CN106411613A - Distributed simulation system communication network construction method based on descriptive information flow - Google Patents
Distributed simulation system communication network construction method based on descriptive information flow Download PDFInfo
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- CN106411613A CN106411613A CN201611013168.1A CN201611013168A CN106411613A CN 106411613 A CN106411613 A CN 106411613A CN 201611013168 A CN201611013168 A CN 201611013168A CN 106411613 A CN106411613 A CN 106411613A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/14—Network analysis or design
- H04L41/145—Network analysis or design involving simulating, designing, planning or modelling of a network
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Abstract
The invention provides a distributed simulation system communication network construction method based on a descriptive information flow. The underlying communication basis is based on an Ethernet technology, an IP addressing technology and a TCP technology, a node topological structure is switching type, handshaking procedures and message rules between a communication host and slaves are designed, and a dynamic task scheduling algorithm of the communication host is designed. The distributed simulation system communication network construction method has the beneficial effects that: the physical structure adopts the switching type Ethernet, and has the advantages of being simple in form, convenient in connection and low in cost, supporting open interconnection and the like; and the information flow specifications based on descriptiveness as well as host and slave scheduling algorithms provided by the invention can guarantee network security to a great extent while ensuring real-time performance, thereby providing a convenient and reliable reference for the design of a distributed simulation system.
Description
Technical field
The present invention provides a kind of distributing emulation system communication network construction method, is related to computer networking technology, many intelligence
Energy body systems technology, distributed system technology and system simulation technology.
Background technology
Distributed system refers to physically there is associated working between the individuality in distribution characteristicss or behavior with distribution capability,
Jointly solve the system of fairly large or extensive problem.In aerospace system, multi-machine collaborative is realized to enemy's attack, robot
In world cup 3D emulation platform (Robocup3D), multiple agent field goal is all the exemplary of distributed theory application.Point
Build and the operation of cloth system involves more theoretical and method, the wherein foundation of underlying communication network and the development running algorithm
It is one of major issue.
Existing distributing emulation system or physical topological structure are complicated, or real-time communication is bad, or communication
Reliability is not high, seriously hinders being smoothed out of engineering project.
Content of the invention
In order to overcome the deficiencies in the prior art, the present invention provides a kind of side building distributing emulation system communication network
Method, can in real time, reliably ensure the communication between distributed module (by computer simulation).
The technical solution adopted for the present invention to solve the technical problems comprises the following steps：
Step 1, builds distributing emulation system communication network, including main frame, switch, monitor, outer machine and some from
Machine, described main frame has and only one, and main frame, monitor and outer machine pass through each slave of switch UNICOM respectively；
Step 2, main frame initializes, setting Host Channel type, host address and main frame listening port, and described main frame is believed
Road type is wireless type or wire type；Slave initializes, the logical address of setting slave；
Step 3, agreement message coding and decoding rule, including：Message is circulated in the form of character string in the channel, and
There is a labelling defining message head and the tail；Some information units are comprised, each information unit has one in message character string
Define the labelling of head and the tail, information unit includes an informational function descriptor and some informational function parameters；In communication information
Including time tag；
Step 4, host-initiated waits slave to access, if there being slave access request, sets up interim authenticated channel, accepts to come
From the checking information of slave, if checking information is legal, slave is allowed normally to access, interim authenticated channel is promoted to normally to be led
From communication channel；If no checking information arrives or checking is overtime or checking is illegal, disconnect current provisional channel, refuse slave
Access；Slave sends access request and checking information after starting, until main frame is just returning after the correct state of checking is responded slave
Often access；Slave is normal access after, main frame and slave according to setting cycle messaging, if the messaging of current period is no
Effect, then using upper cycle valid data.
After the interim authenticated channel of described foundation, and after main frame and slave are according to setting cycle messaging, more
The overall situation record of new distributing emulation system communication network, content includes：Main frame is attempted the number of times of access and current trial
Order；Current hosts and slave take the numbering of physical channel and enter incoming interface；The current slave numbering attempting accessing and its with
The corresponding relation of actual physics channel；The current attribute of slave attempting accessing and physical attribute.
Described slave i to machine j communication, first by slave i execution step 4 access host and messaging, then slave j holds
Row step 4 access host messaging.
The invention has the beneficial effects as follows：Physical arrangement adopts switching Ethernet, has form simply, easy to connect, becomes
This is cheap, many advantages, such as support open interconnection；Simultaneously proposed by the invention based on descriptive flow of information specification and master,
Slave dispatching algorithm dramatically can guarantee network security on the premise of ensureing real-time, for design distributed emulation system
System is provided convenience, reliable reference.
Brief description
Fig. 1 is communication of distributed system network topology structure.
Fig. 2 is main frame execution logic, including main frame dynamic task scheduling.
Fig. 3 is slave execution logic.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following enforcements
Example.
The bottom communication basis of the distributing emulation system that the present invention builds is based on ethernet technology, IP addressing technology, TCP
Technology, node topology structure adopts switch type.And devise communication host (hereinafter referred to as main frame) and communication slave (letter below
Claim slave) handshaking procedure, message rule, and the dynamic task scheduling algorithm of communication host.
The enforcement step of the distributing emulation system communication network construction method based on descriptive information stream that the present invention provides
Suddenly as follows：
Step 1：Network connection.
The present invention adopts the communication system topology based on switch type shown in Fig. 1.
Because system has extensibility, thus without restriction for being connected into subsystem number.It can only having and only one
Individual main frame, because his be network state unique observer and unique scheduler of network task.
Wherein, main frame undertakes global information exchange intermediary, when server uses；Monitor, outer machine, slave are in network structure
Say it is all client in aspect.Outer machine refers to be not involved in the external machine of distributed associating, undertakes fresh information in the environment
Supplier and the constructor of new situation.The physical arrangement form of this structure is simple, easy to connect, with low cost.
In order to obtain the communications status between slave (demand in real time for the distributed scheduling algorithm) in real time, adopt
ICP/IP protocol communicates within the system.
Step 2：Main frame, slave initialization.
(wireless type or wire type set according to real needs or existence conditionses to specifically include setting Host Channel type
Put), host address, main frame listening port；The logical address of slave (is determined it is also possible to artificial by special address allocation rule
Agreement).
Step 3：Agreement message coding and decoding rule.
Using the message flow rule based on descriptive information stream.
Channel is set up after finishing, and for the message encoding format between principal and subordinate, execute using based on descriptive information stream
Message flow rule：
(1) message is circulated in the form of character string in the channel, will there is a labelling defining message head and the tail simultaneously.This
Kind labelling can be " () " can also be " [] " or other forms.For example：“[this is a message]”.
(2) much information (such as aircraft, having the angle of pitch, roll angle etc.), referred to as information are comprised in message character string
Unit.Information unit also must bounded calibration note (such as " () " or " [] ").Information unit there must be the function description of information
Symbol and functional parameter.The function of function descriptors descriptive information, the tolerance of functional parameter descriptive information, such as " angle " is as work(
During energy descriptor, " 10 " can be used as functional parameter.Separated using space between function descriptors and functional parameter, space number
Do not limit, at least one.One information must have and only one of which function descriptors, but functional parameter allowed multiple.Message list
The addition of unit should not define sequencing, arrive first and first enter, when functional parameter is invalid, current message does not comprise this message elements.
For example：“(degree 10)”.
(3) the real-time checking in order to communicate, communication information will add time tag.
Step 4：Main frame, slave start to execute respective logic respectively.
Slave is shaken hands as described below with main frame dynamic task scheduling algorithm：
Main frame and slave set up communication handshake, implement the synchronized algorithm that the dispatching algorithm of proper communication is exchanged with global data
Substantially：
Host-initiated waits slave to access, if there being slave access request, sets up interim authenticated channel, accepts to be derived from slave
Checking information, if checking information is legal, allow this access, interim authenticated channel be promoted to normal master slave communications letter
Road.If no checking information arrives (or checking time-out) or checking is illegal, disconnect current provisional channel, refusal slave connects
Enter.Normal access after, in order to ensure the real-time communicating with effectiveness it is necessary to regular messaging, if currently received and dispatched the cycle
Data invalid, then using upper cycle valid data.Meanwhile, there is scheduling logic in main frame, for each slave shape of monitor in real time
State, slave logical number and the corresponding relation of channel, are currently accessed total slave number.
For slave, after startup, send linking request and checking information, respond until main frame returns the correct state of checking,
Just enter normal communication periods.
Main frame and slave set up the algorithm of communication handshake as shown in Figure 2 and Figure 3.
Wherein, updating the overall content comprising that records is：
1st, main frame is attempted the number of times of access and the current order attempted.
2nd, the numbering of physical channel of the actual occupancy of current slave with enter incoming interface (socket and thread handle).
3rd, current slave numbering ID attempting accessing, and its corresponding relation with actual physics channel.
4th, the physical attribute (IP address, the port numbers of occupancy the machine) of the current slave attempting accessing.
5th, the attribute of the current slave attempting accessing.As turn-on time, model.
Note：If lacking one of above-mentioned during information updating, corresponding record does not update, and only updates live part.
And, propaganda directed to communicate to slave j if necessary to slave i, then first main frame is sent to by slave i, then have main frame to forward, so may be used
Save channel resource with effective, reduce development cost.
The present embodiment considers following practical problem：There are four robots, cooperation completes something, such as kicks a ball
Goal, designs the communication subsystem of the analogue system of this system.Requirement will be good enough real-time, reliability.
This networking detailed rules and regulations is as detailed below：
Step 1：Network connection.
5 performances of selection computer good enough is (it is proposed that hardware requirement is：Windows 7Ultimate；Hard disk
>500G；Internal memory>4G；Processor>Intel 5) simulate 4 robot servers respectively.The effect of server is for scene
Generation, real-time detection or each robot of acquisition information in the scene, and it is distributed to corresponding robot as communication host.Profit
Connect above-mentioned 5 computers with network topology shown in Fig. 1.Switch is advised as gigabit level.
Step 2：Main frame, slave initialization.
(1) main frame setting Server listening port is 4000, and arranges host IP address for " 192.168.1.1 ".To supervise
Listen socket to put into descriptor set (FD_SET), open, using Select function, the state change monitoring descriptor set, disappear when having
When breath arrives, function returns on the occasion of otherwise for -1.And set Select function and be not to wait for, that is, time parameter is set to 0.
(2) slave, after having initialized TCP environment, obtains respective logical address it is assumed that being 1～4, then application accesses
“192.168.1.1:4000”.
Step 3：Agreement message coding and decoding rule.
Defer to following agreements：
1st, the communication information is used character string as carrier, and message is integrally defined with round parentheses " () ".
2nd, specifying information is limited using round parentheses " () ", referred to as information unit.The function of existence information in round parentheses
Descriptor and functional parameter.Separated using space between function descriptors and functional parameter, space number does not limit, at least one.
One information must have and only one of which function descriptors, but functional parameter allowed multiple.I.e. information format is
(function descriptors functional parameter [1] [functional parameter 2 ...]).
The expression option that square brackets bracket.The addition of message elements should not define sequencing, arrive first and first enter, function
During invalid parameters, current message does not comprise this message elements.
3rd, the real-time checking in order to communicate, communication information will add time tag.Its function descriptors is " time ", parameter
Using timesharing second system " 00:00:00 " or second system " 00000000 ".So the form of time tag information is (time00:00:00)
Or (time 00000000).
4th, the function descriptors of the checking information to main frame for the slave are " ID ", and functional parameter only one of which, for current slave
Numbering, checking information should not comprise other irrelevant informations, if main frame does not return the signal of effective access, also deposits in principal and subordinate's channel
Periodically uninterruptedly send in case, respond until receiving main frame.
When the 5th, needing to propaganda directed to communicate when between slave, forwarded by main frame.Function descriptors are " say ", and the first parameter is the machine ID, the
Second parameter is target slave ID, and the 3rd parameter is information of propagandaing directed to communicate.
As (say 12 " (time 00:00:50)(pos 0.1 0.2 0.3)”)
6th, other kinds of information unit (function descriptors and functional parameter) defines according to actual demand.
7 so an effective checking information should be as follows：
“<(time 00:00:00)(ID 1)>”
Article one, effectively proper communication information should be as follows：
“<(time 00:00:10)(pos 1.0 2.0 3.0)(attack 2)(sideslide 2)(pitch 1)
(roll 2)(yaw 3)…>””
As for upper-layer protocol, such as function descriptors and the formulation of relevant parameter depends on decision of the senior level, is not the present invention
Main contents, not elaborate.But communication subsystem is built and test, this is also unnecessary.
Step 4：Main frame, slave start to execute respective logic respectively.
Main frame is at this moment already in listening state, if there being message to arrive, first detection is certificate message, if
It is that then whether checking identity is legal, includes whether occupied etc..If it is not, directly destroying present channel.When authentication is normal
When, to slave allocation of communication channels (namely opening a sub- thread), and the slave (being presented as socket) that application is shaken hands
Information data-in storehouse (being presented as increase), the communication ends of host assignment when the IP address of such as slave, actual access host
Mouthful etc..It is not to wait for due to monitoring function, so when being immediately performed database detection after its return, including whether just having recorded
Often, if a certain master-slave communication channel surprisingly terminates, update the data storehouse record immediately, be presented as deletion.
For slave then after authentication is legal, then enter the circulation of the normal data mutual hero of biography.
Data mutually passes logic, is presented as the agreement of descriptive data stream function descriptors and functional parameter, after formulation, by leading
Machine manipulates the execution of whole system, e.g. broadcasts regular, one-to-one rule or data forwarding, detailed rules and regulations are according to first volume decision-making
Need to formulate.
Claims (3)
1. a kind of distributing emulation system communication network construction method based on descriptive information stream is it is characterised in that include following
Step：
Step 1, builds distributing emulation system communication network, including main frame, switch, monitor, outer machine and some slaves, institute
The main frame stated has and only one, and main frame, monitor and outer machine pass through each slave of switch UNICOM respectively；
Step 2, main frame initializes, setting Host Channel type, host address and main frame listening port, described Host Channel class
Type is wireless type or wire type；Slave initializes, the logical address of setting slave；
Step 3, agreement message coding and decoding rule, including：Message is circulated in the form of character string in the channel, and exists
One labelling defining message head and the tail；Some information units are comprised, each information unit has one and defines in message character string
The labelling of head and the tail, information unit includes an informational function descriptor and some informational function parameters；Communication information includes
Time tag；
Step 4, host-initiated waits slave to access, if there being slave access request, sets up interim authenticated channel, accept to come since
The checking information of machine, if checking information is legal, allows slave normally to access, interim authenticated channel is promoted to normal principal and subordinate and leads to
Letter channel；If no checking information arrives or checking is overtime or checking is illegal, disconnect current provisional channel, refusal slave connects
Enter；Slave sends access request and checking information after starting, and after main frame returns checking correct state response, slave is normal
Access；Slave is normal access after, main frame and slave according to setting cycle messaging, if the messaging of current period is no
Effect, then using upper cycle valid data.
2. the distributing emulation system communication network construction method based on descriptive information stream according to claim 1, its
It is characterised by：After the interim authenticated channel of described foundation, and after main frame and slave are according to setting cycle messaging, more
The overall situation record of new distributing emulation system communication network, content includes：Main frame is attempted the number of times of access and current trial
Order；Current hosts and slave take the numbering of physical channel and enter incoming interface；The current slave numbering attempting accessing and its with
The corresponding relation of actual physics channel；The current attribute of slave attempting accessing and physical attribute.
3. the distributing emulation system communication network construction method based on descriptive information stream according to claim 1, its
It is characterised by：Described slave i to machine j communication, first by slave i execution step 4 access host and messaging, then slave j
Execution step 4 access host messaging.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009045673A1 (en) * | 2007-10-03 | 2009-04-09 | Microsoft Corporation | Network routing of endpoints to content based on content swarms |
| US8898333B1 (en) * | 2010-08-31 | 2014-11-25 | Juniper Networks, Inc. | Methods and apparatus related to a virtual multi-hop network topology emulated within a data center |
| CN105577773A (en) * | 2015-12-17 | 2016-05-11 | 清华大学 | Intelligent vehicle data platform architecture based on distributed nodes and virtual bus model |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009045673A1 (en) * | 2007-10-03 | 2009-04-09 | Microsoft Corporation | Network routing of endpoints to content based on content swarms |
| US8898333B1 (en) * | 2010-08-31 | 2014-11-25 | Juniper Networks, Inc. | Methods and apparatus related to a virtual multi-hop network topology emulated within a data center |
| CN105577773A (en) * | 2015-12-17 | 2016-05-11 | 清华大学 | Intelligent vehicle data platform architecture based on distributed nodes and virtual bus model |
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