CN106339431A - Processing method and system for robot program files based on text blocks - Google Patents
Processing method and system for robot program files based on text blocks Download PDFInfo
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- CN106339431A CN106339431A CN201610687730.2A CN201610687730A CN106339431A CN 106339431 A CN106339431 A CN 106339431A CN 201610687730 A CN201610687730 A CN 201610687730A CN 106339431 A CN106339431 A CN 106339431A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/10—File systems; File servers
- G06F16/16—File or folder operations, e.g. details of user interfaces specifically adapted to file systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/10—File systems; File servers
- G06F16/13—File access structures, e.g. distributed indices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/10—File systems; File servers
- G06F16/17—Details of further file system functions
- G06F16/174—Redundancy elimination performed by the file system
- G06F16/1748—De-duplication implemented within the file system, e.g. based on file segments
- G06F16/1752—De-duplication implemented within the file system, e.g. based on file segments based on file chunks
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Abstract
The invention discloses a processing method and system for robot program files based on text blocks. The method comprises the following steps that according to the sizes of robot program file texts, a plurality of text block storage spaces are arranged, and the whole program file texts are divided to the text block storage spaces to be stored; when the program files are processed, the current text location pointer is taken as a basic point, a plurality of the text blocks up and down nearby are only operated, and the text blocks are linked through a double linked list in a text block data structure. The system comprises an initialization module, an editing key module and a text block processing module, wherein the text block processing module comprises the current text location pointer, a text block memory attribute information data structure, the text block double linked list and a text block organization and management function interface. The processing method and system for the robot program files based on the text blocks mainly dynamically allocate and recycle the text blocks, calculate the total row number of the text blocks and link the text blocks by the double linked list, furthermore, by adopting the processing method and system for the robot program files based on the text blocks, the robot program files can be efficiently organized and managed, the system is less in burdens and strong in expansibility.
Description
Technical field
The present invention relates to the Study of Control for Robots field, particularly to a kind of based on robot program's file of text block at
Reason method and system.
Background technology
Robot control system is applied widely in current industrial circle, and the application software of its composition is varied, respectively
Tool characteristic.Both at home and abroad no matter in the robot application software of which family, all possesses this software work(of robot program's file process
Energy.In manual teaching operation, provide user design editor's program instruction, record programming text, this process needs
Text string carried out insert, delete, search operation；In automatic running, need to show currently executing instruction text chunk in real time,
Quick obtaining is corresponding text filed, and shows in real time.Due to needing program instruction text to be carried out frequently repeatedly hand over
Interoperability, proposes higher requirement to robot program's document handling method.
At present, in robot application software, program instruction body of an instrument is mainly using predistribution two-dimensional array string
Form, that is, allocate the two-dimensional array string of a larger space amount in advance, the subscript of the first dimension is corresponding line number, and the
The instruction text string of two-dimensionses space storing one row regular length.The form of two-dimensional array string is to robot program's body of an instrument
Organization And Management, intuitively easy-to-use from structure, but have the disadvantage that first, preallocated space defines whole file
The maximum number of lines that can receive and the text string lengths of long instruction often gone, on the one hand occupy larger memory space, separately in advance
On the one hand in the face of become increasingly complex from now on and during huge robot off-line programming file autgmentability poor；Again, to a line
When insertion or deletion, need duplication to move follow-up all instructions space, waste cpu process time, and big for carrying amount
Program documentaion string, it will cause hmi display delay, poor user experience.
For this reason, seek a kind of can less text block, system burden be few, Organization And Management's high efficient and flexible and autgmentability is strong
Robot program's document handling method has important research and practical value.
Content of the invention
It is an object of the invention to overcoming shortcoming and the deficiency of prior art, provide a kind of robot journey based on text block
Sequence document handling method and system, the present invention, according to robot program's body of an instrument size, automatically sets rational text block and deposits
Storage space size, can efficient Organization And Management robot program file, system burden is few, autgmentability is strong.
The purpose of the present invention is realized by following technical scheme: the robot program file process side based on text block
Method, comprising: according to robot program's body of an instrument size, sets several text block memory spaces, by whole program file literary composition
Originally it is divided to storage in above-mentioned text block memory space；When processing to program file, with current text location pointer it is
Basic point, is only operated some up and down text block nearby, is entered by the doubly linked list in text block data structure between each text block
Row link.The present invention can be rapidly completed editor's interaction of program file by way of text block, quick indexing positions, obtains
Text string etc. is processed, and greatly improves the efficiency of the Organization And Management of robot program's file in actual robot control system, carries
Supply a kind of solution flexible and effective feasible method of actual file operating interactive.
Specifically, including step:
Build an initialization module, for storing the data of attribute information structure of designated robot program file, dynamic point
Join log file real time operational status pointer and first recording text block memory space, the mutex of initialization files exclusive reference
Environment is it is ensured that the uniqueness of body of an instrument write operation；Following parameters: new line symbol quantity, literary composition are included in each text block
This block data space, up/down text block doubly linked list pointer；
Build an editing key module, for providing user operation text functions interface, input is to robot program's file
The operation of text requires；
Build a text block processing module, for requiring text block is processed according to operation, in processing procedure, with
Current text location pointer is basic point, only operates some up and down text block nearby, carries out dynamically distributes, chain to each text block
Connect, destroy.
Preferably, text block processing module include current text location pointer, text block attribute information storage data structure,
Text block doubly linked list, text block Organization And Management function interface, center based on current text location pointer, according to text
The key message (such as every piece total line number) of block attribute information storage data structure records, text block Organization And Management function interface
By text block doubly linked list, complete the interactive operation to robot program's file.
Further, described text block is carried out process include text block dynamically distributes and recovery method, step is as follows:
When the text string quantity being inserted into does not overflow current text block memory space, then it is inserted directly into described text string, follow-up text string
Move in current text block memory space；When the text string quantity being inserted into overflows current text block memory space, then dynamically
Apply for new text block, the text string of spilling part is stored in new text block, and sets up current text block and new text block
Between bi-directional chaining, and calculate be related to change text block in total line number；When the quantity deleting text string makes a text
When block empties, dynamic release reclaims free text block.
Further, described text block is carried out process includes text block head office number calculating method, step is as follows: count
New line symbol sum in each text block.Contribute to subsequent file and carry out fast text positioning action.
Further, described text block is carried out process include doubly linked list link method between text block, step is as follows:
When inserting or delete text block, front/rear two-way series between text-independent block are realized by up/down text block doubly linked list pointer
Link, enters Mobile state management.
Preferably, described text block data space dynamically sets according to the amount of text size of robot program's file.
Thus can ensure that data space size is more reasonable, there is very strong shrinkage character, it is possible to increase text block operating efficiency.
Preferably, in described editing key module, the operation of robot program's body of an instrument is required to include insertion, deletion,
Search, replicate, paste, quickly position, obtain text string etc..
Robot program's document handling system based on text block, comprising:
Initialization module, for storing the data of attribute information structure of designated robot program file, dynamically distributes record
File real time operational status pointer and first recording text block memory space, the mutex environment of initialization files exclusive reference,
Ensure the uniqueness of body of an instrument write operation；Following parameters: new line symbol quantity, text block number are included in each text block
According to memory space, up/down text block doubly linked list pointer；
Editing key module, for providing user operation text functions interface, input is to robot program's body of an instrument
Operation requires；
Text block processing module, for requiring text block is processed according to operation, in processing procedure, with ought be above
This position indicator pointer is basic point, only operates some up and down text block nearby, each text block is carried out with dynamically distributes, link, destroys.
Preferably, text block processing module include current text location pointer, text block attribute information storage data structure,
Text block doubly linked list, text block Organization And Management function interface, center based on current text location pointer, according to text
The key message (such as every piece total line number) of block attribute information storage data structure records, text block Organization And Management function interface
By text block doubly linked list, complete the interactive operation to robot program's file.
Further, described text block processing module includes text block dynamically distributes and recycling module, and text block moves
The text string quantity that state distribution is used for when being inserted into recycling module does not overflow current text block memory space, then be inserted directly into institute
State text string, follow-up text string moves in current text block memory space；Overflowing when the text string quantity being inserted into ought be above
This block memory space, then the new text block of dynamic application, the text string of spilling part is stored in new text block, and sets up current
Bi-directional chaining between text block and new text block, and calculate the total line number being related in variation text block；When deletion text string
Quantity when one text block is emptied, dynamic release reclaims free text block.
Further, described text block processing module includes text block total line number computing module, the total line number of text block
Computing module is used for counting new line symbol sum in each text block.
Further, described text block processing module includes doubly linked list link module between text block, between text block
Doubly linked list link module is used for, when inserting or delete text block, realizing independent by up/down text block doubly linked list pointer
Between text block, front/rear two-way series link, enters Mobile state management.
The present invention compared with prior art, has the advantage that and beneficial effect:
The present invention, according to robot program's body of an instrument size, automatically sets rational text block storage size, will
Whole program file text is divided to storage in some text block, is mutually carried out by the doubly linked list in text block data structure
Link.For editor's interaction of the program file in robot application software, quick indexing positioning, obtain the operation such as text string, carry
For a kind of feasibility implementation method of efficient Organization And Management, text maninulation interaction only relates to minority text block,
System burden is few, Organization And Management's high efficient and flexible and autgmentability strong, can adapt to the robot journey of arbitrary size text string very well
Preface part Organization And Management, meets robot application software design requirement.
Brief description
Fig. 1 is the overall structure principle schematic of the present embodiment system.
Fig. 2 is the process schematic of newly-increased text block in the present embodiment method.
Fig. 3 is the process schematic deleting text block in the present embodiment method.
Fig. 4 is the process schematic of quick positioning in the present embodiment method.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention do not limit
In this.
Embodiment 1
As shown in figure 1, robot program's document handling system based on text block for the present embodiment, including initialization module
110, text block processing module 120, editing key module 130.
Initialization module 110, for initializing attribute information and the institute of text block Organization And Management of robot program's file
The running environment needing.The main data of attribute information structure realizing storage designated robot program file, dynamically distributes record literary composition
Part real time operational status pointer and first recording text block memory space, the mutex environment of initialization files exclusive reference, protect
The uniqueness of card body of an instrument write operation.
Text block processing module 120, for the efficiently Organization And Management such as text block dynamically distributes, link, destruction.As Fig. 1
Shown, one text block data group organization data structure 121 of internal inclusion, text block bottom accesses handling function interface cluster, comprising:
Newly-increased 126, index 127, deletion 128 etc..In the present embodiment, text block data group organization data structure 121 includes: new line symbol
Sum 122, text string memory space pointer 123, text string memory buffer 125, text block doubly linked list 124, by upper text
Block and lower text block pointer composition, text block tandem is got up.
Editing key module 130, fixed to the edit operation of robot program's body of an instrument, index for efficiently completing user
Position, matched and searched, provide related application function interface.
Based on said system, the present embodiment robot program's document handling method, comprising: according to robot program's file literary composition
This size, sets several text block memory spaces, and whole program file text is divided in above-mentioned text block memory space
Storage；When processing to program file, with current text location pointer as basic point, only operate some up and down texts nearby
Block, is linked by the doubly linked list in text block data structure between each text block.
Data in text block processing module can be divided into current text location pointer according to function, text block storage belongs to
Property information data structure, text block doubly linked list, text block Organization And Management function interface, with current text location pointer as base
Plinth center, the key message (such as every piece total line number) according to text block attribute information storage data structure records, text block group
Knit and pass through text block doubly linked list with management function interface, complete the interactive operation to robot program's file.
Text block processing method includes text block dynamically distributes and recovery algorithm, text block head office figure between method, text block
Doubly linked list links algorithm.Text block dynamically distributes are as follows with recovery method step: when the text string quantity being inserted into is not overflowed
Current text block memory space, then be inserted directly into described text string, and follow-up text string moves in current text block memory space；
When the text string quantity being inserted into overflows current text block memory space, then the dynamic literary composition applied for new text block, overflow part
This string is stored in new text block, and sets up the bi-directional chaining between current text block and new text block, and calculate be related to become
Total line number in dynamic text block；When the quantity deleting text string makes a text block empty, dynamic release reclaims idle literary composition
This block.Text block head office number calculating method step is as follows: counts new line symbol sum in each text block.Two-way between text block
Chained list link method step is as follows: when inserting or delete text block, is realized independent by up/down text block doubly linked list pointer
Between text block, front/rear two-way series link, enters Mobile state management.With reference to example, said method is specifically described.
Referring to Fig. 2, this figure is shown that the process schematic of newly-increased text block, and robot program's body of an instrument is originally by literary composition
This block 1 201 and text block 2 202 are passed through to be serially connected before and after text block doubly linked list passage 205 is realized.When needs are in text
During the memory space position insertion text string 204 of block 1, the memory space inadequate of described text block 1.Accordingly, it would be desirable to dynamic apply for
New text block 3 203.
Text after new text string position will being inserted in described text block 1 text string memory buffer is copied to temporarily
Buffering area 207, described interpolation text string 204 is stored in the text string memory buffer of described text block 1, unfilled portion
Divide by the Character Filling of extra buffer 207, the remaining character of extra buffer 207 all stores to the text string of text block 3
In memory buffer.Meanwhile, the new line symbol sum operation 209 of the text block that upgrades in time 1 and the new line symbol of text block 3
Sum operation 210.
After completing text string storage, will be switched off the text block doubly linked list passage 205 of text block 1 and text block 2.Pass through
New text block doubly linked list passage 206 realizes the two-way two-by-two string of text block 1 201, text block 2 202 and text block 3 203
Connection, completes the operation of the new text block of embodiment interpolation.
Referring to Fig. 3, this figure is shown that to delete the process schematic of text block, and robot program's body of an instrument is originally by literary composition
This block 1 301, text block 2 302 and text block 3 303 pass through text block doubly linked list passage 305 and text block doubly linked list
Passage 306 is realized being serially connected before and after two-by-two.
When needing to delete the text string 304 in the memory space of text block 1 301 and text block 2 302, remove literary composition
The text string of respective numbers in the text string memory buffer of this block 1 301, and execute renewal carriage return newline sum operation
308.Meanwhile, disconnect the text block doubly linked list passage 305 between text block 1 301 and text block 2 302, disconnect text block 2
Text block doubly linked list passage 306 between 302 and text block 3 303, by new text block doubly linked list passage 307 by literary composition
It is serially connected before and after this block 1 301 and text block 3 303.
Finally, need for isolated text block 2 302 to carry out release destruction text block operation 309, recovery system storage is empty
Between resource, complete delete text block process.
Referring to Fig. 3, this figure is shown that the process schematic quickly positioning, typical robot program's body of an instrument
Institutional framework includes: text block 1 401, text block 2 402, text block 3 403 and file status record data structure 407.Its
In, text block 1 401 record new line symbol sum is n1 404, and text block 2 402 record new line symbol sum is n2
405, text block 3 403 record new line symbol sum is n3 406.One member of file status record data structure 407 is
File location pointer 408, records the description information of current file operating position 415.
Positioning index is carried out according to given new file location pointer p ' 409, when meeting condition judgment 410, with current
On the basis of file location pointer 408, with dl412 for moving forward departure, quickly position to mesh in text string memory buffer
Cursor position 414.
Positioning index is carried out according to given new file location pointer p ' 409, when meeting condition judgment 411, with current
On the basis of file location pointer 408, with dl ' 413 for being moved rearwards by departure, quickly position to mesh in text string memory buffer
Cursor position 416.
It can be seen that, by the explanation of above example, the present invention can to robot program's file, particularly relatively large from
Line program file effectively carries out Organization And Management, realizes quickly and efficiently carrying out positioning index, insertion, deleting to text
Deng operation.There is stronger practicality and higher using value, meet the exploitation of correlation machine people's application software function.
Embodiment described above specific embodiment that is more concrete and describe in detail the present invention, and non-invention is protected
The restriction of shield scope.It will be clear that without departing from the inventive concept of the premise, the person skilled of this area may
Make some deformation and improve, these broadly fall into protection scope of the present invention.Therefore, should be limited with claims standard
The protection domain of patent of the present invention.
Claims (10)
1. the robot program's document handling method based on text block is it is characterised in that include: according to robot program's file literary composition
This size, sets several text block memory spaces, and whole program file text is divided in above-mentioned text block memory space
Storage；When processing to program file, with current text location pointer as basic point, only operate some up and down texts nearby
Block, is linked by the doubly linked list in text block data structure between each text block.
2. the robot program's document handling method based on text block according to claim 1 is it is characterised in that include step
Rapid:
Build an initialization module, for storing the data of attribute information structure of designated robot program file, dynamically distributes are remembered
Record file real time operational status pointer and first recording text block memory space, the mutex ring of initialization files exclusive reference
Border is it is ensured that the uniqueness of body of an instrument write operation；Following parameters: new line symbol quantity, text are included in each text block
Block data space, up/down text block doubly linked list pointer；
Build an editing key module, for providing user operation text functions interface, input is to robot program's body of an instrument
Operation require；
Build a text block processing module, for requiring text block is processed according to operation, in processing procedure, with current
Text position pointer is basic point, only operates some up and down text block nearby, and each text block is carried out with dynamically distributes, link, pin
Ruin.
3. the robot program's document handling method based on text block according to claim 2 is it is characterised in that text block
Processing module includes current text location pointer, text block attribute information storage data structure, text block doubly linked list, text block
Organization And Management's function interface, center based on current text location pointer, tied according to text block attribute information storage data
The key message of structure record, text block Organization And Management function interface passes through text block doubly linked list, completes to robot program
The interactive operation of file.
4. the robot program's document handling method based on text block according to claim 2 is it is characterised in that described right
Text block carries out process and includes text block dynamically distributes and recovery method, and step is as follows: when the text string quantity being inserted into is not overflow
Go out current text block memory space, be then inserted directly into described text string, follow-up text string moves in current text block memory space
Dynamic；When the text string quantity being inserted into overflows current text block memory space, then the new text block of dynamic application, overflows part
Text string is stored in new text block, and sets up the bi-directional chaining between current text block and new text block, and calculates and be related to
Change the total line number in text block；When the quantity deleting text string makes a text block empty, dynamic release reclaims idle
Text block.
5. the robot program's document handling method based on text block according to claim 2 is it is characterised in that described right
Text block carries out process and includes text block head office number calculating method, and step is as follows: counts new line Fu in each text block total
Number；
Described text block is carried out process includes doubly linked list link method between text block, step is as follows: in insertion or delete civilian
During this block, front/rear two-way series link between text-independent block is realized by up/down text block doubly linked list pointer, enters Mobile state
Management.
6. the robot program's document handling method based on text block according to claim 2 is it is characterised in that described literary composition
This block data space dynamically sets according to the amount of text size of robot program's file；
In described editing key module, the operation of robot program's body of an instrument is required to include insertion, deletion, lookup, duplication,
Paste, quickly position, obtain text string.
7. the robot program's document handling system based on text block is it is characterised in that include:
Initialization module, for storing the data of attribute information structure of designated robot program file, dynamically distributes log file
Real time operational status pointer and first recording text block memory space, the mutex environment of initialization files exclusive reference it is ensured that
The uniqueness of body of an instrument write operation；Following parameters are included: new line symbol quantity, text block data are deposited in each text block
Storage space, up/down text block doubly linked list pointer；
Editing key module, for providing user operation text functions interface, the operation to robot program's body of an instrument for the input
Require；
Text block processing module, for requiring text block is processed according to operation, in processing procedure, with current text position
Putting pointer is basic point, only operates some up and down text block nearby, each text block is carried out with dynamically distributes, link, destroys.
8. the robot program's document handling system based on text block according to claim 7 is it is characterised in that text block
Processing module includes current text location pointer, text block attribute information storage data structure, text block doubly linked list, text block
Organization And Management's function interface, center based on current text location pointer, tied according to text block attribute information storage data
The key message of structure record, text block Organization And Management function interface passes through text block doubly linked list, completes to robot program
The interactive operation of file.
9. the robot program's document handling system based on text block according to claim 8 is it is characterised in that described literary composition
This block processing module includes text block dynamically distributes and recycling module, and text block dynamically distributes are used for when to be inserted with recycling module
The text string quantity entering does not overflow current text block memory space, then be inserted directly into described text string, follow-up text string is current
Move in text block memory space；When the text string quantity being inserted into overflows current text block memory space, then dynamic application is new
Text block, the text string of spilling part is stored in new text block, and sets up between current text block and new text block
Bi-directional chaining, and calculate the total line number being related in variation text block；When the quantity deleting text string makes a text block empty
When, dynamic release reclaims free text block.
10. the robot program's document handling system based on text block according to claim 9 is it is characterised in that described
Text block processing module includes text block total line number computing module, and text block total line number computing module is used for counting each text
New line symbol sum in block；
Described text block processing module includes doubly linked list link module between text block, doubly linked list link module between text block
For when inserting or delete text block, being realized front/rear two-way between text-independent block by up/down text block doubly linked list pointer
Series connection link, enters Mobile state management.
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| CN111400427A (en) * | 2019-01-02 | 2020-07-10 | 阿里巴巴集团控股有限公司 | Data storage method, data query method, data storage device, data query device and computing equipment |
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