CN103399739A - Method and system for generating robot program development platforms - Google Patents
Method and system for generating robot program development platforms Download PDFInfo
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- CN103399739A CN103399739A CN2013103057793A CN201310305779A CN103399739A CN 103399739 A CN103399739 A CN 103399739A CN 2013103057793 A CN2013103057793 A CN 2013103057793A CN 201310305779 A CN201310305779 A CN 201310305779A CN 103399739 A CN103399739 A CN 103399739A
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Abstract
The invention discloses a method and a system for generating robot program development platforms. The method includes acquiring hardware drive programs on the basis of a Kinetis K-series microcontroller; acquiring hardware parameter information, which is used in the hardware drive programs, from a configuration database of the microcontroller; generating hardware drive functions according to the hardware drive programs and the hardware parameter information; identifying types of the hardware drive functions; determining icon control information corresponding to the hardware drive functions according to the types of the hardware drive functions; generating icon controls according to the icon control information; storing corresponding relations of the hardware drive functions and the corresponding icon controls in an icon control library. The method and the system have the advantage that the graphical robot program development platforms can be generated, so that the robot program development efficiency can be improved.
Description
Technical field
The present invention relates to field of software development, particularly relate to a kind of generation method and system of robot program's development platform.
Background technology
Be accompanied by the flourish of robot teaching, China education department also starts to be guided on policy, actively educational robot is introduced to student's study classroom.How in the situation that do not affect difficulty that robot Related product performance further reduces programming, the mistake in reducing programming, shortening the construction cycle, thereby to improve the competitiveness of product in market be the problem that the technological development personnel are worth probing into.
In prior art, for the program development process of robot, mainly adopt the text programming mode.The embedded development platform of text programming mode mainly adopts assembly language and class C language, and more famous development platform has Keil, IAR EWARM and CodeWarrior etc.This programming mode efficiency is low, later maintenance is difficult, and the componentization degree of program module is low, is difficult for being grafted directly in other program.
Visible, in prior art, for the program developing method of robot, owing to adopting the text programming mode, so development efficiency is lower.
Summary of the invention
The purpose of this invention is to provide a kind of generation method and system of robot program's development platform, can improve robot program's development efficiency.
For achieving the above object, the invention provides following scheme:
A kind of generation method of robot program's development platform, described method comprises:
Obtain the hardware drive program based on Kinetis K Series of MCU;
From the configuration database of described microcontroller, obtain the hardware parameter information that uses in described hardware drive program;
According to described hardware drive program and described hardware parameter information, generate the hardware driving function;
Identify described hardware driving CWinInetConnection type;
According to described type, determine the icon control information that described hardware driving function is corresponding;
According to described icon control Information generation icon control;
Described hardware driving function is kept in the icon widget library with the corresponding relation of corresponding icon control.
Optionally, described definite icon control information corresponding to described hardware driving function comprises:
Determine entrance number, outlet number, function name, rreturn value type that described hardware driving function is corresponding.
Optionally, the described hardware driving CWinInetConnection of described identification type comprises:
The hardware driving function of identification general class; The hardware driving function of described general class comprises: carry out function and communication functions;
And/or, the hardware driving function of condition for identification judgement class;
And/or, the hardware driving function of identification circulation class;
And/or, the hardware driving function of identification multiple-limb class.
Optionally, describedly according to described type, determine the icon control information that described hardware driving function is corresponding, comprising:
When described hardware driving function is general class, determine that the entrance number that described hardware driving function is corresponding is 1, the outlet number is 1;
When described hardware driving function is the condition judgment class, determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and two program blocks; The entrance number of described starting module is 1, and the outlet number is 2 and is connected with the entrance of described two program blocks; The outlet number of described end module is 1, and the entrance number is 2 and is connected with the outlet of described two program blocks;
When described hardware driving function is the circulation class, determine that the entrance number that described hardware driving function is corresponding is 1, the outlet number is 1, and loop exit is 1, and loop head is 1;
When described hardware driving function is the multiple-limb class, determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and n program block, n is greater than 2; The entrance number of described starting module is 1, and the outlet number is n and is connected with the entrance of a described n program block; The outlet number of described end module is 1, and the entrance number is n and is connected with the outlet of a described n program block.
Optionally, the kernel of described Kinetis K Series of MCU is ARM Cortex-M4 kernel.
A kind of generation system of robot program's development platform, described system comprises:
The driver acquisition module, be used to obtaining the hardware drive program based on Kinetis K Series of MCU;
The parameter information acquisition module, for the configuration database from described microcontroller, obtain the hardware parameter information that uses in described hardware drive program;
The driving function generation module, for according to described hardware drive program and described hardware parameter information, generate the hardware driving function;
The type function identification module, be used to identifying described hardware driving CWinInetConnection type;
Icon control information determination module, for the icon control information of determining that according to described type described hardware driving function is corresponding;
Icon control generation module, for according to described icon control Information generation icon control;
Corresponding relation is preserved module, for described hardware driving function is kept to the icon widget library with the corresponding relation of corresponding icon control.
Optionally, described icon control information determination module comprises:
Icon control information determining unit, for entrance number, outlet number, function name, the rreturn value type of determining that described hardware driving function is corresponding.
Optionally, described type function identification module comprises:
The first recognition unit, be used to identifying the hardware driving function of general class; The hardware driving function of described general class comprises: carry out function and communication functions;
The second recognition unit, for the hardware driving function of condition for identification judgement class;
The 3rd recognition unit, be used to identifying the hardware driving function of circulation class;
The 4th recognition unit, be used to identifying the hardware driving function of multiple-limb class.
Optionally, described icon control information determination module comprises:
The first icon control information determining unit, for when described hardware driving function is general class, determine that the entrance number that described hardware driving function is corresponding is 1, and the outlet number is 1;
The second icon control information determining unit, for when described hardware driving function is the condition judgment class, determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and two program blocks; The entrance number of described starting module is 1, and the outlet number is 2 and is connected with the entrance of described two program blocks; The outlet number of described end module is 1, and the entrance number is 2 and is connected with the outlet of described two program blocks;
The 3rd icon control information determining unit, for when described hardware driving function is the circulation class, determine that the entrance number that described hardware driving function is corresponding is 1, and the outlet number is 1, and loop exit is 1, and loop head is 1;
The 4th icon control information determining unit, for when described hardware driving function is the multiple-limb class, determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and n program block, and n is greater than 2; The entrance number of described starting module is 1, and the outlet number is n and is connected with the entrance of a described n program block; The outlet number of described end module is 1, and the entrance number is n and is connected with the outlet of a described n program block.
Optionally, the kernel of described Kinetis K Series of MCU is ARM Cortex-M4 kernel.
According to specific embodiment provided by the invention, the invention discloses following technique effect:
the generation method and system of robot program's development platform of the embodiment of the present invention, by according to hardware drive program and hardware parameter information, generate the hardware driving function, and to described hardware driving CWinInetConnection type identification, according to described type, determine the icon control information that described hardware driving function is corresponding, finally described hardware driving function is kept in the icon widget library with the corresponding relation of corresponding icon control, can generate patterned robot program's development platform, thereby improve the efficiency of robot (especially based on Kinetis K Series of MCU) program development.
The accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment be briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the process flow diagram of the generation embodiment of the method 1 of robot program's development platform of the present invention;
Fig. 2 is general class icon control schematic diagram of the present invention;
Fig. 3 is condition judgment class icon control schematic diagram of the present invention;
Fig. 4 is circulation class icon control schematic diagram of the present invention;
Fig. 5 is multiple-limb class icon control schematic diagram of the present invention;
Fig. 6 is the structural drawing of the generation system embodiment of robot program's development platform of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making under the creative work prerequisite the every other embodiment that obtains, belong to the scope of protection of the invention.
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, the present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is the process flow diagram of the generation embodiment of the method 1 of robot program's development platform of the present invention.As shown in Figure 1, described method can comprise:
Step 101: obtain the hardware drive program based on Kinetis K Series of MCU;
Kinetis K Series of MCU of the present invention can be the microcontroller of ARM Cortex-M4 kernel.This controller is more extensive in the control field application of robot.
Step 102: from the configuration database of described microcontroller, obtain the hardware parameter information that uses in described hardware drive program;
Hardware parameter information difference due to different types of microcontroller, so in order to obtain accurately the function that described hardware drive program is corresponding, need to, from the configuration database of described microcontroller, obtain the hardware parameter information that uses in described hardware drive program.
Step 103: according to described hardware drive program and described hardware parameter information, generate the hardware driving function;
Hardware driving function in this step can be the program development personnel can use when program development program code.
Step 104: identify described hardware driving CWinInetConnection type;
Described hardware driving function can comprise with Types Below: general class, condition judgment class, circulation class and multiple-limb class.
Step 105: determine the icon control information that described hardware driving function is corresponding according to described type;
Dissimilar hardware driving function can the different icon control information of correspondence.Icon control information refers to when described hardware driving function is adopted to diagrammatic representation, the information of the icon of employing.Concrete, icon control information can comprise: entrance number, outlet number, function name, rreturn value type etc.
In step 104, mention, described hardware driving function can comprise four kinds of main Types.Wherein, every type can corresponding one type the icon control.
General class icon control mainly refers to the icon control with an entrance and an outlet, mainly refers to the icon control, mainly can comprise and carry out control and communication control.Condition judgment class icon control is to carry out corresponding branch according to condition, mainly refers to the condition judgment icon control in the flow process control.Circulation class icon control mainly refers to condition circulation and the count cycle icon control in the flow process control.Multiple-limb class icon control mainly refers to the branched structure icon control in the flow process control.
Because the outlet number of different icon controls is different with the entrance number, so need to adopt different icons to show.
Fig. 2 is general class icon control schematic diagram of the present invention.As shown in Figure 2:
When described hardware driving function is general class, can determine that the entrance number that described hardware driving function is corresponding is 1, the outlet number is 1.
Fig. 3 is condition judgment class icon control schematic diagram of the present invention.As shown in Figure 3:
When described hardware driving function is the condition judgment class, can determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and two program blocks; The entrance number of described starting module is 1, and the outlet number is 2 and is connected with the entrance of described two program blocks; The outlet number of described end module is 1, and the entrance number is 2 and is connected with the outlet of described two program blocks;
Fig. 4 is circulation class icon control schematic diagram of the present invention.As shown in Figure 4:
When described hardware driving function is the circulation class, can determine that the entrance number that described hardware driving function is corresponding is 1, the outlet number is 1, and loop exit is 1, and loop head is 1;
Fig. 5 is multiple-limb class icon control schematic diagram of the present invention.As shown in Figure 5:
When described hardware driving function is the multiple-limb class, can determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and n program block, n is greater than 2; The entrance number of described starting module is 1, and the outlet number is n and is connected with the entrance of a described n program block; The outlet number of described end module is 1, and the entrance number is n and is connected with the outlet of a described n program block.
Step 106: according to described icon control Information generation icon control;
Step 107: described hardware driving function is kept in the icon widget library with the corresponding relation of corresponding icon control.
With after the corresponding relation of corresponding icon control is kept in the icon widget library, down-stream developer, when development sequence, just can call different hardware driving functions by the icon control by described hardware driving function.
In the present embodiment, by according to hardware drive program and hardware parameter information, generate the hardware driving function, and to described hardware driving CWinInetConnection type identification, according to described type, determine the icon control information that described hardware driving function is corresponding, finally described hardware driving function is kept in the icon widget library with the corresponding relation of corresponding icon control, can generate patterned robot program's development platform, thereby improve the efficiency of robot (especially based on Kinetis K Series of MCU) program development.
The invention also discloses a kind of generation system of robot program's development platform.Fig. 6 is the structural drawing of the generation system embodiment of robot program's development platform of the present invention.As shown in Figure 6, described system can comprise:
Parameter information acquisition module 302, for the configuration database from described microcontroller, obtain the hardware parameter information that uses in described hardware drive program;
Driving function generation module 303, for according to described hardware drive program and described hardware parameter information, generate the hardware driving function;
Type function identification module 304, be used to identifying described hardware driving CWinInetConnection type;
Icon control information determination module 305, for the icon control information of determining that according to described type described hardware driving function is corresponding;
Icon control generation module 306, for according to described icon control Information generation icon control;
Corresponding relation is preserved module 307, for described hardware driving function is kept to the icon widget library with the corresponding relation of corresponding icon control.
Wherein, the kernel of described Kinetis K Series of MCU is ARM Cortex-M4 kernel.
Described icon control information determination module 305 can comprise:
Icon control information determining unit, for entrance number, outlet number, function name, the rreturn value type of determining that described hardware driving function is corresponding.
Described type function identification module 304 can comprise:
The first recognition unit, be used to identifying the hardware driving function of general class; The hardware driving function of described general class comprises: carry out function and communication functions;
The second recognition unit, for the hardware driving function of condition for identification judgement class;
The 3rd recognition unit, be used to identifying the hardware driving function of circulation class;
The 4th recognition unit, be used to identifying the hardware driving function of multiple-limb class.
Described icon control information determination module 305 can also comprise:
The first icon control information determining unit, for when described hardware driving function is general class, determine that the entrance number that described hardware driving function is corresponding is 1, and the outlet number is 1;
The second icon control information determining unit, for when described hardware driving function is the condition judgment class, determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and two program blocks; The entrance number of described starting module is 1, and the outlet number is 2 and is connected with the entrance of described two program blocks; The outlet number of described end module is 1, and the entrance number is 2 and is connected with the outlet of described two program blocks;
The 3rd icon control information determining unit, for when described hardware driving function is the circulation class, determine that the entrance number that described hardware driving function is corresponding is 1, and the outlet number is 1, and loop exit is 1, and loop head is 1;
The 4th icon control information determining unit, for when described hardware driving function is the multiple-limb class, determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and n program block, and n is greater than 2; The entrance number of described starting module is 1, and the outlet number is n and is connected with the entrance of a described n program block; The outlet number of described end module is 1, and the entrance number is n and is connected with the outlet of a described n program block.
In the present embodiment, by according to hardware drive program and hardware parameter information, generate the hardware driving function, and to described hardware driving CWinInetConnection type identification, according to described type, determine the icon control information that described hardware driving function is corresponding, finally described hardware driving function is kept in the icon widget library with the corresponding relation of corresponding icon control, can generate patterned robot program's development platform, thereby improve the efficiency of robot (especially based on Kinetis K Series of MCU) program development.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment that between each embodiment, identical similar part is mutually referring to getting final product.For the disclosed system of embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part partly illustrates and gets final product referring to method.
Applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just be used to helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications.In sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. the generation method of robot program's development platform, is characterized in that, described method comprises:
Obtain the hardware drive program based on Kinetis K Series of MCU;
From the configuration database of described microcontroller, obtain the hardware parameter information that uses in described hardware drive program;
According to described hardware drive program and described hardware parameter information, generate the hardware driving function;
Identify described hardware driving CWinInetConnection type;
According to described type, determine the icon control information that described hardware driving function is corresponding;
According to described icon control Information generation icon control;
Described hardware driving function is kept in the icon widget library with the corresponding relation of corresponding icon control.
2. method according to claim 1, is characterized in that, described definite icon control information corresponding to described hardware driving function comprises:
Determine entrance number, outlet number, function name, rreturn value type that described hardware driving function is corresponding.
3. method according to claim 1, is characterized in that, the described hardware driving CWinInetConnection of described identification type comprises:
The hardware driving function of identification general class; The hardware driving function of described general class comprises: carry out function and communication functions;
And/or, the hardware driving function of condition for identification judgement class;
And/or, the hardware driving function of identification circulation class;
And/or, the hardware driving function of identification multiple-limb class.
4. method according to claim 1, is characterized in that, describedly according to described type, determines the icon control information that described hardware driving function is corresponding, comprising:
When described hardware driving function is general class, determine that the entrance number that described hardware driving function is corresponding is 1, the outlet number is 1;
When described hardware driving function is the condition judgment class, determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and two program blocks; The entrance number of described starting module is 1, and the outlet number is 2 and is connected with the entrance of described two program blocks; The outlet number of described end module is 1, and the entrance number is 2 and is connected with the outlet of described two program blocks;
When described hardware driving function is the circulation class, determine that the entrance number that described hardware driving function is corresponding is 1, the outlet number is 1, and loop exit is 1, and loop head is 1;
When described hardware driving function is the multiple-limb class, determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and n program block, n is greater than 2; The entrance number of described starting module is 1, and the outlet number is n and is connected with the entrance of a described n program block; The outlet number of described end module is 1, and the entrance number is n and is connected with the outlet of a described n program block.
5. the described method of according to claim 1-4 any one, is characterized in that, the kernel of described Kinetis K Series of MCU is ARM Cortex-M4 kernel.
6. the generation system of robot program's development platform, is characterized in that, described system comprises:
The driver acquisition module, be used to obtaining the hardware drive program based on Kinetis K Series of MCU;
The parameter information acquisition module, for the configuration database from described microcontroller, obtain the hardware parameter information that uses in described hardware drive program;
The driving function generation module, for according to described hardware drive program and described hardware parameter information, generate the hardware driving function;
The type function identification module, be used to identifying described hardware driving CWinInetConnection type;
Icon control information determination module, for the icon control information of determining that according to described type described hardware driving function is corresponding;
Icon control generation module, for according to described icon control Information generation icon control;
Corresponding relation is preserved module, for described hardware driving function is kept to the icon widget library with the corresponding relation of corresponding icon control.
7. system according to claim 6, is characterized in that, described icon control information determination module comprises:
Icon control information determining unit, for entrance number, outlet number, function name, the rreturn value type of determining that described hardware driving function is corresponding.
8. system according to claim 6, is characterized in that, described type function identification module comprises:
The first recognition unit, be used to identifying the hardware driving function of general class; The hardware driving function of described general class comprises: carry out function and communication functions;
The second recognition unit, for the hardware driving function of condition for identification judgement class;
The 3rd recognition unit, be used to identifying the hardware driving function of circulation class;
The 4th recognition unit, be used to identifying the hardware driving function of multiple-limb class.
9. system according to claim 6, is characterized in that, described icon control information determination module comprises:
The first icon control information determining unit, for when described hardware driving function is general class, determine that the entrance number that described hardware driving function is corresponding is 1, and the outlet number is 1;
The second icon control information determining unit, for when described hardware driving function is the condition judgment class, determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and two program blocks; The entrance number of described starting module is 1, and the outlet number is 2 and is connected with the entrance of described two program blocks; The outlet number of described end module is 1, and the entrance number is 2 and is connected with the outlet of described two program blocks;
The 3rd icon control information determining unit, for when described hardware driving function is the circulation class, determine that the entrance number that described hardware driving function is corresponding is 1, and the outlet number is 1, and loop exit is 1, and loop head is 1;
The 4th icon control information determining unit, for when described hardware driving function is the multiple-limb class, determine that the icon control that described hardware driving function is corresponding comprises starting module, finishes module and n program block, and n is greater than 2; The entrance number of described starting module is 1, and the outlet number is n and is connected with the entrance of a described n program block; The outlet number of described end module is 1, and the entrance number is n and is connected with the outlet of a described n program block.
10. the described system of according to claim 6-9 any one, is characterized in that, the kernel of described Kinetis K Series of MCU is ARM Cortex-M4 kernel.
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