CN106406890A - A method of constructing robot modules by using multiple languages - Google Patents
A method of constructing robot modules by using multiple languages Download PDFInfo
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- CN106406890A CN106406890A CN201610846419.8A CN201610846419A CN106406890A CN 106406890 A CN106406890 A CN 106406890A CN 201610846419 A CN201610846419 A CN 201610846419A CN 106406890 A CN106406890 A CN 106406890A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/30—Creation or generation of source code
- G06F8/34—Graphical or visual programming
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Abstract
The invention provides a method of constructing robot modules by using multiple languages. The method is developed based on Visual Studio 2012; a graphical programming module is displayed as a graphical programming interface in a Windows operating system environment; the left side of the graphical programming interface is part libraries. Before graphical programming, part graphics are newly constructed in the part libraries and then part libraries corresponding to part modules are dragged to the graphical programming interface; connecting and attribute setting matching are performed on a controller and an interface of each part library; only after successful setting matching of the controller and the interface of each part library can the graphical programming module generate a correct graphical programming program, and a current working state is displayed on the graphical programming interface in real time via a visual interactive simulative environment. The method employs multi-language programming; different program files can be generated from the same program file via different xml documents and converters of other languages to realize deep package, and the working efficiency is high.
Description
Technical field
The present invention relates to robot modeling's technical field, more particularly, to a kind of using the multilingual side setting up robot module
Method.
Background technology
With developing rapidly of information age, to the demand of software also in rapid growth, the therefore efficiency of Software for producing
Also need to improve constantly, for software development personnel, manpower, thing can be saved to greatest extent using efficient programming technique
Power, reduces cost, shortens product development cycle, seizes the first market opportunities.And software programming technique quickly grows, its important composition portion
Component software development language, by machine code, experience BASIC, C, C ++ wait and develop into high-level language；The exploitation of software
Environment, also by the written in code of text type, develops into the integrated IDE development environment of visual multiple types of tools, as programming technique
One kind, graphic programming technology just walking ahead of the curve, be integrate the thoughts such as visualization, objectification, modularization IDE integrated
Development environment, with patterned programming tool, programming personnel can be as Making programme figure, by simply adding and dragging
Move several graphic programming elements, connect necessary input/output terminal, you can the program required for generating；Xml technology has because of it
Standby multifrequency nature, is just increasingly widely applied, how by graphic programming technology and xml technological incorporation, thus playing
Go out bigger effect, developer freed from complicated code, make programing work more efficient, more convenient have very heavy
The meaning wanted.
Content of the invention
Technical problem solved by the invention be to provide a kind of using the multilingual method setting up robot module, to solve
The certainly shortcoming in above-mentioned background technology.
Technical problem solved by the invention employs the following technical solutions to realize：
A kind of using the multilingual method setting up robot module, under Windows operating system environment, based on Visual
Studio 2012 develops, including such as lower module：
1）Figure database management module
Part library needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " duplication ", " stickup ", " renaming ", " preservation ", and adopt xml document storage unit storehouse essential information, part library bag
Include controller storehouse, man-machine interaction storehouse, Driver Library, sensor bank and other storehouses, and be respectively arranged with controller in each part library；
Literal pool needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " preservation "；
Shape library needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " preservation "；
Algorithms library needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " preservation "；
The Visual Interactive simulated environment file of Visual Interactive simulation module is managed, including " newly-built ",
" opening ", " importing ", " interpolation ", " deletion ", " editor ", " preservation "；
2）Graphic programming module
Under Windows operating system environment, graphic programming module is shown as graphic programming interface, graphic programming interface
Left side is part library, comprises the shape library needed for graphic programming, this shape library can not be at graphic programming interface in part library
Lower editor, edits in figure library management/part library and preserves；Under graphic programming interface, can only be in alternative pack storehouse
Part pulled with complete connect work；Before being patterned programming, newly-built part first in part library, from part
Primary element is pulled into, in the figure constructing newly-built component models using the drawing instrument in part library, figure constitution completes in storehouse
Afterwards, attribute setting is carried out to newly-built part figure contact mark, by the composition of figure and the setting of contact identity property, one
The figure of component models is basically completed；
Write the corresponding program of this component models below with graphic programming, controller module is when part library creates according to it
Interface attributes are encoded with framing program main.cpp, and miscellaneous part is corresponding to be .h program file；It is right that main.cpp is used for realizing
Each control unit interface funcall, the function in .h program is used for completing the funcall to component models；Part library interface
There are two editing areas lower section, is Windows edit box and Linux edit box respectively, and in program editing frame, editor module corresponds to
Program, be respectively Windows emulation and Linux actual motion program；Part library corresponding with this component models is dragged
Enter graphic programming interface, be attached in the controller to each part library and interface, attribute setting, the portion outside controller
Part need to be connected with the corresponding interface of controller according to its own interfaces characteristic, and interface type identification, is then entering line interface class simultaneously
Type matching judgment, when interface mismatches, then this part cannot connect, if Interface Matching success, selected Parts Controller is adjusted
Carry out line with function and draw operation, simultaneously the controller setting robot numbering to place part library；When part library pulls control into
Device processed but when being not provided with attribute, controller automatic identification makes mistake；When clicking on generation c program menu item, controller is according to mistake
Type ejects corresponding warning by mistake, points out to be configured operating, and interrupts the operation of generation program；When the part pulled into is to drive
During the part of dynamic storehouse class, also need to set a property；After the controller of each part library to be done is arranged with interface, graphic programming mould
Block could generate correct graphic programming program；For the figure completing graphic programming, click on file/preservation menu to figure
Shape is preserved, and saves as xml document；
Each component models has a subfile corresponding with component models title itself under Parts library archive respectively
Folder, under this sub-folder, including the information of the created part of sub-folder corresponding with component models title itself, such as name
Title, interface type, unit type etc.；
3）Visual Interactive simulation module
Build Visual Interactive simulated environment, in conjunction with graphic programming module to set up the emulation of robot module, and according to
Graphic programming module programming progress in real time in graphic programming interface display current operating state, to realize emulating.
In the present invention, the drawing instrument in part library includes rectangle, interface, text.
In the present invention, the setting of newly-built part figure contact identity property, that is, arrange interface type, and interface type includes
USBOTG、GPIO、Uart、TCP/IP、CAN、Wifi、I2C、CSPI.
In the present invention, the unit interface attribute of part library, interface quantity attribute, text attribute all can be made by oneself by user
Justice, and be stored in the path of computer with xml document, xml document includes rectangle frame position, interface position, interface parameters, interface
Quantity, text position, text attribute, the path of part and part correspond to algorithm.
In the present invention, the interface message of all parts, link information and information of depositing are preserved by xml document respectively.
In the present invention, each part library interface attributes include USB, Uart, Wifi.
In the present invention, in program editing frame, also there is the editting function that module is connected, that is, each part can be deleted, individual
Other module needs to set a property；During deleting parts, controller calls DeleteNewModule（int i）Function, to the mould selecting
Block carries out type judgement, then deleted and nullified its presence flag bit, call simultaneously DeleteLine (int i,
CPoint point0, CPoint point1) line therewith also deleted by function therewith；When mobile a certain part, control
Device calls DrawNewModule automatically（CPoint point, int i）Or DrawNewControl（int i）Any one letter
Number moves and redraws operation, thus realizing the locomotive function of module, calls ReDrawAll simultaneously（）Function is so as to line
Move and keep the connection with interface.
Beneficial effect：
1）Graphic programming element expressive ability of the present invention projects, and far superior to code is easy to see program structure clearly on the whole,
Make programming personnel keep clear thinking, be best understood from the state of progress programming；
2）The present invention has the graphical representations form that xml text describes the form of expression, the program documentaion form of expression and program concurrently, and
Graphical programs utilize patterned development environment, can behave as the program figure in graphical programming environment, can also appear as
After the completion of generate system xml description；
3）The present invention, by xml self descriptiveness, can conveniently realize the project conversion between graphical programs and xml description, programming
Personnel can check program information using various programmable devices, and not merely relies on original exploitation；
4）As the present invention plays with building blocks, graphical programs are conducive to the adjustment of sequential organization in program, and same program file can pass through
Different xml document and the converter of other language, generate different program files, are conveniently encapsulated each section of program, real
The encapsulation of existing deeper, expands the free degree of editor, thus improving the operating efficiency of software development.
Brief description
Fig. 1 is the drawing instrument schematic diagram in presently preferred embodiments of the present invention.
Fig. 2 is the Driver Library schematic diagram in presently preferred embodiments of the present invention.
Fig. 3 is the part library schematic diagram in presently preferred embodiments of the present invention.
Fig. 4 is the algorithm structure schematic diagram in presently preferred embodiments of the present invention.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention realizes are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
A kind of using the multilingual method setting up robot module, under Windows operating system environment, based on Visual
Studio 2012 develops, including such as lower module：
1）Figure database management module
Part library needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " duplication ", " stickup ", " renaming ", " preservation ", and adopt xml document storage unit storehouse essential information, part library bag
Include controller（Controllers）Storehouse, man-machine interaction（HIMs）Storehouse, driving（Drivers）Storehouse, sensor（Sensors）Storehouse and
Other storehouses, as shown in figure 3, and be respectively arranged with controller in each part library；
Literal pool needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " preservation "；
Shape library needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " preservation "；
Algorithms library needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " preservation "；
The Visual Interactive simulated environment file of Visual Interactive simulation module is managed, including " newly-built ",
" opening ", " importing ", " interpolation ", " deletion ", " editor ", " preservation "；
2）Graphic programming module
Under Windows operating system environment, graphic programming module is shown as graphic programming interface, graphic programming interface
Left side is part library, comprises the shape library needed for graphic programming, this shape library can not be at graphic programming interface in part library
Lower editor, edits in figure library management/part library and preserves；Under graphic programming interface, can only be in alternative pack storehouse
Part pulled with complete connect work；Before being patterned programming, newly-built part first in part library, from part
Pull primary element in storehouse into, in part library, have three drawing instruments, as shown in figure 1, respectively rectangle, interface, text, by this three
Individual drawing instrument is pulled in the view on the right side of graphic programming interface, constitutes the figure of component models, and figure constitution completes
Afterwards, need to dock point identification and carry out attribute setting, that is, the type of interface is set, such as USBOTG, GPIO, Uart, TCP/IP, CAN,
Wifi, I2C, CSPI etc., by the composition of figure and the setting of contact attribute, the figure of component models is basically completed；
Write the corresponding program of this component models below, below part library interface, have two editing areas, be that Windows edits respectively
Frame and Linux edit box, the corresponding program of editor module in program editing frame, is real in Windows emulation and Linux respectively
The program that border is run；Part library corresponding with this component models is pulled into graphic programming interface, in the control to each part library
Device processed and interface are attached, attribute setting, and each part has the interface attributes of oneself, such as USB, Uart, Wifi etc., controller
Outside part need to be connected with the corresponding interface of controller according to its own interfaces characteristic, now call MKportIsSelected
(CPoint point) or ControllerPortSelected1 (CPoint point) function carry out interface type identification,
Then carrying out interface type matching judgment, when interface mismatches, then this part cannot connect, if Interface Matching success, control
Device processed calls DrawLine (CPoint point0, CPoint point1) function to carry out line and draws operation, simultaneously to place
Part library controller setting robot numbering；When part library is pulled controller into but is not provided with attribute, controller automatic identification
Make mistake；When clicking on generation c program menu item, controller ejects corresponding warning according to wrong type, and prompting is configured
Operation, and interrupt the operation of generation program；When the part that the part pulled into is Driver Library class, also need to set a property；To be done
After the controller of each part library is arranged with interface, graphic programming module could generate correct graphic programming program；?
Program regions also have the editting function that module is connected, and that is, each part can be deleted, and individual modules need to set a property；Delete
During part, controller calls DeleteNewModule（int i）Function, carries out type judgement to the module selecting, then carries out
Delete and nullify the flag bit of its presence, call DeleteLine (int i, CPoint point0, CPoint simultaneously
Point1) line therewith is also deleted by function therewith；During mobile a certain part, controller calls DrawNewModule automatically
（CPoint point, int i）Or DrawNewControl（int i）Any one function moves and redraws operation, thus
Realize the locomotive function of module, call ReDrawAll simultaneously（）Function is so as to line also moves and keeps the company with interface
Connect；For the figure completing graphic programming, click on file/preservation menu and figure is preserved, save as xml document, literary composition
The concrete structure that part preserves, as shown in Figure 4；
Each component models（e.g.：New Module）One and component models itself are had respectively under Parts library archive
The corresponding sub-folder of title, under this sub-folder, is created including sub-folder corresponding with component models title itself
Build the information of part, such as title, interface type, unit type etc.；Comprise each in two files of Windows and Linux respectively
From component models corresponding Windows emulation and Linux actual operation procedure, controller module is when part library creates according to it
Interface attributes are encoded with framing program main.cpp, and miscellaneous part is corresponding to be .h program file；Main.cpp is in Program Generating
When play a key effect, need to be write according to the interface of controller when writing, be defined this control unit interface specific simultaneously
Variable is to complete the acquisition of information to each link block for the graphic programming；By calling the function in .h program, right to complete
The funcall of component models；
3）Visual Interactive simulation module
Build Visual Interactive simulated environment, in conjunction with graphic programming module to set up the emulation of robot module, and according to
Graphic programming module programming progress in real time in graphic programming interface display current operating state, to realize emulating.
In the present embodiment, as shown in Fig. 2 the unit interface attribute of part library, interface quantity attribute, text attribute all may be used
By User Defined, and it is stored in the path of computer with xml document, xml document includes rectangle frame position, interface position, connects
Mouth parameter, interface quantity, text position, text attribute, the path of part and part correspond to algorithm, and graph-based comprises interface
Type and interface parameters etc., the left driver part as shown in by Fig. 2 is described as：<?xmlversion=”1.0”encoding=”
utf-8”?><Rect><point>（3.760,5.800;3.760,6.040;4.080,6.040;4.080,5.800)</
point>;<port><portkind>5</portkind></port><Text><Point>(3.800,5.920)</Point >
<Text>LDriver</Text></Text>.
In the present embodiment, the interface message of all parts, link information and information of depositing are preserved by xml document respectively,
As the graphic programming information of left driving is described as：
<Port><Name>Channel3</Name><Connection>01</Connection><Property>00</
Property><part>LDriver</part><Winpath>D:\HDRobots\Lib\Parts\Drivers\LDriver\
Windows\LDriver.h</Winpath><Linpath>D:\HDRobots\Lib\Parts\Drivers\LDriver\
Linx\LDriver.h</Linpath><InitFunc>LDriverAutoInit</InitFunc><OutFunc>
LDriverAutoOut</OutFunc><InFunc>LDriverAutoIn</InFunc></Port>.
General principle and principal character and the advantages of the present invention of the present invention have been shown and described above.The technology of the industry
, it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification is originally for personnel
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes
Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and its
Equivalent thereof.
Claims (7)
1. a kind of using the multilingual method setting up robot module it is characterised in that under Windows operating system environment,
Developed based on Visual Studio 2012, including such as lower module：
1）Figure database management module
Part library needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " duplication ", " stickup ", " renaming ", " preservation ", and adopt xml document storage unit storehouse essential information, part library bag
Include controller storehouse, man-machine interaction storehouse, Driver Library, sensor bank and other storehouses, and be respectively arranged with controller in each part library；
Literal pool needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " preservation "；
Shape library needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " preservation "；
Algorithms library needed for graphic programming is managed, including " newly-built ", " opening ", " importing ", " interpolation ", " deletion ",
" editor ", " preservation "；
The Visual Interactive simulated environment file of Visual Interactive simulation module is managed, including " newly-built ",
" opening ", " importing ", " interpolation ", " deletion ", " editor ", " preservation "
2）Graphic programming module
Under Windows operating system environment, graphic programming module is shown as graphic programming interface, graphic programming interface
Left side is part library, comprises the shape library needed for graphic programming, this shape library can not be at graphic programming interface in part library
Lower editor, edits in figure library management/part library and preserves；Under graphic programming interface, can only be in alternative pack storehouse
Part pulled with complete connect work；Before being patterned programming, newly-built part first in part library, from part
Primary element is pulled into, in the figure constructing newly-built component models using the drawing instrument in part library, figure constitution completes in storehouse
Afterwards, attribute setting is carried out to newly-built part figure contact mark, by the composition of figure and the setting of contact identity property, one
The figure of component models is basically completed；
Write the corresponding program of this component models below, controller module is encoded with according to its interface attributes when part library creates
Framing program main.cpp, miscellaneous part is corresponding to be .h program file；Main.cpp is used for realizing to each control unit interface
Funcall, the function in .h program is used for completing the funcall to component models；Two editors are had below part library interface
Area, is Windows edit box and Linux edit box respectively, the corresponding program of editor module in program editing frame, be respectively
Windows emulation and the program of Linux actual motion；Part library corresponding with this component models is pulled into graphic programming circle
Face, is attached in the controller to each part library and interface, attribute setting, and the part outside controller need to connect according to itself
Mouthful characteristic is connected with the corresponding interface of controller, and interface type identifies simultaneously, then carrying out interface type matching judgment, when connecing
When mouth mismatches, then this part cannot connect, if Interface Matching success, selected Parts Controller call function carries out line and paints
System operation, the controller setting robot numbering to place part library simultaneously；When part library pulls controller into but it is not provided with belonging to
During property, controller automatic identification makes mistake；When clicking on generation c program menu item, controller ejects corresponding according to wrong type
Warning, point out to be configured operating, and interrupt the operation of generation program；When the part that the part pulled into is Driver Library class,
Also need to set a property；After the controller of each part library to be done is arranged with interface, graphic programming module could generate correctly
Graphic programming program；For the figure completing graphic programming, click on file/preservation menu and figure is preserved, protect
Save as xml document；
Each component models has a subfile corresponding with component models title itself under Parts library archive respectively
Folder, under this sub-folder, including the information of the created part of sub-folder corresponding with component models title itself；
3）Visual Interactive simulation module
Build Visual Interactive simulated environment, in conjunction with graphic programming module to set up the emulation of robot module, and according to
Graphic programming module programming progress in real time in graphic programming interface display current operating state, to realize emulating.
2. according to claim 1 a kind of using the multilingual method setting up robot module it is characterised in that part library
In drawing instrument include rectangle, interface, text.
3. according to claim 1 a kind of using the multilingual method setting up robot module it is characterised in that newly-built portion
The setting of part figure contact identity property, that is, arrange interface type, interface type include USBOTG, GPIO, Uart, TCP/IP,
CAN、Wifi、I2C、CSPI.
4. according to claim 1 a kind of using the multilingual method setting up robot module it is characterised in that part library
Unit interface attribute, interface quantity attribute, text attribute all by User Defined, and computer can be stored in xml document
In path, xml document includes rectangle frame position, interface position, interface parameters, interface quantity, text position, text attribute, portion
The path of part and part correspond to algorithm.
5. according to claim 1 a kind of using the multilingual method setting up robot module it is characterised in that all portions
The interface message of part, link information and information of depositing are preserved by xml document respectively.
6. according to claim 1 a kind of using the multilingual method setting up robot module it is characterised in that each part
Bank interface attribute includes USB, Uart, Wifi.
7. according to claim 1 a kind of using the multilingual method setting up robot module it is characterised in that in program
Edit box also has the editting function that module is connected, and that is, each part can be deleted, and individual modules need to set a property；Deletion portion
During part, controller calls DeleteNewModule（int i）Function, carries out type judgement to the module selecting, is then deleted
Remove and nullify the flag bit of its presence, call DeleteLine (int i, CPoint point0, CPoint point1) simultaneously
Line therewith is also deleted by function therewith；When mobile a certain part, controller calls DrawNewModule automatically
（CPoint point, int i）Or DrawNewControl（int i）Any one function moves and redraws operation, thus
Realize the locomotive function of module, call ReDrawAll simultaneously（）Function is so as to line also moves and keeps the company with interface
Connect.
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| CN107972033A (en) * | 2017-12-21 | 2018-05-01 | 深圳市今天国际智能机器人有限公司 | Method, apparatus and system based on graphics table programming Control industrial robot |
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Application publication date: 20170215 |