CN106959918B - Method and apparatus for evaluating operations in a robotic operating system - Google Patents
Method and apparatus for evaluating operations in a robotic operating system Download PDFInfo
- Publication number
- CN106959918B CN106959918B CN201710276178.2A CN201710276178A CN106959918B CN 106959918 B CN106959918 B CN 106959918B CN 201710276178 A CN201710276178 A CN 201710276178A CN 106959918 B CN106959918 B CN 106959918B
- Authority
- CN
- China
- Prior art keywords
- message
- message processing
- processing operation
- identifier
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/34—Recording or statistical evaluation of computer activity, e.g. of down time, of input/output operation ; Recording or statistical evaluation of user activity, e.g. usability assessment
- G06F11/3409—Recording or statistical evaluation of computer activity, e.g. of down time, of input/output operation ; Recording or statistical evaluation of user activity, e.g. usability assessment for performance assessment
- G06F11/3419—Recording or statistical evaluation of computer activity, e.g. of down time, of input/output operation ; Recording or statistical evaluation of user activity, e.g. usability assessment for performance assessment by assessing time
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3604—Software analysis for verifying properties of programs
- G06F11/3612—Software analysis for verifying properties of programs by runtime analysis
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
Methods and apparatus for evaluating operations in a robotic operating system are disclosed. One embodiment of the method comprises: acquiring the last message processing operation identifier in the target message processing operation identifier sequence; obtaining at least one message obtained after the message processing operation indicated by the last message processing operation identifier is processed; and for each message in at least one message, determining that the message processing operation indicated by each message processing operation identifier in the target message processing operation identifier sequence consumes time for processing the message processing operation of the message according to the message identifier and the message processing information sequence of the message. The embodiment reduces the time for evaluating the operation in the robot operating system and improves the safety of the robot.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to the field of operating systems, and more particularly, to a method and apparatus for evaluating operations in a robotic operating system.
Background
ROS (Robot Operating System) is an open source Operating System that operates a Robot on a computer. The ROS typically consists of a large number of operations (also called nodes), any one of which (also called nodes) may communicate with others (also called nodes) by way of publish/subscribe. As an example, the robot may be a wheeled mobile robot, i.e. an unmanned vehicle. Since the robot usually needs to interact with the outside, the operation speed of each operation in the ROS has a great influence on the operation effect of the robot. How to accurately determine the running time of each operation in the ROS and thus evaluate each operation in the ROS is crucial.
At present, analysis log files (namely log files) are mostly adopted to determine the running time of each operation in the ROS, but because the log files are files stored on a hard disk, the analysis log files need to read and write a magnetic disk, so that the running time of each operation in the ROS is determined to be long, in the working process of some robots (such as unmanned vehicles) needing to interact timely, if certain operation running time in the ROS is determined to be long, alarm information needs to be generated, so that users of the robots can adjust timely, but if the operation itself is determined to be long, the users of the robots cannot get feedback timely to respond, and various losses can be caused.
Disclosure of Invention
It is an object of the present application to propose an improved method and apparatus for evaluating operations in a robotic operating system that solves the technical problems mentioned in the background section above.
In a first aspect, an embodiment of the present application provides a method for evaluating operations in a robot operating system, the method including: acquiring a last message processing operation identifier in a target message processing operation identifier sequence, wherein the message processing operation indicated by the message processing operation identifier is used for processing the received message and outputting the processed message; obtaining at least one message obtained after the message processing operation indicated by the last message processing operation identifier is processed, wherein each message in the at least one message comprises a message identifier of the message and a message processing information sequence, and the message processing information comprises a message processing operation identifier, a start time for processing the message and a finish time for processing the message; and for each message in the at least one message, determining the time consumed for the message processing operation of the message, which is indicated by each message processing operation identifier in the target message processing operation identifier sequence, to process the message according to the message identifier and the message processing information sequence of the message.
In some embodiments, after determining that the message processing operation indicated by each message processing operation identifier in the target message processing operation identifier sequence consumes time to process the message processing operation of the message according to the message identifier and the message processing information sequence of the message, the method further includes: for any two adjacent message processing operation identifiers in the target message processing operation identifier sequence, determining the time before the message processing information with the same message processing operation identifier as the next message processing operation identifier in the two adjacent message processing operation identifiers in the message processing information sequence of the message is processed as the receiving time; determining the time of the message processing information with the message processing operation identifier same as the previous message processing operation identifier in the two adjacent message processing operation identifiers after the message processing operation identifier in the message processing information sequence of the message is processed as the output time; and determining the difference between the determined receiving time and the determined output time as the message transmission time for transmitting the message between the two message processing operations indicated by the two adjacent message processing operation identifications.
In some embodiments, the above method further comprises: for each message processing operation identifier in the target message processing operation identifier sequence, determining whether the message processing operation indicated by the message processing operation identifier is abnormal or not according to the determined time consumption for the message processing operation indicated by the message processing operation identifier to process each message in the at least one message; in response to determining that the message processing operation indicated by the message processing operation identifier is abnormal, alert information indicating that the message processing operation indicated by the message processing operation identifier is abnormal is generated.
In some embodiments, the determining whether the message processing operation indicated by the message processing operation identifier is abnormal or not according to the determined time consumed for processing the message processing operation of each message in the at least one message according to the message processing operation indicated by the message processing operation identifier includes: determining the average value of the message processing operation time consumption of each message in the at least one message processed by the message processing operation indicated by the message processing operation identifier as the average time consumption; and determining that the message processing operation indicated by the message processing operation identifier is abnormal in response to the fact that the determined average consumed time is not within the preset message processing time length range corresponding to the message processing operation identifier.
In some embodiments, the preset message processing duration range corresponding to the message processing operation identifier is obtained by: acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier within a preset time period is processed; for each historical message in the at least one historical message, determining the time consumed for the message processing operation indicated by the message processing operation identifier to process the message processing operation of the historical message according to the message identifier and the message processing information sequence of the historical message; determining the longest consumed time and the shortest consumed time of the message processing operation indicated by the message processing operation identifier within the preset time period according to the determined message processing operation time of processing each historical message in the at least one historical message by the message processing operation indicated by the message processing operation identifier; and determining a preset message processing duration range corresponding to the message processing operation identifier according to the shortest time consumption and the longest time consumption.
In some embodiments, the robot operating system is a robot operating system installed in an intelligent control device of an unmanned vehicle; and the obtaining of the at least one historical message obtained after the message processing operation indicated by the message processing operation identifier within the preset time period includes: and acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier is processed under the condition that the unmanned vehicle safely runs within the preset time period.
In some embodiments, the above method further comprises: for any two adjacent message processing operation identifiers in the target message processing operation identifier sequence, determining whether transmission between two message processing operations indicated by the two adjacent message processing operation identifiers is abnormal or not according to the determined message transmission time consumption for transmitting each message in the at least one message between the two message processing operations indicated by the two adjacent message processing operation identifiers; in response to determining that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal, generating alarm information indicating that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal.
In a second aspect, the present application provides an apparatus for evaluating operations in a robotic operation system, the apparatus comprising: the identification acquisition unit is configured to acquire a last message processing operation identification in the target message processing operation identification sequence, wherein the message processing operation indicated by the message processing operation identification is used for processing the received message and outputting the processed message; a message obtaining unit, configured to obtain at least one message obtained after the message processing operation indicated by the last message processing operation identifier is processed, where each message in the at least one message includes a message identifier of the message and a message processing information sequence, and the message processing information includes a message processing operation identifier, a start time for processing the message, and a completion time for processing the message; and an operation time consumption determining unit configured to determine, for each message in the at least one message, a message processing operation time consumption for processing the message according to the message identifier and the message processing information sequence of the message, where the message processing operation indicated by each message processing operation identifier in the target message processing operation identifier sequence.
In some embodiments, the above apparatus further comprises: a transmission time-consuming determining unit configured to determine, as a reception time, a time before processing the message for any two adjacent message processing operation identifiers in the target message processing operation identifier sequence, the message processing information in the message processing information sequence of the message being identical in message processing operation identifier to a subsequent message processing operation identifier in the two adjacent message processing operation identifiers; determining the time of the message processing information with the message processing operation identifier same as the previous message processing operation identifier in the two adjacent message processing operation identifiers after the message processing operation identifier in the message processing information sequence of the message is processed as the output time; and determining the difference between the determined receiving time and the determined output time as the message transmission time for transmitting the message between the two message processing operations indicated by the two adjacent message processing operation identifications.
In some embodiments, the above apparatus further comprises: a first alarm information generating unit, configured to determine, for each message processing operation identifier in the target message processing operation identifier sequence, whether a message processing operation indicated by the message processing operation identifier is abnormal or not, according to a time consumed for the message processing operation indicated by the determined message processing operation identifier to process each message in the at least one message; in response to determining that the message processing operation indicated by the message processing operation identifier is abnormal, alert information indicating that the message processing operation indicated by the message processing operation identifier is abnormal is generated.
In some embodiments, the first alarm information generation unit is further configured to: determining the average value of the message processing operation time consumption of each message in the at least one message processed by the message processing operation indicated by the message processing operation identifier as the average time consumption; and determining that the message processing operation indicated by the message processing operation identifier is abnormal in response to the fact that the determined average consumed time is not within the preset message processing time length range corresponding to the message processing operation identifier.
In some embodiments, the preset message processing duration range corresponding to the message processing operation identifier is obtained by: acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier within a preset time period is processed; for each historical message in the at least one historical message, determining the time consumed for the message processing operation indicated by the message processing operation identifier to process the message processing operation of the historical message according to the message identifier and the message processing information sequence of the historical message; determining the longest consumed time and the shortest consumed time of the message processing operation indicated by the message processing operation identifier within the preset time period according to the determined message processing operation time of processing each historical message in the at least one historical message by the message processing operation indicated by the message processing operation identifier; and determining a preset message processing duration range corresponding to the message processing operation identifier according to the shortest time consumption and the longest time consumption.
In some embodiments, the robot operating system is a robot operating system installed in an intelligent control device of an unmanned vehicle; and the obtaining of the at least one historical message obtained after the message processing operation indicated by the message processing operation identifier within the preset time period includes: and acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier is processed under the condition that the unmanned vehicle safely runs within the preset time period.
In some embodiments, the above apparatus further comprises: a second alarm information generating unit, configured to determine, for any two adjacent message processing operation identifiers in the target message processing operation identifier sequence, whether transmission between two message processing operations indicated by the two adjacent message processing operation identifiers is abnormal or not according to the determined message transmission time consumption for transmitting each message in the at least one message between the two message processing operations indicated by the two adjacent message processing operation identifiers; in response to determining that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal, generating alarm information indicating that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal.
In a third aspect, an embodiment of the present application provides an electronic device, including: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method as described in any implementation manner of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is implemented, when executed by a processor, to implement the method described in any implementation manner of the first aspect.
According to the method and the device for evaluating the operation in the robot operating system, the last message processing operation identifier in the target message processing operation identifier sequence is obtained, then at least one message obtained after the message processing operation indicated by the last message processing operation identifier is obtained, and finally for each message in the at least one message, the time consumed by the message processing operation indicated by each message processing operation identifier in the target message processing operation identifier sequence for processing the message is determined according to the message identifier and the message processing information sequence of the message, so that the time for evaluating the operation in the robot operating system is reduced, and the safety of the robot is improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a flow diagram of one embodiment of a method for evaluating operations in a robotic operating system according to the present application;
FIG. 2 is a flow diagram of yet another embodiment of a method for evaluating operations in a robotic operating system according to the present application;
FIG. 3 is a flow diagram of yet another embodiment of a method for evaluating operations in a robotic operating system according to the present application;
FIG. 4 is a schematic block diagram of one embodiment of an apparatus for evaluating operations in a robotic operating system according to the present application;
FIG. 5 is a schematic block diagram of a computer system suitable for use in implementing an electronic device according to embodiments of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to FIG. 1, a flow 100 of one embodiment of a method for evaluating operations in a robotic operating system is shown. The embodiment is mainly exemplified by applying the method to an electronic device which has a certain computing capability and is provided with a robot operating system, for example, the electronic device may be an intelligent control device in an unmanned vehicle. The method for evaluating an operation in a robotic operation system comprises the steps of:
In this embodiment, the electronic device on which the method for evaluating an operation in a robot operating system is run may locally obtain a last message handling operation identifier in the target sequence of message handling operation identifiers. The message processing operation indicated by the message processing operation identifier is used for processing the received message and outputting the processed message. Here, after receiving the message to be processed, the message processing operation records the start time of processing the message to be processed before processing the message to be processed, then processes the received message, records the completion time of processing the message to be processed after the processing is completed, and adds the message processing operation identifier of the message processing operation of processing the message, the recorded start time and completion time to the processed message. As an example, the message processing operation identifier, the recorded start time and the recorded completion time of the message processing operation for processing the message may be added to the reserved custom field of the processed message according to a preset format.
In this embodiment, the electronic device may be pre-stored with at least one message processing operation identifier and at least one message processing operation identifier sequence. Each message processing operation identification sequence consists of at least one message processing operation identification which is sequenced according to the time sequence. The electronic device may execute the message processing operation indicated by the message processing operation identifier according to the sequence of the message processing operation identifiers in the message processing operation identifier sequence.
Here, the target message processing operation identification sequence may be one or more message processing operation identification sequences of the at least one message processing operation identification sequence.
Here, the message may be various data that can be processed by each operation in the robot operation system. As an example, the message may be sensor data collected by various sensors (e.g., laser point cloud data collected by a lidar sensor, photo data collected by a camera, acceleration data and angular velocity data collected by an inertial measurement unit, etc.); the message may also be pre-processed sensor data that is pre-processed (e.g., denoised) sensor data collected by the sensor; the message may also be control data (e.g., steering control parameters) for controlling the operation of the robot resulting from the fusion of the various pre-processed sensor data.
In this embodiment, based on the last message processing operation identifier obtained in step 101, the electronic device obtains at least one message that can be obtained after being processed by the message processing operation indicated by the last message processing operation identifier. Here, each message of the at least one message includes a message identification of the message and a message processing information sequence, and the message processing information includes a message processing operation identification, a start time for processing the message, and a completion time for processing the message.
The message processing operation is used for processing the received message and outputting the processed message, and the start time and the finish time of the message processing operation for processing the message and the message processing operation identifier of the message processing operation for processing the message are recorded in each processed message. Therefore, for each message processing operation identifier in the target message processing operation identifier sequence, the message processed by the message processing operation identifier indicated by the message processing operation identifier is output to the message processing operation indicated by the next message processing operation identifier of the message processing operation identifier in the message processing operation identifier sequence, as the received message of the message processing operation indicated by the next message processing operation identifier, and the start time and the completion time of the message processing operation indicated by the message processing operation identifier (i.e., the message processing operation identifier) indicated by the message processing operation identifier next to the message processing operation identifier in the message processing operation identifier sequence and the previous message processing operation identifier are already recorded in the received message. As can be seen from the above description, each message in at least one message processed by the last message processing operation indicated by the last message processing operation identifier in the target message processing operation identifier sequence records the start time and the completion time of the message processing operation indicated by each message processing operation identifier in the target message processing operation identifier sequence, and the corresponding message processing operation identifier.
In this embodiment, the electronic device on which the method for evaluating an operation in a robot operating system is executed may determine, for each message in the at least one message acquired in step 102, a message processing operation time consumed for processing the message by the message processing operation indicated by each message processing operation identifier in the target message processing operation identifier sequence according to the message identifier and the message processing information sequence of the message. Specifically, for each message in at least one message, the electronic device may determine, as a message processing operation time consumed for processing the message, which is indicated by the message processing operation identifier in the message processing information in the target message processing operation identifier sequence, a difference between a completion time for processing the message and a start time for processing the message, in each message processing information in the message processing information sequence.
According to the method provided by the embodiment of the application, the time consumed for the message processing operation of processing the message by the message processing operation indicated by each message processing operation identification in the target message processing operation identification sequence is determined according to at least one message after the last message processing operation indicated by the last message processing operation identification in the target message processing operation identification sequence is processed, and the operation of reading and writing a disk is not involved, so that the time for evaluating the operation in the robot operation system is reduced, and the safety of the robot (for example, an unmanned vehicle) is improved.
With continued reference to fig. 2, fig. 2 is a schematic diagram of yet another embodiment of a method for evaluating operations in a robotic operating system in accordance with the present embodiments. The process 200 of the method for evaluating operations in a robotic operating system includes the steps of:
In this embodiment, the specific operations of step 201, step 202, and step 203 are substantially the same as the specific operations of step 101, step 102, and step 103 in the embodiment shown in fig. 1, and are not described again here.
In some optional implementation manners of this embodiment, the electronic device may first determine the number of timeout messages in at least one message, where a timeout message is a message whose message processing operation indicated by the determined message processing operation identifier consumes more time than a preset message processing duration corresponding to the message processing operation identifier when the message processing operation in the message is processed; then, it may be determined that the message handling operation indicated by the message handling operation identifier is abnormal in the case where the determined number of the timeout messages is greater than the preset number.
In some optional implementation manners of this embodiment, the electronic device may also determine, first, a sum of time consumed for the message processing operation of processing each message in the at least one message by the message processing operation indicated by the determined message processing operation identifier; then, when the sum of the time consumed by the determined message processing operation is greater than the preset time, it may be determined that the message processing operation indicated by the message processing operation identifier is abnormal.
In some optional implementation manners of this embodiment, the electronic device may further determine, as the average consumed time, an average value of consumed time for the message processing operation, indicated by the message processing operation identifier, to process each message in the at least one message; and then, when the determined average consumed time is not in the preset message processing duration range corresponding to the message processing operation identifier, determining that the message processing operation indicated by the message processing operation identifier is abnormal.
In some optional implementation manners of this embodiment, the preset message processing duration range corresponding to the message processing operation identifier may be obtained by the following steps:
firstly, at least one historical message obtained after the message processing operation indicated by the message processing operation identifier in a preset time period is obtained.
Then, for each historical message in at least one historical message, determining that the message processing operation indicated by the message processing operation identifier consumes time for processing the message processing operation of the historical message according to the message identifier and the message processing information sequence of the historical message.
Then, according to the determined message processing operation time consumption of each historical message in the at least one historical message processed by the message processing operation indicated by the message processing operation identifier, determining the longest time consumption and the shortest time consumption of the message processing operation indicated by the message processing operation identifier in a preset time period.
And finally, determining a preset message processing duration range corresponding to the message processing operation identifier according to the shortest time consumption and the longest time consumption.
As an example, the preset message processing time length range may be determined to be greater than the shortest time length and less than the longest time length. The shortest time may be multiplied by a preset ratio smaller than 1 to serve as a minimum value of a preset message processing time range, and the longest time may be multiplied by a preset ratio larger than 1 to serve as a maximum value of the preset message processing time range.
In some optional implementations of the present embodiment, the robot operating system may also be a robot operating system installed in an intelligent control device of an unmanned vehicle. Thus, the obtaining of the at least one history message obtained after the message processing operation indicated by the message processing operation identifier in the preset time period may include: and acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier is processed under the condition that the unmanned vehicle safely runs within a preset time period.
In this embodiment, the electronic device may generate alarm information indicating that the message processing operation indicated by the message processing operation identifier is abnormal, in a case where it is determined in step 204 that the message processing operation indicated by the message processing operation identifier is abnormal. As an example, when the above-described robot operating system may be a robot operating system installed in an intelligent control device of an unmanned vehicle and it is determined that the braking parameter determination operation is abnormal in step 204, alarm information indicating that the braking parameter determination operation is abnormal is generated, and a user of the unmanned vehicle may determine whether to switch from an automatic driving mode to a manual driving mode upon receiving the alarm information, thereby improving the safety of the unmanned vehicle.
As can be seen from fig. 2, compared with the embodiment corresponding to fig. 1, the process 200 of the method for evaluating the operation in the robot operating system in the present embodiment has the advantage that in the case where it is determined that the message processing operation indicated by the message processing operation identifier is abnormal, the alarm information indicating that the message processing operation indicated by the message processing operation identifier is abnormal is generated. Therefore, a user of the robot can know specific operations in the robot in time, and then improve the operations with problems or adjust the use method or mode of using the robot.
With further reference to FIG. 3, a flow 300 of yet another embodiment of a method for evaluating operations in a robotic operating system is illustrated. The process 300 of the method for evaluating operations in a robotic operating system includes the steps of:
In this embodiment, the specific operations of step 301, step 302, step 303, step 304, and step 305 are substantially the same as the specific operations of step 201, step 202, step 203, step 204, and step 205 in the embodiment shown in fig. 2, and are not described herein again.
As an example, in a case where the determined sum of the message transmission time taken to transmit each message of the at least one message between two message processing operations indicated by the two adjacent message processing operation identifications is greater than the preset transmission time and the threshold, it may be determined that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal.
As an example, it may also be determined that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifiers is abnormal when the determined average value of the message transmission time consumption of each message in the at least one message transmitted between the two message processing operations indicated by the two adjacent message processing operation identifiers is greater than the preset transmission time average value threshold.
At step 308, alarm information indicating transmission anomaly between the two message processing operations indicated by the two adjacent message processing operation identifications is generated.
In this embodiment, the electronic device may generate alarm information indicating a transmission abnormality between two message processing operations indicated by the two adjacent message processing operation identifications, in a case where it is determined in step 307 that the transmission between two message processing operations indicated by the two adjacent message processing operation identifications is abnormal.
As can be seen from fig. 3, compared with the embodiment corresponding to fig. 2, the flow 300 of the method for evaluating operation in a robot operating system in this embodiment has the additional function of generating alarm information indicating transmission abnormality between two message processing operations indicated by two adjacent message processing operation identifiers in a target message processing operation identifier sequence in case of transmission abnormality between two message processing operations indicated by the two adjacent message processing operation identifiers, so that more comprehensive evaluation of operation in the robot operating system can be realized.
With further reference to fig. 4, as an implementation of the method shown in the above figures, the present application provides an embodiment of an apparatus for evaluating an operation in a robotic manipulation system, which corresponds to the embodiment of the method shown in fig. 1, and which is particularly applicable in various electronic devices.
As shown in fig. 4, the apparatus 400 for evaluating an operation in a robot operation system of the present embodiment includes: an identification acquisition unit 401, a message acquisition unit 402, and an operation elapsed time determination unit 403. The identifier obtaining unit 401 is configured to obtain a last message processing operation identifier in a target message processing operation identifier sequence, where a message processing operation indicated by the message processing operation identifier is used to process a received message and output the processed message; a message obtaining unit 402, configured to obtain at least one message obtained after the message processing operation indicated by the last message processing operation identifier is performed, where each message in the at least one message includes a message identifier of the message and a message processing information sequence, and the message processing information includes a message processing operation identifier, a start time for processing the message, and a completion time for processing the message; an operation time-consuming determining unit 403, configured to determine, for each message in the at least one message, a message processing operation time-consuming time for processing the message according to the message identifier and the message processing information sequence of the message, where the message processing operation identifier indicated by each message processing operation identifier in the target message processing operation identifier sequence.
In this embodiment, specific processes of the identifier obtaining unit 401, the message obtaining unit 402, and the operation time consumption determining unit 403 of the apparatus 400 for evaluating an operation in a robot operating system and technical effects brought by the specific processes may refer to related descriptions of step 201, step 202, and step 203 in the corresponding embodiment of fig. 2, which are not described herein again.
In some optional implementations of the embodiment, the apparatus 400 for evaluating an operation in a robot operating system may further include: a transmission time-consuming determining unit 404, configured to determine, as the receiving time, for any two adjacent message processing operation identifiers in the target message processing operation identifier sequence, a time before the message processing information, in the message processing information sequence of the message, of which the message processing operation identifier is the same as a subsequent message processing operation identifier in the two adjacent message processing operation identifiers, is processed; determining the time of the message processing information with the message processing operation identifier same as the previous message processing operation identifier in the two adjacent message processing operation identifiers after the message processing operation identifier in the message processing information sequence of the message is processed as the output time; and determining the difference between the determined receiving time and the determined output time as the message transmission time for transmitting the message between the two message processing operations indicated by the two adjacent message processing operation identifications. The detailed processing of the transmission time consumption determining unit 404 and the technical effects thereof can refer to the related description of step 306 in the corresponding embodiment of fig. 3, and are not repeated herein.
In some optional implementations of the embodiment, the apparatus 400 for evaluating an operation in a robot operating system may further include: a first alarm information generating unit 405, configured to, for each message processing operation identifier in the target message processing operation identifier sequence, determine whether a message processing operation indicated by the message processing operation identifier is abnormal or not, according to the time consumed for the message processing operation indicated by the determined message processing operation identifier to process each message in the at least one message; in response to determining that the message processing operation indicated by the message processing operation identifier is abnormal, alert information indicating that the message processing operation indicated by the message processing operation identifier is abnormal is generated. For specific processing of the first alarm information generating unit 405 and the technical effect thereof, reference may be made to the related description of step 204 and step 205 in the corresponding embodiment of fig. 2, and details are not repeated here.
In some optional implementations of this embodiment, the first alarm information generating unit 405 may be further configured to: determining the average value of the message processing operation time consumption of each message in the at least one message processed by the message processing operation indicated by the message processing operation identifier as the average time consumption; and determining that the message processing operation indicated by the message processing operation identifier is abnormal in response to the fact that the determined average consumed time is not within the preset message processing time length range corresponding to the message processing operation identifier.
In some optional implementation manners of this embodiment, the preset message processing duration range corresponding to the message processing operation identifier may be obtained by: acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier within a preset time period is processed; for each historical message in the at least one historical message, determining the time consumed for the message processing operation indicated by the message processing operation identifier to process the message processing operation of the historical message according to the message identifier and the message processing information sequence of the historical message; determining the longest consumed time and the shortest consumed time of the message processing operation indicated by the message processing operation identifier within the preset time period according to the determined message processing operation time of processing each historical message in the at least one historical message by the message processing operation indicated by the message processing operation identifier; and determining a preset message processing duration range corresponding to the message processing operation identifier according to the shortest time consumption and the longest time consumption.
In some optional implementations of this embodiment, the robot operating system may be a robot operating system installed in an intelligent control device of an unmanned vehicle; the obtaining of the at least one historical message obtained after the message processing operation indicated by the message processing operation identifier in the preset time period includes: and acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier is processed under the condition that the unmanned vehicle safely runs within the preset time period.
In some optional implementations of the embodiment, the apparatus 400 for evaluating an operation in a robot operating system may further include: a second alarm information generating unit 406, configured to determine, for any two adjacent message processing operation identifiers in the target message processing operation identifier sequence, whether transmission between two message processing operations indicated by the two adjacent message processing operation identifiers is abnormal according to the determined message transmission time consumption for transmitting each message in the at least one message between the two message processing operations indicated by the two adjacent message processing operation identifiers; in response to determining that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal, generating alarm information indicating that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal. For specific processing of the second alarm information generating unit 406 and the technical effect thereof, reference may be made to the related description of step 307 and step 308 in the corresponding embodiment of fig. 3, which is not described herein again.
Referring now to FIG. 5, shown is a block diagram of a computer system 500 suitable for use in implementing the electronic device of an embodiment of the present application. Fig. 5 shows an electronic apparatus in which a robot operation system is installed. The electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage section 506 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An Input/Output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: a storage section 506 including a hard disk and the like; and a communication section 507 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 507 performs communication processing via a network such as the internet. The driver 508 is also connected to the I/O interface 505 as necessary. A removable medium 509 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 508 as necessary, so that a computer program read out therefrom is mounted into the storage section 506 as necessary.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 507 and/or installed from the removable medium 509. The computer program performs the above-described functions defined in the method of the present application when executed by the Central Processing Unit (CPU) 501. It should be noted that the computer readable medium described herein can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes an identification acquisition unit, a message acquisition unit, and an operation elapsed time determination unit. The names of these units do not in some cases constitute a limitation to the unit itself, and for example, the operation elapsed time determination unit may also be described as a "unit that determines the operation elapsed time of the message processing operation".
As another aspect, the present application also provides a computer-readable medium, which may be contained in the apparatus described in the above embodiments; or may be present separately and not assembled into the device. The computer readable medium carries one or more programs which, when executed by the apparatus, cause the apparatus to: acquiring a last message processing operation identifier in a target message processing operation identifier sequence, wherein the message processing operation indicated by the message processing operation identifier is used for processing the received message and outputting the processed message; obtaining at least one message obtained after the message processing operation indicated by the last message processing operation identifier is processed, wherein each message in the at least one message comprises a message identifier of the message and a message processing information sequence, and the message processing information comprises a message processing operation identifier, a start time for processing the message and a finish time for processing the message; and for each message in the at least one message, determining the time consumed for the message processing operation of the message, which is indicated by each message processing operation identifier in the target message processing operation identifier sequence, to process the message according to the message identifier and the message processing information sequence of the message.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (16)
1. A method for evaluating operations in a robotic operating system, the method comprising:
acquiring a last message processing operation identifier in a target message processing operation identifier sequence, wherein the message processing operation indicated by the message processing operation identifier is used for processing the received message and outputting the processed message;
obtaining at least one message obtained after the message processing operation indicated by the last message processing operation identifier is processed, wherein each message in the at least one message comprises a message identifier of the message and a message processing information sequence, and the message processing information comprises a message processing operation identifier, a start time for processing the message and a finish time for processing the message;
and for each message in the at least one message, determining that the message processing operation indicated by each message processing operation identifier in the target message processing operation identifier sequence consumes time for processing the message processing operation of the message according to the message identifier and the message processing information sequence of the message.
2. The method according to claim 1, wherein after determining that the message processing operation indicated by each message processing operation id in the target message processing operation id sequence consumes time to process the message processing operation of the message according to the message id and the message processing information sequence of the message, the method further comprises:
for any two adjacent message processing operation identifiers in the target message processing operation identifier sequence, determining the time before the message processing information with the same message processing operation identifier as the next message processing operation identifier in the two adjacent message processing operation identifiers in the message processing information sequence of the message is processed as the receiving time; determining the time of the message processing information with the message processing operation identifier same as the previous message processing operation identifier in the two adjacent message processing operation identifiers after the message processing operation identifier in the message processing information sequence of the message is processed as the output time; and determining the difference between the determined receiving time and the determined output time as the message transmission time for transmitting the message between the two message processing operations indicated by the two adjacent message processing operation identifications.
3. The method of claim 2, further comprising:
for each message processing operation identifier in the target message processing operation identifier sequence, determining whether the message processing operation indicated by the message processing operation identifier is abnormal or not according to the determined time consumption for processing the message processing operation of each message in the at least one message by the message processing operation indicated by the message processing operation identifier; in response to determining that the message processing operation indicated by the message processing operation identifier is abnormal, alert information indicating that the message processing operation indicated by the message processing operation identifier is abnormal is generated.
4. The method according to claim 3, wherein the determining whether the message processing operation indicated by the message processing operation identifier is abnormal or not according to the determined time consumed for the message processing operation indicated by the message processing operation identifier to process each message in the at least one message comprises:
determining the average value of the message processing operation time consumption of each message in the at least one message processed by the message processing operation indicated by the message processing operation identifier as the average time consumption;
and determining that the message processing operation indicated by the message processing operation identifier is abnormal in response to the fact that the determined average consumed time is not within the preset message processing time length range corresponding to the message processing operation identifier.
5. The method according to claim 4, wherein the preset message processing duration range corresponding to the message processing operation identifier is obtained by:
acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier within a preset time period is processed;
for each historical message in the at least one historical message, determining the time consumed for the message processing operation indicated by the message processing operation identifier to process the message processing operation of the historical message according to the message identifier and the message processing information sequence of the historical message;
determining the longest consumed time and the shortest consumed time of the message processing operation indicated by the message processing operation identifier within the preset time period according to the determined message processing operation time of processing each historical message in the at least one historical message by the message processing operation indicated by the message processing operation identifier;
and determining a preset message processing duration range corresponding to the message processing operation identifier according to the shortest time consumption and the longest time consumption.
6. The method of claim 5, wherein the robotic manipulation system is a robotic manipulation system installed in an intelligent control device of an unmanned vehicle; and
the obtaining of the at least one historical message obtained after the message processing operation indicated by the message processing operation identifier within the preset time period includes:
and acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier is processed under the condition that the unmanned vehicle safely runs within the preset time period.
7. The method according to any one of claims 2-6, further comprising:
for any two adjacent message processing operation identifiers in the target message processing operation identifier sequence, determining whether transmission between two message processing operations indicated by the two adjacent message processing operation identifiers is abnormal or not according to the determined message transmission time consumption for transmitting each message in the at least one message between the two message processing operations indicated by the two adjacent message processing operation identifiers; in response to determining that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal, generating alarm information indicating that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal.
8. An apparatus for evaluating operations in a robotic operating system, the apparatus comprising:
the identification acquisition unit is configured to acquire a last message processing operation identification in the target message processing operation identification sequence, wherein the message processing operation indicated by the message processing operation identification is used for processing the received message and outputting the processed message;
a message obtaining unit, configured to obtain at least one message obtained after the message processing operation indicated by the last message processing operation identifier is processed, where each message in the at least one message includes a message identifier of the message and a message processing information sequence, and the message processing information includes a message processing operation identifier, a start time for processing the message, and a completion time for processing the message;
and an operation time consumption determining unit configured to determine, for each message in the at least one message, a time consumption for the message processing operation of processing the message according to the message identifier of the message and the message processing information sequence, where the message processing operation indicated by each message processing operation identifier in the target message processing operation identifier sequence.
9. The apparatus of claim 8, further comprising:
a transmission time-consuming determining unit configured to determine, as a reception time, a time before processing the message for any two adjacent message processing operation identifiers in the target message processing operation identifier sequence, the message processing information in the message processing information sequence of the message being identical in message processing operation identifier to a subsequent message processing operation identifier in the two adjacent message processing operation identifiers; determining the time of the message processing information with the message processing operation identifier same as the previous message processing operation identifier in the two adjacent message processing operation identifiers after the message processing operation identifier in the message processing information sequence of the message is processed as the output time; and determining the difference between the determined receiving time and the determined output time as the message transmission time for transmitting the message between the two message processing operations indicated by the two adjacent message processing operation identifications.
10. The apparatus of claim 9, further comprising:
a first alarm information generating unit, configured to determine, for each message processing operation identifier in the target message processing operation identifier sequence, whether a message processing operation indicated by the message processing operation identifier is abnormal or not, according to the time consumed for the message processing operation indicated by the determined message processing operation identifier to process each message in the at least one message; in response to determining that the message processing operation indicated by the message processing operation identifier is abnormal, alert information indicating that the message processing operation indicated by the message processing operation identifier is abnormal is generated.
11. The apparatus of claim 10, wherein the first alert information generation unit is further configured to:
determining the average value of the message processing operation time consumption of each message in the at least one message processed by the message processing operation indicated by the message processing operation identifier as the average time consumption;
and determining that the message processing operation indicated by the message processing operation identifier is abnormal in response to the fact that the determined average consumed time is not within the preset message processing time length range corresponding to the message processing operation identifier.
12. The apparatus according to claim 11, wherein the preset message processing duration range corresponding to the message processing operation identifier is obtained by:
acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier within a preset time period is processed;
for each historical message in the at least one historical message, determining the time consumed for the message processing operation indicated by the message processing operation identifier to process the message processing operation of the historical message according to the message identifier and the message processing information sequence of the historical message;
determining the longest consumed time and the shortest consumed time of the message processing operation indicated by the message processing operation identifier within the preset time period according to the determined message processing operation time of processing each historical message in the at least one historical message by the message processing operation indicated by the message processing operation identifier;
and determining a preset message processing duration range corresponding to the message processing operation identifier according to the shortest time consumption and the longest time consumption.
13. The apparatus of claim 12, wherein the robotic manipulation system is a robotic manipulation system installed in an intelligent control device of an unmanned vehicle; and
the obtaining of the at least one historical message obtained after the message processing operation indicated by the message processing operation identifier within the preset time period includes:
and acquiring at least one historical message obtained after the message processing operation indicated by the message processing operation identifier is processed under the condition that the unmanned vehicle safely runs within the preset time period.
14. The apparatus according to any one of claims 9-13, wherein the apparatus further comprises:
a second alarm information generating unit, configured to determine, for any two adjacent message processing operation identifiers in the target message processing operation identifier sequence, whether transmission between two message processing operations indicated by the two adjacent message processing operation identifiers is abnormal or not according to the determined message transmission time consumption for transmitting each message in the at least one message between the two message processing operations indicated by the two adjacent message processing operation identifiers; in response to determining that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal, generating alarm information indicating that the transmission between the two message processing operations indicated by the two adjacent message processing operation identifications is abnormal.
15. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method recited in any of claims 1-7.
16. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710276178.2A CN106959918B (en) | 2017-04-25 | 2017-04-25 | Method and apparatus for evaluating operations in a robotic operating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710276178.2A CN106959918B (en) | 2017-04-25 | 2017-04-25 | Method and apparatus for evaluating operations in a robotic operating system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106959918A CN106959918A (en) | 2017-07-18 |
| CN106959918B true CN106959918B (en) | 2021-04-13 |
Family
ID=59483787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710276178.2A Active CN106959918B (en) | 2017-04-25 | 2017-04-25 | Method and apparatus for evaluating operations in a robotic operating system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106959918B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108490927A (en) * | 2018-01-24 | 2018-09-04 | 天津大学 | A kind of Target Tracking System and tracking applied to pilotless automobile |
| CN113759790A (en) * | 2021-09-15 | 2021-12-07 | 北京三快在线科技有限公司 | System optimization method and device for unmanned equipment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007044825A (en) * | 2005-08-10 | 2007-02-22 | Toshiba Corp | Action control device, action control method and program therefor |
| CN106354566B (en) * | 2015-07-14 | 2019-11-29 | 华为技术有限公司 | A kind of method and server of command process |
| CN105389258B (en) * | 2015-12-10 | 2020-08-14 | 腾讯科技（深圳）有限公司 | Program detection method and device |
| CN106055462A (en) * | 2016-05-20 | 2016-10-26 | 腾讯科技（深圳）有限公司 | Method and device for duration acquisition |
-
2017
- 2017-04-25 CN CN201710276178.2A patent/CN106959918B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106959918A (en) | 2017-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109212530B (en) | Method and apparatus for determining velocity of obstacle | |
| CN107491072B (en) | Vehicle obstacle avoidance method and device | |
| CN109709966B (en) | Control method and device for unmanned vehicle | |
| CN109455180B (en) | Method and device for controlling unmanned vehicle | |
| US11416005B2 (en) | Method and apparatus for controlling unmanned vehicle to perform route verification | |
| CN110654381B (en) | Method and device for controlling a vehicle | |
| CN109515444B (en) | Method and device for outputting driving performance index of unmanned automobile | |
| CN112630799A (en) | Method and apparatus for outputting information | |
| CN110696826B (en) | Method and device for controlling a vehicle | |
| CN106959918B (en) | Method and apparatus for evaluating operations in a robotic operating system | |
| CN112622923B (en) | Method and device for controlling a vehicle | |
| CN113212442A (en) | Trajectory-aware vehicle driving analysis method and system | |
| CN114819134A (en) | Method, apparatus and computer program product for updating a machine learning model | |
| US10261724B2 (en) | Method and apparatus for acquiring data in a robot operating system | |
| WO2022245916A1 (en) | Device health code broadcasting on mixed vehicle communication networks | |
| CN112712608B (en) | System and method for collecting performance data by a vehicle | |
| US20210097787A1 (en) | Information presentation method and apparatus | |
| CN112488307A (en) | Automated interpretation of reinforcement learning actions using occupancy measures | |
| CN109547564B (en) | Remote data acquisition method, device, equipment and computer readable storage medium | |
| CN112558036A (en) | Method and apparatus for outputting information | |
| KR20210068110A (en) | Target tracking method and device | |
| CN115061386A (en) | Intelligent driving automatic simulation test system and related equipment | |
| CN112373471B (en) | Method, device, electronic equipment and readable medium for controlling vehicle running | |
| CN112668371B (en) | Method and device for outputting information | |
| CN113469159B (en) | Obstacle information generation method and device, electronic equipment and computer readable medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |