CN108199940A - A kind of verification method and system of joint of robot model of communication system - Google Patents
A kind of verification method and system of joint of robot model of communication system Download PDFInfo
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- CN108199940A CN108199940A CN201711427979.0A CN201711427979A CN108199940A CN 108199940 A CN108199940 A CN 108199940A CN 201711427979 A CN201711427979 A CN 201711427979A CN 108199940 A CN108199940 A CN 108199940A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40143—Bus networks involving priority mechanisms
- H04L12/4015—Bus networks involving priority mechanisms by scheduling the transmission of messages at the communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/14—Network analysis or design
- H04L41/145—Network analysis or design involving simulating, designing, planning or modelling of a network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/16—Threshold monitoring
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/50—Testing arrangements
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Abstract
The present invention relates to a kind of verification method and system of joint of robot model of communication system, the method includes：Modeling analysis is carried out to being based on CAN field bus types control system using formalization method, it wherein needs to carry out Model Abstraction to system, formal modeling and verification are carried out again, judge whether Timed Automata meets correctness and real-time, system schema is planned again if correctness is unsatisfactory for, if it is unsatisfactory for real-time, then real-time is promoted by disposing dynamic priority strategy, technical solution provided by the invention, by the way of formalized description settling time automaton model and in UPPAAL tools verification time automatic machine correctness and real-time, dynamic priority strategy is disposed if real-time constraints is unsatisfactory for.
Description
Technical field
The present invention relates to robot communication fields, and in particular to a kind of verification method of joint of robot model of communication system
And system.
Background technology
Robot application field is more and more extensive, has been not limited solely to industry, a large amount of to service due to the demand in market
Humanoid robot starts to be applied to medical treatment and family.Due to the complexity of robot communication system, high concurrent and to real-time
High demand ensures robot accurately and the expected action of completion in real time is extremely important, particularly in robot distributed node
Between information transmission in, communication delay must satisfy the demand of prescribed response time, otherwise by the stability for the system that influences or lead
Cause system fault, to burst.
It is communicated in CAN bus protocol specification with information static priority strategy, it can be with basic guarantee real-time, still
With in CAN bus node increase and raising to requirement of real-time, static priority strategy transmit between cannot meeting node
Delay requirement.
The verification of CAN bus agreement is concentrated mainly in the control system of electric vehicle at present, at these to CAN protocol
Verification method in mainly using the method for traditional test, simulation and emulation, however these three methods have it is certain
Limitation, it is impossible to all execution routes are covered, so verification result can be caused not perfect.Traditional test method is to design
Final stage build test platform by physical machine and carry out parameter setting and test, this method is needed in final stage ability
Carry out, and in test process parameter setting it is limited, cause test result inaccurate.Traditional simulation and emulation mode is main
It is to carry out environmental simulation action emulation using computer software, and then carry out communications analysis, but this method relies on hardware,
The parameter setting of offer is also limited, and it is not perfect to also result in verification result.
Invention content
The present invention provides a kind of verification method and system of joint of robot model of communication system, and its purpose is to set
Meter initial stage ensures the integrity of system design, avoids the loophole of design phase, and rigorous and system verification simultaneously analyzes CAN bus and exists
Correctness and real-time in robot communication, improve based on CAN bus joint of robot system communication it is correct with it is real-time
Property.
The purpose of the present invention is what is realized using following technical proposals：
A kind of method of the modeling and verification of joint of robot communication system, it is improved in that including：
Judge whether the Timed Automata model of the communication node in joint of robot communication system meets correctness constraint；
If being unsatisfactory for correctness constraint, the Timed Automata of communication node in joint of robot communication system is rebuild
Model；
If meeting correctness constraint, judge whether the Timed Automata model of communication node meets real-time constraint；
If meet real-time constraint, end operation；
If being unsatisfactory for real-time constraint, it is preferential that the data frame transfer original priority of the communication node is modified to highest
Grade, after the data frame transfer of the communication node, the priority of the data frame transfer of the communication node is reverted to this
The former priority of the data frame transfer of communication node；
The communication node utilizes CAN bus transmitting data frame.
Preferably, the Timed Automata model for rebuilding communication node in joint of robot communication system, including：
According to the operating status of communication node in robot node communication system, UPPAAL tools builds robot section is utilized
The Timed Automata model of communication node in point communication system.
Preferably, whether the Timed Automata model of the middle communication node for judging joint of robot system meets correctly
Property constraint, including：
When the Timed Automata model that the communication node is detected using UPPAAL tools meets all binding targets, then
The Timed Automata model meets correctness constraint；Otherwise, it is unsatisfactory for correctness constraint；
The binding target includes Timed Automata model in deadlock state, Timed Automata model do not lead in joint
Letter node can be properly received the control command state of master controller transmission, Timed Automata model is in the communication of different priorities
Node can be in the master controller feedback information state, Timed Automata model can not between inferior articular communication node
Communications status, Timed Automata model be in synchronization bus only there are one communication node transmission data mode, the time from
Motivation Model, which is in synchronization, has multiple communication node request transmission data states and Timed Automata model to be in high preferential
Grade node can obtain bus power state.
Preferably, whether the Timed Automata model for judging communication node meets real-time constraint, including：
The data frame transfer request arbitration that the Timed Automata model of the communication node is detected using UPPAAL tools is lost
Whether the number lost is more than threshold value, if so, real-time constraint is unsatisfactory for, if it is not, then meeting real-time constraint.
A kind of verification system of joint of robot model of communication system, which is characterized in that the system comprises：
First judging unit, the Timed Automata model for judging the communication node in joint of robot communication system are
It is no to meet correctness constraint；
If construction unit for being unsatisfactory for correctness constraint, rebuilds communication section in joint of robot communication system
The Timed Automata model of point；
Second judgment unit, if for meet correctness constraint, judge communication node Timed Automata model whether
Meet real-time constraint；
End unit, if for meeting real-time constraint, end operation；
If for being unsatisfactory for real-time constraint, the data frame transfer original priority of the communication node is repaiied for amending unit
Just it is highest priority, after the data frame transfer of the communication node, by the excellent of the data frame transfer of the communication node
The former priority of the first level restoration for the data frame transfer of the communication node；
The communication node utilizes CAN bus transmitting data frame.
Preferably, the construction unit, including：
For the operating status according to communication node in robot node communication system, UPPAAL tools build machines are utilized
The Timed Automata model of communication node in people's node communication system.
Preferably, first judging unit, including：
Judgment module, when the Timed Automata model that the communication node is detected using UPPAAL tools meets institute's Constrained
During index, then the Timed Automata model meets correctness constraint；Otherwise, it is unsatisfactory for correctness constraint；
Block of state, the binding target include Timed Automata model and are in not deadlock state, Timed Automata model
The control command state of master controller transmission can be properly received in joint communication node, Timed Automata model is in different excellent
The communication node of first grade can be in inferior articular communication section to the master controller feedback information state, Timed Automata model
Point between not communicable state, Timed Automata model be in synchronization bus only there are one communication node transmission data shape
State, Timed Automata model, which are in synchronization, to be had at multiple communication node request transmission data states and Timed Automata model
Bus power state can be obtained in priority node.
Preferably, the second judgment unit, including：
The data frame transfer request arbitration that the Timed Automata model of the communication node is detected using UPPAAL tools is lost
Whether the number lost is more than threshold value, if so, real-time constraint is unsatisfactory for, if it is not, then meeting real-time constraint.
Beneficial effects of the present invention：
Technical solution provided by the invention will be connected based on the robot system of CAN bus with model checking method,
Use form method carries out modeling analysis to the joint of robot system based on CAN bus, first carries out Model Abstraction to system,
Formal Modeling and automatic verification are carried out again, and master controller, joint control, transceiver, moderator are realized in UPPAAL
With the Timed Automata model of CAN bus, correctness and real-time finally are carried out to the joint of robot system based on CAN bus
Verification, as bus upper joint number of nodes increases, real-time reduces, therefore improved dynamic priority is added in formalized model
Grade strategy, can reduce the Arbitration Delay of low priority node, while can also increase the node load amount of CAN bus, to be
System design provides effective guidance and reference.
Description of the drawings
Fig. 1 is a kind of flow chart of joint of robot system communicating method based on CAN bus provided by the invention；
Fig. 2 is to formalize framework in embodiment provided by the invention；
Fig. 3 is master controller state diagram in embodiment provided by the invention；
Fig. 4 is joint control state diagram in embodiment provided by the invention；
Fig. 5 is the Timed Automata of master controller in embodiment provided by the invention；
Fig. 6 is the Timed Automata of joint control in embodiment provided by the invention；
Fig. 7 is the Timed Automata of transceiver in embodiment provided by the invention；
Fig. 8 is the Timed Automata of moderator in embodiment provided by the invention；
Fig. 9 is the Timed Automata of bus in embodiment provided by the invention；
Figure 10 is a kind of structural representation of joint of robot systems communication systems based on CAN bus provided by the invention
Figure.
Specific embodiment
It elaborates below in conjunction with the accompanying drawings to the specific embodiment of the present invention.
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The all other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In robot communication, servicing the task of humanoid robot has a requirement of concurrency and high real-time, therefore how
It is designed a model according to bus protocol specification and application demand essence, ensures the correctness and real-time of system design, avoid designing
The loophole in stage is just very necessary, for the limitation of traditional test, simulation and emulation mode, a kind of machine provided by the invention
The verification method of person joint's model of communication system, as shown in Figure 1, including：
Step 1：Judge whether the Timed Automata model of the communication node in joint of robot communication system meets correctly
Property constraint；
Step 2：If being unsatisfactory for correctness constraint, the time of communication node in joint of robot communication system is rebuild
Automaton model；
Step 3：If meeting correctness constraint, judge whether the Timed Automata model of communication node meets real-time about
Beam；
Step 4：If meet real-time constraint, end operation；
Step 5：If being unsatisfactory for real-time constraint, the data frame transfer original priority of the communication node is modified to highest
Priority, after the data frame transfer of the communication node, by the preferential level restoration of the data frame transfer of the communication node
The former priority of data frame transfer for the communication node；
The communication node utilizes CAN bus transmitting data frame.
For example, robot node communication system include master controller model, joint control model, transceiver model,
Moderator model and bus model.
According to the operating status of communication node in robot node communication system, UPPAAL tools builds robot section is utilized
The Timed Automata model of communication node in point communication system.
First, to the joint of robot system structure formalization framework based on CAN bus.According to CAN specifications, CAN sources generation
Code, robot control system real-time demand carry out the joint of robot system based on CAN bus abstract simplification, take out
Master controller model, joint control model, transceiver model, moderator model and bus model, according to practical communication process
Distinguishing hierarchy is carried out to this five models, is application program part by master controller model and joint control model partition, it will
Transceiver model and moderator model partition are Transceiver section, and bus is individually classified as bus portion.Application program part leads to
It crosses Transceiver section to send to bus portion or receive data, specific framework is as shown in Figure 2.According to the Static prioritization of CAN bus
Grade strategy distributes priority for each node.Entire frame system under from being described as：
System=Application ‖ Transceiver ‖ Bus；
Application=Master Controller ‖ Joint Controlleri∈N(i)；
Transceiver=Transceiverj∈N+1(j)‖Arbitrationj∈N+1(j)；
Wherein：‖ represents the parallel combined of model, and N represents the articulation nodes quantity mounted in bus, and N+1 is represented in bus
Node total number, i.e., including host node.
As shown in figure 3, master controller model needs to send control life to all joint controls in a controlling cycle
It enables, and the feedback information of joint control is received according to corresponding interrupt signal, prepare for next controlling cycle.Main control
Device model is set as Idle state (idle), sends state (sending), waits for and arbitrates state (wait_arb), all lives in controlling cycle
Transmission success state (trans_finish) is enabled, receives state (receiving), it can be by the mould according to networks of timed automatas semanteme
Type formalized description is：
(idle, []) ----count==0＆＆ack [i]==1----- → (sending, [])<writing(),i:
=0, Send_period:=0>
(sending,[])----sendMesg[id]！-----→(wait_arb,[])
(wait_arb,[])----arbfail[id]-----→(sending,[])
(wait_arb,[])----transmitted[id]-----→(trans_finish,[])
(trans_finish,[])----i<NUMNODE-----→(trans_finish,[])<i:=i+1>
(trans_finish,[])----Send_period>=SendPeriod, syn！-----→(idle,[])<
Send_period:=0>
(idle,[])----send_ok[id]||interrupt[id]-----→(receiving,[])
(receiving, []) ----ack [j]==1----- → (idle, [])
As shown in figure 4, joint control needs to drive direct current generator within the execution period according to the control command received
Corresponding movement is completed, and current location information or status information are fed back to master controller, it is 5 that cycle set is performed in this model
A chronomere.Joint control model is set as Idle state (idle), receives state (receiving), execution state (execute),
Wait for feedback states (ack_waiting), send feedback state (ack_send), wait for arbitration state (waiting_arb) and instead
State (ack_finish) is completed in feedback, can be described as the model form according to networks of timed automatas semanteme：
(idle,[])----syn, packet [id-1] .Messid==id----- → (receiving, [])
(receiving,[])---------→(execute,[t_execut<=5])<t_execut:=0>
(execute,[t_execut<=5]) ----interrupt [id]！,t_execut>5-----→(ack_
waiting,[])
(ack_waiting, []) ----packet [id-1] .Mtype==2----- → (ack_send, [])<x:=
0>
(ack_waiting, []) ----packet [id-1] .Mtype==1----- → (ack_send, [])<x:=
0>
(ack_send,[])----sendMesg[id]！-----→(waiting_arb,[])
(waiting_arb,[])----Arbfail[id]-----→(ack_send,[])
(waiting_arb,[])----transmitted[id]-----→(ack_finish,[])
(ack_finish,[])----send_ok[id]！-----→(idle,[])<resetPacket(id),x:=
0>
Wherein：Bracket () is a state in model, and first element is state name in bracket, and second element is should
The time constraints of state, " --- → " represent state transition, the corresponding constraint of the element representation state transition above, together
Walk signal syn！, syn, interrupt [id]！, interrupt [id]Deng represent model between interaction and it is synchronous constrain,
Middle id is the concrete model for participating in interaction.Represent the constant N UMNODE of mounting node number in bus in the model automatic machine
Represent constant constraint.
Other models are similar with above-mentioned two model construction mode.
After structure formalization framework, need to build the Timed Automata mould of communication node in robot node communication system
Type, construction step are：
According to the communication feature of the robot node communication system based on CAN, the logic function of each module is analyzed, is every
A Model Abstraction goes out the various states residing for its possibility；
With reference to the function of modules and the operational process of whole system, state transition is regular in specification module, including item
Part constraint, constant constraint, time constraints and synchronous constraint.
Wherein, the Timed Automata model of master controller is built, including：
The Timed Automata of master controller as shown in figure 5, controlling cycle is represented with local clock variable Send_period,
Master controller can send control command in a controlling cycle to any node, after all orders are sent, master control
Device processed sends a synch command syn！, inferior articular Node Controller receiving this synAfterwards, start to perform order simultaneously
Current location or status information are fed back to master controller.When master controller initializes during moving to idle states by initial state
Clock variable Send_period.When the node and each joint control for not having request transmission in bus are in a upper controlling cycle
When all successfully feeding back afterwards, master controller moves to start_sending states by idle states.Select options e:Int [1,2] is used
Represent currently transmitted frame type, e can randomly select data frame or remote frame.Function writing () is current for encapsulating
Ask the frame information sent.Master controller enters arbitration phase after sending control command, arbitrates and successfully then moves to trans_
Finish states, arbitration unsuccessfully come back to start_sending states.After control command is sent out, synchronizing signal syn is sent！And
Move to idle states.Master controller receives interrupt [id] in the Timed Automata！Signal indicates articulation nodes
Feedback information is wanted, then master controller enters preparation state.Successfully believe when master controller receives the transmission from joint control
Number send_ok [e]！Afterwards, automatic machine enters reception state, when the value for representing that articulation nodes complete the variable ack of response is 1,
The automatic machine returns to idle states, starts the control of next round.
The inferior articular number of nodes that CAN bus mounts in model is claimed as constant variables, but the state machine of main control module becomes
It moves model independently of node number to change, convenient for multiplexing.
The Timed Automata model of joint control is built, including：
The Timed Automata of joint control is as shown in fig. 6, initial state idle represents that joint is in idle condition, when automatic
Machine is received goes to receiving reception states, and start to perform related command after the synchronizing signal that master controller is sent.Office
Portion clock variable t_execute represents the execution period, and after the completion of an execution cycle, node is needed by sending interrupt signal
interrupt[id]！Collected information is fed back in main control.Automatic machine moves to feedback feedback states at this time.
Draw that Liang Ge branches represent feedback respectively in feedback states is location information or status information.In node feeding back information
When be also required to participate in bus arbitration, information could be sent after only arbitrate successfully, if arbitration unsuccessfully if exit bus waiting
Arbitration next time.After information is successfully transmitted send_ok [id] is sent to master controller！Signal triggering master controller, which enters, to be connect
Receipts state, and the value of variable ack is set to 1 represents that the node has succeeded feedback information.Time for record node arbitration failure
Number, introduces integer variable failNum, sets when the number of arbitration failure is n times, the priority of the node is carried
It rises, and passes through function Raise_pri () realizations, after node completes transmission by promoting priority to obtain bus, to restore
Its priority ensures communication normal operation.The recovery of its priority is realized by function reset_pri ().
The Timed Automata model of transceiver is built, including：
The Timed Automata of transceiver is as shown in fig. 7, original state idle idle states, section is come from when transceiver receives
The request signal sendMesg [id] that point is sent to bus！, start detection bus, if current have node to occupy bus, turn
To waiting wait states.If bus free, bus time automatic machine if, can send next！Signal, transceiver automatic machine move
Start_arb states are moved on to, while triggers arbitration automatic machine and sends arbitration commencing signal arb_start [id]！, wherein id tables
What is shown is the current node for participating in arbitration.Automatic machine moves to req_denied states after arbitration failure, represents request failure.And
Arbitration end signal arb_over [id] is sent to moderator automatic machine！, while send arbitration failure to upper strata controller
arbfail[id]！Signal.The value of count subtracts 1, represents that the number of nodes that current request is sent subtracts one.Automatic machine moves after arbitrating successfully
Req_suc states are moved on to, represent that request occupies bus success.Equally also arbitration end signal arb_ is sent to moderator automatic machine
over[id]！Into sending states, transmitted [id] is sent to top level control device after transmission success！Signal.Simultaneously
The value of active and count is updated, resets bus value.Local clock variables t1 is introduced in the automatic machine to be used for representing to save
The propagation delay time of point, uses t1<=Trans_t describes position closed loop control, represents that automatic machine can only at most be stopped in transmission state
Trans_t chronomeres are it is necessary to moving to idle states.
The Timed Automata model of moderator is built, including：
The Timed Automata of moderator is waited for as shown in figure 8, original state idle represents that the node is in idle condition
CAN transceiver sends requests for arbitration arb_start [id]！.Start after arbitration request signal is received into start_arb states
Bus arbitration process, i.e. step-by-step arbitrate 11 bit identifiers of frame arbitration field into line position, and detailed process is：
Calculate bus value：Automatic machine is by start_arb state transitions to calculating Current bus value during listen_bus states.
That is signal [i]:=signal [i] * Id [id] [i], wherein signal [i] represent the current bus value for calculating gained, it
Initial value is signal [i]={ 1,1 ... 1 }, and Id [id] [i] represents 11 bit identifications of the arbitration field of frame transmitted by present node
Sequence is accorded with, the result that two arrays carry out obtained by step-by-step AND operation is current required bus value；
Whether the value of more currently transmitted position is identical with the value of obtained bus, if it is different, then node request is sent
Failure, exits arbitration, and automatic machine status is req_fail at this time；If the value of currently transmitted position and obtained bus value
Identical but 11 bit identifier sequences are completely completeer not yet, then continue to arbitrate next bit in this way；It is if current
The value for sending position is identical with obtained bus value and 11 bit identifiers have been arbitrated and finished, then it represents that the node ask into
Work(, arbitrated procedure terminate, and automatic machine status is req_success at this time.Arbitration success or arbitration failure, arbitration
Timed Automata can all receive arbitration end signal arb_over [id]！, and return to the arbitration of idle states waiting next time.This
Sample whole system could continuous service.
Model introduces state invariant t in listen_bus states<=Tbit describes continuing for each position time in bus
Temporal information, wherein time constraints of local clock's variable t as the state, describe the time-shift under the state.Output point
T in branch>=Tbit is used for ensureing the duration of bus upper time, the i.e. upper biography of bus as the constraint of state transition
Subsequent value can be just done after defeated success to compare.
The Timed Automata model of bus is built, including：
The Timed Automata of bus is as shown in figure 9, when no node is to bus transmission data and also without node from bus
During upper reading data, bus is in Idle state.As long as there is node to occupy bus, bus is busy condition.To represent bus
State introduces two variable count and active, count represent the number of nodes that request is sent to bus, whenever have node to
The value of count can all add 1 when bus sends out request, represent that currently only there are one nodes when count values are 1 to send request at this time
The node can occupy bus transmission data, indicate that multiple nodes are sent to bus when the value of count is more than 1 and ask, this
When need participate in bus arbitration, data can just be sent or receive by winning the node of bus.Active variables represent it is current whether
There is node to occupy bus, the value of active represents currently have node to occupy bus for 1, and bus is in busy condition at this time, when
When the value of active is 0, bus switchs to idle state by busy condition.
In structure robot node communication system after the Timed Automata model of communication node, need to judge joint of robot
Whether the Timed Automata model of the middle communication node of system meets correctness constraint, including：
When the Timed Automata model that the communication node is detected using UPPAAL tools meets all binding targets, then
The Timed Automata model meets correctness constraint；Otherwise, it is unsatisfactory for correctness constraint；
The binding target includes Timed Automata model in deadlock state, Timed Automata model do not lead in joint
Letter node can be properly received the control command state of master controller transmission, Timed Automata model is in the communication of different priorities
Node can be in the master controller feedback information state, Timed Automata model can not between inferior articular communication node
Communications status, Timed Automata model be in synchronization bus only there are one communication node transmission data mode, the time from
Motivation Model, which is in synchronization, has multiple communication node request transmission data states and Timed Automata model to be in high preferential
Grade node can obtain bus power state.
The Timed Automata model of communication node not deadlock state represent whole system can normal operation, in UPPAAL
It is expressed as with the presence or absence of deadlock freedom attribute：A[]not deadlock.
Joint communication node can be properly received in one control week of master controller in the Timed Automata model of communication node
The control command sent in phase is related to the high efficiency of system design, and can also contribute to robot corresponding according to instruction completion
Action, in UPPAAL joint communication node success receive master controller send control command be expressed as E<>
Master.sending and(forall(1:Jid_t) i imply Joint_Controller (i) .receiving), when
When Master is in sending states, each articulation nodes can finally be in receiving states.
The communication node of different priorities can be fed back to the master controller in the Timed Automata model of communication node
Information, the attribute is expressed as in UPPAAL：E<>(forall(i:jid_t)i imply Joint_Controller(i)
.ack_waitting)and Master.receiveing。
The attribute that can not be communicated between inferior articular communication node in the Timed Automata model of communication node, in UPPAAL
In be expressed as：E<>not(forall(i:jid_t)Joint_Controller(i).
ack_waitting and
Joint_Controller(i).receiving)。
Only there are one communication nodes in synchronization bus in the Timed Automata model of communication node to transmit data,
It is expressed as in UPPAAL：A[]not(forall(i:jid_t)forall(j:jid_t)
Joint_Controller(i).ack_send and Joint_Controller(j).ack_send)。
There are synchronizations in the Timed Automata model of communication node multiple communication node request transmission datas,
It is expressed as in UPPAAL：E<>(forall(i:jid_t)forall(j:jid_t)
Joint_Controller(i).ack_waitting and Joint_Controller(j).
ack_waitting)。
Priority node can obtain bus power in the Timed Automata model of communication node, be represented in UPPAAL
For：A[]not Arbitration(0).req_fail.
If the Timed Automata model of communication node is unsatisfactory for correctness constraint, then joint of robot communication is rebuild
The Timed Automata model of communication node in system.
If meeting correctness constraint, judge whether the Timed Automata model of communication node meets real-time constraint, packet
It includes：
The data frame transfer request arbitration that the Timed Automata model of the communication node is detected using UPPAAL tools is lost
Whether the number lost is more than threshold value, if so, real-time constraint is unsatisfactory for, if it is not, then meeting real-time constraint.
Wherein, the arbitration frequency of failure for record node introduces integer variable failNum.
If the Timed Automata model of communication node is unsatisfactory for real-time constraint, the data frame transfer of the communication node is former
Priority is modified to highest priority.
A highest priority series is reserved from 11 bit identifiers of CAN message arbitration field, is found in arbitrated procedure
Real-time is unsatisfactory for, then is upgraded the priority of the node, is promoted to highest priority, reserved sequence is assigned to the section
Point, in order to ensure normally to communicate, when the communication node is finished using CAN bus transmitting data frame, by the communication node
The priority of data frame transfer reverts to the former priority of the data frame transfer of the communication node.It in this way can be to avoid to carry
It rises node priority and causing and the problem of multiple nodes possess equal priority occurs and occur.
A kind of verification system of joint of robot model of communication system, as shown in Figure 10, the system comprises：
First judging unit, the Timed Automata model for judging the communication node in joint of robot communication system are
It is no to meet correctness constraint；
If construction unit for being unsatisfactory for correctness constraint, rebuilds communication section in joint of robot communication system
The Timed Automata model of point；
Second judgment unit, if for meet correctness constraint, judge communication node Timed Automata model whether
Meet real-time constraint；
End unit, if for meeting real-time constraint, end operation；
If for being unsatisfactory for real-time constraint, the data frame transfer original priority of the communication node is repaiied for amending unit
Just it is highest priority, after the data frame transfer of the communication node, by the excellent of the data frame transfer of the communication node
The former priority of the first level restoration for the data frame transfer of the communication node；
The communication node utilizes CAN bus transmitting data frame.
The construction unit, including：
For the operating status according to communication node in robot node communication system, UPPAAL tools build machines are utilized
The Timed Automata model of communication node in people's node communication system.
First judging unit, including：
Judgment module, when the Timed Automata model that the communication node is detected using UPPAAL tools meets institute's Constrained
During index, then the Timed Automata model meets correctness constraint；Otherwise, it is unsatisfactory for correctness constraint；
Block of state, the binding target include Timed Automata model and are in not deadlock state, Timed Automata model
The control command state of master controller transmission can be properly received in joint communication node, Timed Automata model is in different excellent
The communication node of first grade can be in inferior articular communication section to the master controller feedback information state, Timed Automata model
Point between not communicable state, Timed Automata model be in synchronization bus only there are one communication node transmission data shape
State, Timed Automata model, which are in synchronization, to be had at multiple communication node request transmission data states and Timed Automata model
Bus power state can be obtained in priority node.
The second judgment unit, including：
The data frame transfer request arbitration that the Timed Automata model of the communication node is detected using UPPAAL tools is lost
Whether the number lost is more than threshold value, if so, real-time constraint is unsatisfactory for, if it is not, then meeting real-time constraint.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the application
Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the application
The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to the flow according to the method for the embodiment of the present application, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real
The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps are performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or
The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
Pipe is described in detail the present invention with reference to above-described embodiment, those of ordinary skills in the art should understand that：Still
The specific embodiment of the present invention can be modified or replaced equivalently, and without departing from any of spirit and scope of the invention
Modification or equivalent replacement should all cover within the claims of the present invention.
Claims (8)
1. a kind of verification method of joint of robot model of communication system, which is characterized in that the method includes：
Judge whether the Timed Automata model of the communication node in joint of robot communication system meets correctness constraint；
If being unsatisfactory for correctness constraint, the Timed Automata mould of communication node in joint of robot communication system is rebuild
Type；
If meeting correctness constraint, judge whether the Timed Automata model of communication node meets real-time constraint；
If meet real-time constraint, end operation；
If being unsatisfactory for real-time constraint, the data frame transfer original priority of the communication node is modified to highest priority, institute
After the data frame transfer for stating the communication node, the priority of the data frame transfer of the communication node is reverted into the communication section
The former priority of the data frame transfer of point；
The communication node utilizes CAN bus transmitting data frame.
2. the method as described in claim 1, which is characterized in that described to rebuild communication section in joint of robot communication system
The Timed Automata model of point, including：
According to the operating status of communication node in robot node communication system, led to using UPPAAL tools builds robot node
The Timed Automata model of communication node in letter system.
3. the method as described in claim 1, which is characterized in that it is described judge joint of robot system middle communication node when
Between automaton model whether meet correctness constraint, including：
It is when the Timed Automata model that the communication node is detected using UPPAAL tools meets all binding targets, then described
Timed Automata model meets correctness constraint；Otherwise, it is unsatisfactory for correctness constraint；
The binding target includes Timed Automata model in deadlock state, Timed Automata model are not in joint communication section
Point can be properly received the control command state of master controller transmission, Timed Automata model is in the communication nodes of different priorities
It can be between inferior articular communication node and can not communicate to the master controller feedback information state, Timed Automata model
State, Timed Automata model be in synchronization bus only there are one communication node transmission data mode, Timed Automata
Model, which is in synchronization, has multiple communication node request transmission data states and Timed Automata model to be in high priority section
Point total energy obtains bus power state.
4. the method as described in claim 1, which is characterized in that whether the Timed Automata model for judging communication node is full
Sufficient real-time constraint, including：
The data frame transfer request arbitration failure of the Timed Automata model of the communication node is detected using UPPAAL tools
Whether number is more than threshold value, if so, real-time constraint is unsatisfactory for, if it is not, then meeting real-time constraint.
5. a kind of verification system of joint of robot model of communication system, which is characterized in that the system comprises：
First judging unit, for judging whether the Timed Automata model of the communication node in joint of robot communication system is full
Sufficient correctness constraint；
If construction unit for being unsatisfactory for correctness constraint, rebuilds communication node in joint of robot communication system
Timed Automata model；
If second judgment unit for meeting correctness constraint, judges whether the Timed Automata model of communication node meets
Real-time constrains；
End unit, if for meeting real-time constraint, end operation；
If for being unsatisfactory for real-time constraint, the data frame transfer original priority of the communication node is modified to for amending unit
Highest priority, after the data frame transfer of the communication node, by the priority of the data frame transfer of the communication node
Revert to the former priority of the data frame transfer of the communication node；
The communication node utilizes CAN bus transmitting data frame.
6. system as claimed in claim 5, which is characterized in that the construction unit, including：
For the operating status according to communication node in robot node communication system, UPPAAL tools builds robot section is utilized
The Timed Automata model of communication node in point communication system.
7. system as claimed in claim 5, which is characterized in that first judging unit, including：
Judgment module, when the Timed Automata model that the communication node is detected using UPPAAL tools meets all binding targets
When, then the Timed Automata model meets correctness constraint；Otherwise, it is unsatisfactory for correctness constraint；
Block of state, the binding target include Timed Automata model in deadlock state, Timed Automata model are not in
Joint communication node can be properly received the control command state of master controller transmission, Timed Automata model is in different priorities
Communication node can be in the master controller feedback information state, Timed Automata model inferior articular communication node it
Between not communicable state, Timed Automata model be in synchronization bus only there are one communication node transmission data mode,
Timed Automata model, which is in synchronization, has multiple communication node request transmission data states and Timed Automata model to be in
Priority node can obtain bus power state.
8. system as claimed in claim 5, which is characterized in that the second judgment unit, including：
The data frame transfer request arbitration failure of the Timed Automata model of the communication node is detected using UPPAAL tools
Whether number is more than threshold value, if so, real-time constraint is unsatisfactory for, if it is not, then meeting real-time constraint.
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