CN106339431B - Robot program's document handling method and system based on text block - Google Patents
Robot program's document handling method and system based on text block Download PDFInfo
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- CN106339431B CN106339431B CN201610687730.2A CN201610687730A CN106339431B CN 106339431 B CN106339431 B CN 106339431B CN 201610687730 A CN201610687730 A CN 201610687730A CN 106339431 B CN106339431 B CN 106339431B
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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
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- G—PHYSICS
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- 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
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Abstract
The invention discloses a kind of robot program's document handling method and system based on text block, method includes: according to robot program's body of an instrument size, several text block memory spaces are set, entire program file text is divided in above-mentioned text block memory space and is stored;When handling program file, using current text location pointer as basic point, several text blocks up and down is only operated nearby, are linked between each text block by the doubly linked list in text block data structure.System includes initialization module, and editing key module, text block processing module, 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 function interface.It is main to realize that text block dynamically distributes the doubly linked list between recycling, the total line number calculating of text block, text block and links.The present invention can efficient Organization And Management's robot program's file, system burden is few, scalability is strong.
Description
Technical field
The present invention relates to the Study of Control for Robots field, in particular at a kind of robot program's file based on text block
Manage method and system.
Background technique
Robot control system is very widely used in current industrial circle, and the application software of composition is varied, respectively
Has characteristic.Both at home and abroad no matter in the robot application software of which family, all has this software function of robot program's file process
Energy.In manual teaching operation, user's design editing program instruction, record programming text are provided, this process needs
Text string is inserted into, is deleted, search operation;In automatic running, real-time display currently executing instruction text chunk is needed,
Quick obtaining is corresponding text filed, and real-time display.Due to needing frequently hand over repeatedly to program instruction text
Interoperability, proposes higher requirement to robot program's document handling method.
Currently, program instruction body of an instrument is mainly using predistribution two-dimensional array string in robot application software
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 instruction text string of two-dimensions 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, it is intuitive easy-to-use from structure, but have the disadvantage that firstly, the space pre-allocated defines entire file
On the one hand the longest instruction text string length of the received maximum number of lines of energy and every row occupies larger memory space, separately in advance
On the one hand in face of becoming increasingly complex from now on and scalability is poor when huge robot off-line programming file;Again, to a line
Insertion or when deleting, needs to replicate and moves subsequent all instructions space, and waste CPU handles the time, and big for carrying amount
Program documentaion string, it will cause HMI display delay, poor user experience.
For this purpose, seek it is a kind of can less text block, system burden is few, Organization And Management's high efficient and flexible and scalability are strong
Robot program's document handling method has important research and practical value.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology and deficiency, provides a kind of robot journey based on text block
Preface part processing method and system, the present invention set reasonable text block automatically and deposit according to robot program's body of an instrument size
Store up space size, can efficient Organization And Management's robot program's file, system burden is few, scalability is strong.
The purpose of the present invention is realized by the following technical solution: the robot program file process side based on text block
Method, comprising: according to robot program's body of an instrument size, several text block memory spaces are set, by entire program file text
Originally it is divided in above-mentioned text block memory space and stores;When handling program file, it is with current text location pointer
Basic point, only neighbouring several text blocks up and down of operation, between each text block by the doubly linked list in text block data structure into
Row link.Editor's interaction of program file can be rapidly completed by way of text block, quick indexing positioning, obtain by the present invention
The processing such as text string, greatly improves the efficiency of the Organization And Management of robot program's file in actual robot control system, mentions
Supply a kind of solution actual file operating interactive flexible and effective feasible method.
Specifically, comprising steps of
An initialization module is constructed, for storing the data of attribute information structure of designated robot program file, dynamic point
With record file real time operational status pointer and first recording text block memory space, the mutex of initialization files exclusive reference
Environment guarantees the uniqueness of body of an instrument write operation;Include following parameters in each text block: new line accords with quantity, text
This block data space, up/down text block doubly linked list pointer;
An editing key module is constructed, for providing user's operation text functions interface, is inputted to robot program's file
The operation requirement of text;
A text block processing module is constructed, for requiring to handle text block according to operation, during processing, with
Current text location pointer is basic point, and only several text blocks above and below operation nearby, dynamically distribute each text block, chain
It connects, 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 are basic center with current text location pointer, according to text
The key message (such as every piece of total line number) of block attribute information storage data structure records, text block Organization And Management function interface
By text block doubly linked list, the interactive operation to robot program's file is completed.
Further, described handle including text block dynamic allocation and recovery method to text block, steps are as follows:
When the text string quantity being inserted into does not overflow current text block memory space, then the text string, follow-up text string are inserted directly into
It is moved in current text block memory space;When the text string quantity spilling current text block memory space being inserted into, then dynamically
Apply for new text block, the text string for overflowing part is stored in new text block, and establishes 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 for deleting text string makes a text
When block empties, dynamic release recycles free text block.
Further, described handle including text block head office number calculating method to text block, steps are as follows: statistics
New line symbol sum in each text block.Facilitate subsequent file and carries out fast text positioning operation.
Further, described to carry out doubly linked list link method processing includes text block to text block, steps are as follows:
When being inserted into or deleting text block, pass through front/rear two-way series between up/down text block doubly linked list pointer realization text-independent block
Link carries out dynamic management.
Preferably, the text block data space is set according to the amount of text size dynamic of robot program's file.
To can guarantee that data space size is more reasonable, there is very strong shrinkage character, can be improved text block operating efficiency.
Preferably, in the editing key module to the operation of robot program's body of an instrument require 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 dynamically distributes record for storing the data of attribute information structure of designated robot program file
File real time operational status pointer and first recording text block memory space, the mutex environment of initialization files exclusive reference,
Guarantee the uniqueness of body of an instrument write operation;Include following parameters in each text block: new line accords with quantity, text block number
According to memory space, up/down text block doubly linked list pointer;
Editing key module is inputted for providing user's operation text functions interface to robot program's body of an instrument
Operation requires;
Text block processing module, for requiring to handle text block according to operation, during processing, with ought be above
This position indicator pointer is basic point, and only several text blocks above and below operation nearby, dynamically distribute each text block, link, 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 are basic center with current text location pointer, according to text
The key message (such as every piece of total line number) of block attribute information storage data structure records, text block Organization And Management function interface
By text block doubly linked list, the interactive operation to robot program's file is completed.
Further, the text block processing module includes text block dynamic allocation and recycling module, and text block is dynamic
State distribution is used to not overflow current text block memory space when the text string quantity being inserted into recycling module, then is inserted directly into institute
Text string is stated, follow-up text string moves in current text block memory space;When the text string quantity spilling being inserted into ought be above
This block memory space then dynamically applies for new text block, and the text string for overflowing part is stored in new text block, and establishes current
Bi-directional chaining between text block and new text block, and calculate and be related to changing total line number in text block;When deletion text string
Quantity when one text block is emptied, dynamic release recycles free text block.
Further, the text block processing module includes the total line number computing module of text block, the total line number of text block
Computing module is for counting new line symbol sum in each text block.
Further, the 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 being inserted into or deleting text block, is realized by up/down text block doubly linked list pointer independent
Front/rear two-way series link, carries out dynamic management between text block.
Compared with the prior art, the invention has the following advantages and beneficial effects:
The present invention sets reasonable text block storage size according to robot program's body of an instrument size automatically, will
Entire program file text, which is divided in several text blocks, to be stored, and is mutually carried out by the doubly linked list in text block data structure
Link.The operations such as editor's interaction, quick indexing positioning, acquisition text string for the program file in robot application software, mention
For a kind of feasibility implementation method of efficient Organization And Management, a small number of text blocks are only related in text maninulation interactive process,
System burden is few, Organization And Management's high efficient and flexible and scalability are 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.
Detailed description of the invention
Fig. 1 is the overall structure schematic illustration of the present embodiment system.
Fig. 2 is the process schematic for increasing text block in the present embodiment method newly.
Fig. 3 is the process schematic that text block is deleted in the present embodiment method.
Fig. 4 is the process schematic quickly positioned in the present embodiment method.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1
As shown in Figure 1, robot program document handling system of the present embodiment based on text block, including initialization module
110, text block processing module 120, editing key module 130.
Initialization module 110, for initializing attribute information and the institute, text block Organization And Management of robot program's file
The running environment needed.The main data of attribute information structure for realizing storage designated robot program file dynamically distributes record text
Part real time operational status pointer and first recording text block memory space, the mutex environment of initialization files exclusive reference are protected
Demonstrate,prove the uniqueness of body of an instrument write operation.
Text block processing module 120, for efficient Organization And Managements such as text block dynamic allocation, link, destructions.Such as Fig. 1
Shown, inside includes a text block data organization data structure 121, text block bottom access operation function interface cluster, comprising:
Newly-increased 126, index 127,128 etc. are deleted.In the present embodiment, text block data organization data structure 121 includes: new line symbol
Total 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, it is 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 above system, the present embodiment robot program's document handling method, comprising: according to robot program's file text
This size sets several text block memory spaces, and entire program file text is divided in above-mentioned text block memory space
Storage;When handling program file, using current text location pointer as basic point, several texts up and down are only operated 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, using current text location pointer as base
Plinth center, according to the key message (such as every piece of total line number) of text block attribute information storage data structure records, text block group
It knits with management function interface through text block doubly linked list, completes the interactive operation to robot program's file.
Text block processing method includes that text block dynamically distributes and recycles algorithm, text block head office figures between method, text block
Doubly linked list links algorithm.Steps are as follows with recovery method for text block dynamic allocation: when the text string quantity being inserted into is not overflowed
Current text block memory space, then be inserted directly into the text string, and follow-up text string moves in current text block memory space;
When the text string quantity spilling current text block memory space being inserted into, then dynamically applies for new text block, overflow the text of part
This string is stored in new text block, and establishes the bi-directional chaining between current text block and new text block, and calculates and be related to becoming
Total line number in dynamic text block;When the quantity for deleting text string empties a text block, the idle text of dynamic release recycling
This block.Steps are as follows for text block head office number calculating method: counting new line symbol sum in each text block.It is two-way between text block
Steps are as follows for chained list link method: when being inserted into or deleting text block, being realized by up/down text block doubly linked list pointer independent
Front/rear two-way series link, carries out dynamic management between text block.Below with reference to example, the above method is specifically described.
Referring to fig. 2, the process schematic of newly-increased text block is shown in this figure, and robot program's body of an instrument is originally by text
This block 1 201 and text block 2 202 are serially connected before and after being realized by text block doubly linked list channel 205.When needs are in text
When text string 204 is inserted into the memory space position of block 1, the memory space inadequate of the text block 1.Therefore, it is necessary to dynamically apply
New text block 3 203.
The text that be inserted into after new text string position in the 1 text string memory buffer of text block is copied to temporarily
Buffer area 207, by the interpolation text string 204 storage into the text string memory buffer of the text block 1, unfilled portion
Divide the Character Filling by extra buffer 207, the remaining character of extra buffer 207 is all stored to the text string of text block 3
In memory buffer.Meanwhile the new line symbol sum operation 209 for the text block 1 that timely updates and the new line of text block 3 accord with
Sum operation 210.
After completing text string storage, the text block doubly linked list channel 205 of text block 1 and text block 2 will be switched off.Pass through
Realize the string two-way two-by-two of text block 1 201, text block 2 202 and text block 3 203 in new text block doubly linked list channel 206
Connection completes the operation of the new text block of one embodiment interpolation.
Referring to Fig. 3, the process schematic for deleting text block is shown in this figure, and robot program's body of an instrument is originally by text
This block 1 301, text block 2 302 and text block 3 303 pass through text block doubly linked list channel 305 and text block doubly linked list
Realize that front and back is serially connected two-by-two in channel 306.
When needing to delete the text string 304 in the memory space of text block 1 301 and text block 2 302, text is removed
The text string of respective numbers in the text string memory buffer of this block 1 301, and execute and update the operation of carriage return newline sum
308.Meanwhile the text block doubly linked list channel 305 between text block 1 301 and text block 2 302 is disconnected, disconnect text block 2
Text block doubly linked list channel 306 between 302 and text block 3 303, will be literary by new text block doubly linked list channel 307
This block 1 301 and 3 303 front and back of text block are serially connected.
Finally, needing to carry out isolated text block 2 302 release destroys text block operation 309, recovery system storage is empty
Between resource, complete delete text block process.
Referring to Fig. 3, the process schematic quickly positioned, typical robot program's body of an instrument is shown in this figure
Institutional framework includes: text block 1 401, text block 2 402, text block 3 403 and file status record data structure 407.Its
In, it is N1 404 that text block 1 401, which records new line symbol sum, and it is N2 that text block 2 402, which records new line symbol sum,
405, it is N3 406 that text block 3 403, which records new line symbol sum,.File status record data structure 407 a member be
File location pointer 408 records the description information of current file operating position 415.
Positioning index is carried out according to the file location pointer P ' 409 for giving new, when the condition of satisfaction judges 410, with current
On the basis of file location pointer 408, it is to move forward departure with dL412, quickly positions the mesh into text string memory buffer
Cursor position 414.
Positioning index is carried out according to the file location pointer P ' 409 for giving new, when the condition of satisfaction judges 411, with current
On the basis of file location pointer 408, it is to move backward departure with dL ' 413, quickly positions the mesh into text string memory buffer
Cursor position 416.
As it can be seen that by the explanation of above embodiments, the present invention can to robot program's file, it is especially relatively large from
Line program file effectively carries out Organization And Management, and realization quickly and efficiently carries out positioning index, insertion, deletion to text
Deng operation.With stronger practicability and higher application value, meet the exploitation of correlation machine people's application software function.
Embodiment described above describes a specific embodiment of the invention more specific and detailedly, and non-present invention is protected
Protect the limitation of range.It will be clear that without departing from the inventive concept of the premise, the related technical personnel of this field may
Several modifications and improvements are made, these are all within the scope of protection of the present invention.Therefore, it should be limited with appended claims standards
The scope of protection of the patent of the present invention.
Claims (9)
1. robot program's document handling method based on text block characterized by comprising according to robot program's file text
This size sets reasonable text block storage size automatically, and entire program file text is divided to above-mentioned text block and is deposited
Storage stores in space;When handling program file, using current text location pointer as basic point, if only above and below operation nearby
Text block is done, is linked between each text block by the doubly linked list in text block data structure;
An initialization module is constructed, for storing the data of attribute information structure of designated robot program file, dynamically distributes note
Record file real time operational status pointer and first recording text block memory space, the mutex ring of initialization files exclusive reference
Border guarantees the uniqueness of body of an instrument write operation;Include following parameters in each text block: new line accords with quantity, text
Block data space, up/down text block doubly linked list pointer;
An editing key module is constructed, for providing user's operation text functions interface, is inputted to robot program's body of an instrument
Operation requirement;
A text block processing module is constructed, for requiring to handle text block according to operation, during processing, with current
Text position pointer is basic point, and only several text blocks above and below operation nearby, dynamically distribute each text block, link, sell
It ruins.
2. robot program's document handling method according to claim 1 based on text block, which is characterized 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 is basic center with current text location pointer, according to text block attribute information storage data knot
The key message of structure record, text block Organization And Management function interface are completed by text block doubly linked list to robot program
The interactive operation of file.
3. robot program's document handling method according to claim 1 based on text block, which is characterized in that described right
It includes text block dynamic allocation and recovery method that text block, which carries out processing, and steps are as follows: when the text string quantity being inserted into is not overflow
Current text block memory space out, then be inserted directly into the text string, and follow-up text string moves in current text block memory space
It is dynamic;When the text string quantity spilling current text block memory space being inserted into, then dynamically applies for new text block, overflow part
Text string is stored in new text block, and establishes the bi-directional chaining between current text block and new text block, and calculates and be related to
Change total line number in text block;When the quantity for deleting text string empties a text block, dynamic release recycling is idle
Text block.
4. robot program's document handling method according to claim 1 based on text block, which is characterized in that described right
It includes text block head office number calculating method that text block, which carries out processing, and steps are as follows: it is total to count new line Fu in each text block
Number;
Described to carry out doubly linked list link method processing includes text block to text block, steps are as follows: being inserted into or deleting text
When this block, front/rear two-way series are linked between realizing text-independent block by up/down text block doubly linked list pointer, carry out dynamic
Management.
5. robot program's document handling method according to claim 1 based on text block, which is characterized in that the text
This block data space is set according to the amount of text size dynamic of robot program's file;
In the editing key module to the operation of robot program's body of an instrument require to include insertion, deletion, lookup, duplication,
It pastes, quickly positioning, acquisition text string.
6. robot program's document handling system based on text block characterized by comprising
Initialization module, for storing the data of attribute information structure of designated robot program file, according to robot program's text
Part size text sets reasonable text block storage size automatically, and entire program file text is divided to several texts
It is stored in block, dynamically distributes record file real time operational status pointer and first recording text block memory space, initialization files
The mutex environment of exclusive reference guarantees the uniqueness of body of an instrument write operation;Include following parameters in each text block: returning
Vehicle newline quantity, text block data space, up/down text block doubly linked list pointer;
Editing key module inputs the operation to robot program's body of an instrument for providing user's operation text functions interface
It is required that;
Text block processing module, for requiring to handle text block according to operation, during processing, with current text position
Setting pointer is basic point, and only several text blocks above and below operation nearby, dynamically distribute each text block, link, destroy.
7. robot program's document handling system according to claim 6 based on text block, which is characterized 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 is basic center with current text location pointer, according to text block attribute information storage data knot
The key message of structure record, text block Organization And Management function interface are completed by text block doubly linked list to robot program
The interactive operation of file.
8. robot program's document handling system according to claim 7 based on text block, which is characterized in that the text
This block processing module includes text block dynamic allocation and recycling module, and text block, which is dynamically distributed, to be used for recycling module when to be inserted
The text string quantity entered does not overflow current text block memory space, then is inserted directly into the text string, follow-up text string is current
It is moved in text block memory space;When the text string quantity being inserted into overflows current text block memory space, then dynamic is applied new
Text block, the text string for overflowing part is stored in new text block, and establishes between current text block and new text block
Bi-directional chaining, and calculate and be related to changing total line number in text block;When the quantity for deleting text string empties a text block
When, dynamic release recycles free text block.
9. robot program's document handling system according to claim 8 based on text block, which is characterized in that the text
This block processing module includes the total line number computing module of text block, and the total line number computing module of text block is for counting each text block
Middle new line symbol sum;
The text block processing module includes doubly linked list link module between text block, doubly linked list link module between text block
For be inserted into or delete text block when, by up/down text block doubly linked list pointer realize text-independent block between it is front/rear two-way
Series connection link, carries out dynamic management.
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