and sends out a transmission task of the target high priority data message, and the transmission task of the target high priority data message is initiated and a port of the first node device interrupts the transmission of the currently executing cycle data message or the transmission of a non-cycle data message in the transmission cycle data message Wen Huofei so as to transmit the target high priority data message, so that at least node devices in the EPA network can timely transmit the high priority message, the response time of processing the high priority message is reduced, and the requirement of low transmission delay of the high priority message is met; and, by re-executing the interrupted cycle data message transmission or the non-cycle data message transmission in response to the completion of the target high priority data message transmission, at least packet loss can be avoided.
Further, in the embodiment of the present disclosure, the transmission task may include at least a sending task and a forwarding task, and the minimum unit of scheduling is a port of the node device, so that, in addition to enabling the scheduling processing of local data at the node device, the scheduling processing of forwarding data at the node device can be at least enabled, so that the method has strong adaptability, for example, may adapt to an EPA network of a ring-type, star-type, tree-type and composite network topology thereof.
Further, in the embodiment of the present disclosure, if the predetermined sending time of the target periodic data packet or the target non-periodic data packet is not reached, whether to forward the invalid packet and the high priority data packet is determined, if the invalid packet and the high priority data packet are forwarded, the time length occupied by the invalid packet and the time length occupied by the high priority data packet are calculated, and the predetermined sending time of the target periodic data packet or the target non-periodic data packet is updated based on the calculated time length occupied by the invalid packet and the calculated time length occupied by the high priority data packet, where the first node device can accurately adjust the predetermined sending time of the target periodic data packet or the target non-periodic data packet under the condition of forwarding the high priority message, and at least can further implement deterministic scheduling of the periodic data packet Wen Huofei under the condition of no packet loss.
Still further, in the embodiment of the present disclosure, by including an elastic period between adjacent macrocycles, at least when a node device in the EPA network triggers high priority data packet transmission, scheduling of the cycle data packet and scheduling of the non-cycle data packet are not affected, so as to implement deterministic scheduling of the cycle data packet Wen Yufei cycle data packet.
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments, and they should not be construed as limiting the scope of the present disclosure. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
Fig. 1 illustrates a block diagram of a node device 100 in an EPA network in accordance with an embodiment of the present disclosure. As shown in fig. 1, node device 100 includes a high priority message encapsulation module 122, a periodic message encapsulation module 124, an aperiodic message encapsulation module 126, a scheduling module 140, and a port 160.
Regarding the EPA network, it may include, for example, a plurality of node devices such as node device 100. For example, the plurality of node devices are arranged in a distributed manner, and the plurality of node devices may be connected in a ring type, star type, tree type, and complex type network topology thereof, etc., depending on the actual situation, to which the embodiments of the present disclosure are not limited
With respect to the high priority message encapsulation module 122, it is configured to encapsulate the high priority message into a high priority data message and initiate the transmission task of the high priority data message. For example, the high priority message encapsulation module 122 may be configured to request transmission of high priority data messages from the scheduling module 140. It should be noted that, in the embodiments of the present disclosure, a high priority message refers to a message that is sensitive to transmission delay, processing response time based on event triggering. For example, the processing response time of a high priority message requires less than one macrocycle of the EPA network. For example, the high priority messages may include emergency stop instructions, messages related to securing property life, and the like.
With respect to the periodic message encapsulation module 124, it is configured to encapsulate the periodic message into a periodic data message and initiate a transmission task of the periodic data message. For example, the periodic message encapsulation module 124 may be configured to request transmission of the periodic data messages from the scheduling module 140. It should be noted that, in the embodiments of the present disclosure, a periodic message refers to a message triggered at a fixed interval, such as a function block execution instruction, a function block periodic sampling data, or the like.
With respect to the aperiodic message encapsulation module 126, it is configured to encapsulate the aperiodic message into an aperiodic data packet and initiate a task of transmitting the aperiodic data packet. For example, the aperiodic message encapsulation module 126 can be configured to request transmission of an aperiodic data packet from the scheduling module 140. It should be noted that, in the embodiments of the present disclosure, an aperiodic message refers to a message that is insensitive to transmission delay and processing response time based on event triggering. For example, the processing response time of the non-periodic message may be greater than one macrocycle of the EPA network. For example, the aperiodic message includes a message related to device configuration, fault diagnosis, operation state.
For example, high priority message encapsulation module 122, periodic message encapsulation module 124, and aperiodic message encapsulation module 126 may be implemented via software, hardware, or firmware, as embodiments of the present disclosure are not limited in this regard.
It should be noted that, in the embodiment of the present disclosure, the specific process of encapsulating the message by the high priority message encapsulation module 122, the periodic message encapsulation module 124, and the non-periodic message encapsulation module 126, and the specific format of the data into which the message is encapsulated may all depend on the situation, and the embodiment of the present disclosure is not limited thereto.
With respect to the scheduling module 140, it may be used to perform scheduling management for sending and forwarding data messages of different types. For example, the scheduling module 140 may be configured to schedule and manage high priority data packets, periodic data packets, and non-periodic data packets that the node device 100 itself requests to send, so as to ensure deterministic transmission of different types of data packets. For example, the scheduling module 140 may be further configured to schedule and manage the forwarded high priority data packet to ensure that the forwarded high priority data packet responds quickly, and ensure that no packet loss occurs when the forwarded high priority data packet collides with a data packet (e.g., a high priority data packet, a cycle data packet, a non-cycle data packet) requested to be sent by the node device 100 itself.
For example, the scheduling module 140 may be configured to interrupt the transmission of the currently executing cycle data message or the transmission of the non-cycle data message to schedule the node device 100 to transmit the high priority data message in response to the transmission task of the high priority data message being initiated and the port 160 being transmitting the cycle data message Wen Huofei cycle data message; and is configured to schedule the node device 100 to re-perform the interrupted cycle data packet transmission or the non-cycle data packet transmission in response to the high priority data packet transmission being completed.
With respect to the port 160, it is configured to transmit and receive data. For example, port 160 may be configured to receive, send, and forward high priority data messages, to receive, send, and forward cycle data messages, and to receive, send, and forward non-cycle data messages. In the embodiment shown in fig. 1, the ports 160 include a first port 162 and a second port 164, which are only exemplary and not limiting of the present disclosure, the number of ports included in the ports 160 may depend on the actual situation.
It should be noted that node device 100 shown in fig. 1 may also include components not shown and/or components shown may be omitted, as the scope of the disclosure is not limited in this respect. For example, node device 100 may include a message encapsulation module (not shown) that includes high priority message encapsulation module 122, periodic message encapsulation module 124, and aperiodic message encapsulation module 126 shown in fig. 1. As another example, node device 100 may also include a data storage module (not shown) configured to store data related to message scheduling of node device 100.
It should be further noted that, the node device 100 may perform at least some of the steps of the methods 200, 300, and 400 described in connection with fig. 2, 3, 4, etc., which are not described herein.
Fig. 2 illustrates a flow chart of a method 200 of scheduling high priority messages in an EPA network in accordance with an embodiment of the present disclosure. For example, method 200 may be performed by node device 100 in the EPA network shown in FIG. 1, or by electronic device 700 shown in FIG. 7. It should be understood that method 200 may also include additional blocks not shown and/or that the blocks shown may be omitted, the scope of the disclosure being not limited in this respect.
In step 202, a first node device in the EPA network encapsulates a high priority message into a target high priority data message and initiates a transmission task for the target high priority data message.
Regarding the EPA network in which a plurality of node devices are distributed and arranged, and the plurality of node devices may be connected in a ring type, star type, tree type, and complex type network topology thereof, etc., depending on the actual situation, the embodiment of the present disclosure is not limited thereto
With respect to a first node device, it refers to any one of a plurality of node devices in an EPA network. For example, the first node device is the node device 100 described in connection with fig. 1.
With respect to high priority messages, which refer to messages that are sensitive to transmission delay, processing response time based on event triggering, as described in the embodiment described in connection with fig. 1. For example, the processing response time of a high priority message requires less than one macrocycle of the EPA network. For example, in the case of a macrocycle of 1ms, a high priority message requires transmission from one node device to another node device in the EPA network within 50 us.
It should be noted that, in the embodiments of the present disclosure, the description "object" is added before the high priority data packet and the later mentioned cycle data packet and non-cycle data packet, which is only intended to illustrate that the high priority data packet, cycle data packet and non-cycle data packet are mainly discussed or need to be focused in the described related process, and not the limitation of the high priority data packet, cycle data packet and non-cycle data packet.
With respect to high priority data messages, it refers to the corresponding data messages into which the high priority messages are encapsulated. It should be noted that the specific format of the high priority data packet may depend on the actual situation, and the embodiments of the present disclosure are not limited thereto.
As for the transmission task, it includes, for example, a send task and a forward task. For example, in the case where the transmission task is a transmission task, the first node device initiates a transmission task of the target high priority data message to transmit the target high priority data message via a port of the first node device in response to the high priority message being generated at the first node device. For another example, in the case where the transmission task is a forwarding task, the first node device initiates a forwarding task of the target high priority data message to forward the target high priority data message via a second one of the ports of the first node device (e.g., the second port 164 of the node device 100) in response to the high priority message being received via a first one of the ports of the first node device (e.g., the first port 162 of the node device 100).
In step 204, in response to the transmission task of the target high priority data packet being initiated and the port of the first node device being transmitting the data packet Wen Huofei for the cycle data packet, the currently executing cycle data packet transmission or the non-cycle data packet transmission is interrupted to transmit the target high priority data packet.
Regarding interrupting the currently executing cycle data message transmission or non-cycle data message transmission, an invalid message is generated, where the invalid message refers to a part of the cycle data message Wen Huofei cycle data message that has been transmitted before the cycle data message transmission or the non-cycle data message transmission is interrupted. For example, the invalidation message may refer to the embodiments described later in connection with fig. 5A-5E.
It should be noted that the processes described in the steps 202 and 204 may refer to the embodiment described in the following description with reference to fig. 3, which is not described herein.
In step 206, responsive to the target high priority data packet transfer being completed, the interrupted cycle data packet transfer or the non-cycle data packet transfer is re-executed.
With respect to re-executing interrupted transmission of the cycle data message or non-cycle data message, it refers to retransmitting the whole of the cycle data message Wen Huofei instead of only transmitting the rest of the cycle data message Wen Huofei except for the invalid message. For example, reference may be made to the embodiments described later in connection with fig. 5A-5E, which are not repeated here.
In the embodiment of the disclosure, encapsulating, by a first node device in an EPA network, a high priority message into a target high priority data message, and issuing a transmission task of the target high priority data message, and in response to the transmission task of the target high priority data message being initiated and the port of the first node device being transmitting a data message of the number of cycles Wen Huofei, interrupting the transmission of the data message currently being executed or the transmission of a non-data message of the number of cycles to transmit the target high priority data message, at least so that the node device in the EPA network can timely transmit the high priority message, thereby reducing the high priority message processing response time and meeting the requirement of low transmission delay of the high priority message; in addition, in the embodiment of the disclosure, packet loss can be at least avoided by re-executing the interrupted cycle data packet transmission or the non-cycle data packet transmission in response to the completion of the target high priority data packet transmission.
In addition, in the embodiment of the present disclosure, the transmission task may include at least a sending task and a forwarding task, and the minimum unit of scheduling is a port of the node device, so that, in addition to enabling the scheduling processing of local data at the node device, the scheduling processing of forwarding data at the node device can be at least enabled, so that the method has strong adaptability, for example, may adapt to an EPA network of a ring-type, star-type, tree-type and composite network topology thereof.
Fig. 3 illustrates a flow chart of a method 300 of sending or forwarding high priority data messages according to an embodiment of the present disclosure. For example, method 300 may be performed by node device 100 in the EPA network shown in FIG. 1, or by electronic device 700 shown in FIG. 7. It should be understood that method 300 may also include additional blocks not shown and/or that the blocks shown may be omitted, the scope of the disclosure being not limited in this respect.
In step 302, the first node device initiates a send or forward task of the target high priority data message and proceeds to step 304.
In step 304, it is determined whether the port of the first node device is forwarding or sending a high priority data packet. If the port of the first node equipment is forwarding or transmitting the high-priority data message, waiting for the completion of forwarding or transmitting the high-priority data message; if the port of the first node device is not forwarding or sending a high priority data message, proceed to step 306.
For example, in the case that the first node device initiates a task for sending a target high priority data packet, it is determined whether the port of the first node device is forwarding the high priority data packet. For another example, in the case that the first node device initiates a forwarding task of the target high priority data packet, it is determined whether the port of the first node device is sending the high priority data packet.
In step 306, it is determined whether the port of the first node device is sending a data packet Wen Huofei, and if the port of the first node device is sending a data packet Wen Huofei, proceed to step 308; if the port of the first node device is not sending the data packet Wen Huofei, the step is skipped to step 310.
In step 308, the currently executing data packet transmission is interrupted, or the data packet transmission is not interrupted, and the process proceeds to step 310.
For example, if the port of the first node device is sending a cycle data packet, the currently executing cycle data packet transmission is interrupted. For another example, if the port of the first node device is sending a non-periodic data packet, the currently executing non-periodic data packet transmission is interrupted.
At step 310, sending or forwarding of the target priority data message begins.
For example, in the case where the first node device initiates a transmission task of the target high priority data packet, the transmission of the target high priority data packet is started. For another example, in the case that the first node device initiates a forwarding task of the target high priority data packet, forwarding of the target high priority data packet is started.
For example, the above-described step 302 may be performed by the high priority message encapsulation module 122 of the node device 100, and the relevant scheduling referred to by the above-described steps 304 to 310 may be performed by the scheduling module 140 of the node device 100.
Fig. 4 illustrates a flow chart of a method 400 of sending a cycle data message Wen Huofei cycle data message in accordance with an embodiment of the present disclosure. For example, method 400 may be performed by node device 100 in the EPA network shown in FIG. 1, or by electronic device 700 shown in FIG. 7. It should be understood that method 400 may also include additional blocks not shown and/or that the blocks shown may be omitted, the scope of the disclosure being not limited in this respect.
In step 402, the first node device initiates a task of sending a target cycle data message or a target non-cycle data message, and proceeds to step 404.
In step 404, it is determined whether the predetermined transmission time of the target cycle data packet or the target non-cycle data packet is reached, and if the predetermined transmission time of the target cycle data packet or the target non-cycle data packet is reached, the process proceeds to step 410; if the predetermined transmission time of the target cycle data message or the target non-cycle data message is not reached, the process proceeds to step 406.
In step 406, it is determined whether to forward the invalid message and the high priority data message, and if so, the process proceeds to step 408; if the invalid message and the high priority data message are not forwarded, the process returns to step 404.
In step 408, the time length occupied by the invalid message and the time length occupied by the high priority data message are calculated, and the predetermined sending time of the target data message with cycle number or the target data message with non cycle number is updated based on the calculated time length occupied by the invalid message and the calculated time length occupied by the high priority data message, and the process returns to step 404.
For example, the delay time is obtained based on the time length occupied by the invalid message, the time length occupied by the high priority data message, the time interval between the data messages (the time interval is usually a fixed value known to the node device), and the predetermined transmission time of the target cycle number data message or the target non-cycle number data message is delayed by the delay time. For example, reference may be made to the embodiments described later in connection with fig. 5A-5E, which are not repeated here.
In step 410, a target cycle data message or a target non-cycle data message is started to be sent, and the process proceeds to step 412.
In step 412, it is determined whether the transmission of the target cycle data message or the target non-cycle data message is completed, and if the transmission of the target cycle data message or the target non-cycle data message is not completed, the process proceeds to step 414; if the sending of the target cycle data message or the target non-cycle data message is completed, the flow of the method 400 is ended.
In step 414, it is determined whether to request to send or forward the high priority data packet, and if so, proceed to step 416; if a high priority data message is not requested to be sent or forwarded, the process returns to step 412.
In step 416, the transmission of the target cycle data message or the target non-cycle data message is interrupted to start the transmission or forwarding of the high priority data message, and the process proceeds to step 418.
At step 418, a determination is made as to whether sending or forwarding of the high priority data packet is complete. If the sending or forwarding of the high priority data message is completed, proceeding to step 420; if the high priority data message is not sent or forwarded, then proceed to step 418.
In step 420, the target cycle data message or the target non-cycle data message is retransmitted and returned to step 412.
For example, step 402 may be performed by periodic message encapsulation module 124 or aperiodic message encapsulation module 126 of node device 100, and the associated schedule referred to by steps 404 through 420 may be performed by scheduling module 140 of node device 100.
In the embodiment described in connection with fig. 4, if the predetermined sending time of the target periodic data packet or the target non-periodic data packet is not reached, determining whether to forward the invalid packet and the high priority data packet, if the invalid packet and the high priority data packet are forwarded, calculating the time length occupied by the invalid packet and the time length occupied by the high priority data packet, and updating the predetermined sending time of the target periodic data packet or the target non-periodic data packet based on the calculated time length occupied by the invalid packet and the calculated time length occupied by the high priority data packet, where the first node device can accurately adjust the predetermined sending time of the target periodic data packet or the target non-periodic data packet under the condition of forwarding the high priority message, and at least can further implement deterministic scheduling of the periodic data packet Wen Huofei under the condition of no packet loss.
It should be noted that the embodiments described above in connection with fig. 2 to 4 are only exemplary, and the first node device is taken as an example, and other node devices in the EPA network may also perform the above-described methods 200, 300 and 400.
For example, the second node device is a node device in the EPA network, which is different from the first node device, and monitors the invalid message and the target high priority data message transmitted by the first node device, and calculates the time length occupied by the invalid message and the time length occupied by the target high priority data message; and updating the scheduled sending time of the data message Wen Huofei cycles of the data message corresponding to the second node device based on the calculated time length occupied by the invalid message and the calculated time length occupied by the high priority data message. For example, reference may be made to the embodiments described below in connection with fig. 5A-5E.
Fig. 5A illustrates a schematic diagram of an EPA network in accordance with an embodiment of the present disclosure. Fig. 5B illustrates a schematic diagram of scheduling of a data packet for a cycle of a node device in the EPA network shown in fig. 5A. Fig. 5C illustrates a schematic diagram of the scheduling of high priority data messages for node devices in the EPA network shown in fig. 5A. Fig. 5D illustrates a simplified schematic diagram of the partial schedule of fig. 5B. Fig. 5E illustrates a simplified schematic diagram of the partial schedule of fig. 5C.
As shown in FIG. 5A, EPA network includes node device 500-1, node device 500-2, node device 500-3, and node device 500-4, node device 500-1, node device 500-2, node device 500-3, and node device 500-4 each including port A and port B. In the example shown in FIG. 5A, node device 500-1, node device 500-2, node device 500-3, and node device 500-4 are connected in a ring network topology. The node device 500-1, the node device 500-2, the node device 500-3, and the node device 500-4 in the EPA network shown in FIG. 5A transmit data messages in a clockwise order, for example, from the port A of the node device 500-1 to the port B of the node device 500-2, to the port A of the node device 500-2, to the port B of the node device 500-3, to the port A of the node device 500-3, to the port B of the node device 500-4, to the port A of the node device 500-4, and to the port B of the node device 500-1.
As shown in fig. 5B, in the period, the node device 500-1, the node device 500-2, the node device 500-3, and the node device 500-4 respectively transmit the respective corresponding cycle data messages in different time slices. For example, in the first time slice 510 of the periodic period, port A of node device 500-1 sends a periodic data message corresponding to node device 500-1, which is to be transmitted in clockwise order in the EPA network. For example, in the second time slice 520 of the periodic period, port A of node device 500-2 sends a periodic data message corresponding to node device 500-2, which is to be transmitted in clockwise order in the EPA network. For example, in the third time slice 530 of the periodic period, port A of node device 500-3 sends the periodic data messages corresponding to node device 500-3, which are to be transmitted in clockwise order in the EPA network. For example, in the fourth time slice 540 of the periodic period, port A of node device 500-4 sends the periodic data messages corresponding to node device 500-4, which are to be transmitted in clockwise order in the EPA network.
As shown in fig. 5C, the node device 500-2 triggers the sending of the high priority data packet during the sending of the cycle data packet corresponding to the second time slice 520, and the node device 500-2 first interrupts the sending of the cycle data packet currently being executed, and generates an invalid packet during the interrupt sending; the node device 500-2 immediately starts to send the high priority data message after the interruption; after completing the transmission of the high priority data packet, the node device 500-2 re-executes the interrupted transmission of the cycle data packet. The invalidation messages, high priority data messages and the resent cycle data messages will be transmitted in clockwise order in the EPA network. For example, node device 500-3 and node device 500-4 may monitor, respectively, the invalid message sent by node device 500-2, the high priority data message, and the cycle data message retransmitted by node device 500-2; the following may be added separately to obtain the delay time t1: the time length occupied by the invalid message sent by the node device 500-2, the time interval between the invalid message sent by the node device 500-2 and the high priority data message sent by the node device 500-2, the time length occupied by the high priority data message sent by the node device 500-2, the time interval between the high priority data message sent by the node device 500-2 and the cycle data message retransmitted by the node device 500-2; and the predetermined transmission times of the respective corresponding cycle number data messages may be respectively delayed by the delay time t1, for example, refer to fig. 5E.
As shown in fig. 5D, the simplified schematic diagram illustrates a cycle data packet corresponding to itself sent by the node device 500-1 in the first time slice 510; the node device 500-2 sends its own corresponding cycle data message in the second time slice 520; the node device 500-3 sends the corresponding cycle data message in the third time slice 530 and the scheduled sending time T1; the node device 500-4 transmits its own corresponding cycle data message in the fourth time slice 540, and the predetermined transmission time T2.
As shown in fig. 5E, the simplified schematic diagram illustrates an invalid message, a high priority data message, and a retransmitted cycle data message that are transmitted in the case where the node device 500-2 triggered the high priority data message transmission; the node device 500-3 delays a predetermined transmission time T1 of the periodic data packet corresponding to itself to T1', where T1' =t1+t1; the node device 500-4 delays a predetermined transmission time T2 of the periodic data message corresponding to itself to T2', where T2' =t2+t1.
In embodiments of the present disclosure, a period of elasticity may be included between adjacent macrocycles of the EPA network. For example, fig. 6 illustrates a schematic diagram of a communication cycle of an EPA network in accordance with an embodiment of the present disclosure.
As shown in fig. 6, there is a period of elasticity 630 between the first macrocycle 610 and the second macrocycle 620, the first macrocycle 610 and the second macrocycle 620 being any adjacent macrocycles in the EPA network. For example, the length of the elastic period may be a predefined length. For another example, the elastic period may be configured according to the data amount of the high priority data packet in the first macrocycle 610.
In the embodiment of the disclosure, by including the elastic time period between adjacent macro periods, at least when the node device in the EPA network triggers the transmission of the high priority data message, the scheduling of the cycle data message and the scheduling of the non-cycle data message are not affected, so as to realize the deterministic scheduling of the cycle data message Wen Yufei.
Fig. 7 illustrates a block diagram of an exemplary electronic device 700 for implementing embodiments of the present disclosure. As shown, the electronic device 700 includes a Central Processing Unit (CPU) 702 that can perform various suitable actions and processes in accordance with computer program instructions stored in a Read Only Memory (ROM) 704 or loaded from a storage unit 716 into a Random Access Memory (RAM) 706. In the random access memory 706, various programs and data may also be stored as needed for the operation of the electronic device 700. The central processing unit 702, the read only memory 704 and the random access memory 706 are connected to each other by a bus 708. An input/output (I/O) interface 710 is also connected to the bus 708.
A number of components in the electronic device 700 are connected to the input/output interface 710, including: an input unit 712 such as a keyboard, mouse, microphone, etc.; an output unit 714, such as various types of displays, speakers, and the like; a storage unit 716, such as a magnetic disk, optical disk, etc.; and a communication unit 718, such as a network card, modem, wireless communication transceiver, etc. The communication unit 718 allows the electronic device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.
The various processes and treatments described above, such as method 200, method 300, and method 400, may be performed by central processing unit 702. For example, in some embodiments, the methods 200, 300, and 400 may be implemented as computer software programs tangibly embodied on a machine-readable medium, such as the storage unit 716. In some embodiments, some or all of the computer program may be loaded and/or installed onto electronic device 700 via read only memory 704 and/or communication unit 718. One or more of the acts of the methods 200, 300, and 400 described above may be performed when a computer program is loaded into the random access memory 706 and executed by the central processing unit 702.
The present disclosure relates to methods, apparatus, systems, electronic devices, computer readable storage media, and/or computer program products. The computer program product may include computer readable program instructions for performing various aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random access memories, read-only memories, erasable programmable read-only memories (EPROM or flash memories), static Random Access Memories (SRAM), portable compact disk read-only memories (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove protrusion structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge computing devices. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for performing the operations of the present disclosure can be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (12)
1. A method of scheduling high priority messages in an EPA network, the method comprising:
the first node equipment in the EPA network encapsulates the high-priority message into a target high-priority data message and sends out a transmission task of the target high-priority data message;
responding to the transmission task of the target high priority data message being initiated and the port of the first node device transmitting the data message Wen Huofei in the period of time, interrupting the transmission of the data message currently being executed in the period of time or the transmission of the non-period data message so as to transmit the target high priority data message; and
In response to completion of the targeted high priority data packet transmission, re-executing the interrupted cycle data packet transmission or non-cycle data packet transmission including re-transmitting the entirety of cycle data packet Wen Huofei cycle data packet;
under the condition that the first node equipment forwards the high-priority message, adjusting the preset sending time of the target periodic data message or the target non-periodic data message of the first node equipment so as to schedule the periodic data message Wen Huofei, wherein the method comprises the following steps:
calculating the time length occupied by the invalid message, the time length occupied by the high priority data message and the time interval between the data messages so as to acquire delay time, and updating the preset sending time of the target cycle data message or the target non-cycle data message based on the acquired delay time; the invalid message is a part of the data message Wen Huofei of the cycle data message transmitted before the transmission of the cycle data message or the transmission of the non-cycle data message is interrupted.
2. The method of claim 1, wherein the transmission task comprises a send task, the method further comprising:
in response to the high priority message being generated at the first node device, the first node device initiates a transmission task of a target high priority data message to transmit the target high priority data message via a port of the first node device.
3. The method of claim 1, wherein the transmission task comprises a forwarding task, the method further comprising:
in response to the high priority message being received via a first one of the ports of the first node device, the first node device initiates a forwarding task for a target high priority data message to forward the target high priority data message via a second one of the ports of the first node device.
4. The method according to claim 1, wherein the method further comprises:
the first node equipment initiates a task for sending or forwarding a target high-priority data message;
judging whether the port of the first node equipment is forwarding or sending a high-priority data message;
if the port of the first node equipment forwards or transmits the high-priority data message, waiting for the completion of forwarding or transmitting the high-priority data message;
if the port of the first node device is not forwarding or transmitting the high priority data message, judging whether the port of the first node device is transmitting a data message of Wen Huofei cycles;
and if the port of the first node equipment is not transmitting the cycle data message or the non-cycle data message, starting to transmit or forward the target high-priority data message.
5. The method according to claim 1, wherein the method further comprises:
the first node equipment initiates a task for sending a target cycle data message or a target non-cycle data message;
judging whether the preset sending time of the target cycle data message or the target non-cycle data message is reached;
if the preset sending time of the target cycle data message or the target non-cycle data message is reached, starting to send the target cycle data message or the target non-cycle data message;
if the preset sending time of the target cycle data message or the target non-cycle data message is not reached, judging whether to forward an invalid message and a high priority data message;
if the invalid message and the high priority data message are forwarded, calculating the time length occupied by the invalid message, the time length occupied by the high priority data message and the time interval between the data messages so as to acquire delay time, and updating the preset sending time of the target cycle data message or the target non-cycle data message based on the acquired delay time.
6. The method of claim 5, wherein the method further comprises:
Responding to the starting of sending the target cycle data message or the target non-cycle data message, and judging whether the sending of the target cycle data message or the target non-cycle data message is completed or not;
if the target cycle data message or the target non-cycle data message is not transmitted, judging whether to request to transmit or forward the high-priority data message;
if the request is sent or forwarded, interrupting sending the target cycle data message or the target non-cycle data message so as to start sending or forwarding the high-priority data message;
judging whether the high-priority data message is sent or forwarded;
and if the high-priority data message is sent or forwarded, retransmitting the target cycle data message or the target non-cycle data message.
7. The method according to claim 1, wherein the method further comprises:
the second node equipment monitors an invalid message and a target high priority data message transmitted by the first node equipment, and calculates the time length occupied by the invalid message and the time length occupied by the target high priority data message; and
Updating the scheduled sending time of the data message Wen Huofei cycles corresponding to the second node device based on the calculated time length occupied by the invalid message and the calculated time length occupied by the high priority data message.
8. The method of claim 1, wherein adjacent macrocycles include an elastic period therebetween.
9. A node device in an EPA network, the node device comprising:
the high-priority message encapsulation module is configured to encapsulate the high-priority message into a target high-priority data message and send out a transmission task of the target high-priority data message;
a port configured to transmit and receive data; and
the scheduling module is configured to respond to the fact that the transmission task of the target high priority data message is initiated and the port interrupts the transmission of the currently executing data message of the cycle or the transmission of the non-cycle data message in the cycle of transmitting the data message Wen Huofei of the cycle, so as to schedule the node equipment to transmit the target high priority data message; and being configured to schedule the node device to re-perform the interrupted cycle data message transmission or the non-cycle data message transmission including re-transmitting the entirety of cycle data messages Wen Huofei in response to the target high priority data message transmission being completed; under the condition that the first node equipment forwards the high-priority message, adjusting the preset sending time of the target periodic data message or the target non-periodic data message of the first node equipment so as to schedule the periodic data message Wen Huofei, wherein the method comprises the following steps:
Calculating the time length occupied by the invalid message, the time length occupied by the high priority data message and the time interval between the data messages so as to acquire delay time, and updating the preset sending time of the target cycle data message or the target non-cycle data message based on the acquired delay time; the invalid message is a part of the data message Wen Huofei of the cycle data message transmitted before the transmission of the cycle data message or the transmission of the non-cycle data message is interrupted.
10. The node device of claim 9, wherein the node device further comprises:
the periodic message encapsulation module is configured to encapsulate the periodic message into a target periodic data message and initiate a transmission task of the target periodic data message; and
and the non-periodic message encapsulation module is configured to encapsulate the non-periodic message into a target non-periodic data message and initiate a transmission task of the target non-periodic data message.
11. A computing device, comprising:
at least one processor; and
at least one memory coupled to the at least one processor and storing instructions for execution by the at least one processor, the instructions when executed by the at least one processor cause the computing device to perform the method of any one of claims 1 to 8.
12. A computer readable storage medium having stored thereon computer program code which, when executed, performs the method according to any of claims 1 to 8.
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