CN107273219B - Apparatus control method and device - Google Patents
Apparatus control method and device Download PDFInfo
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- CN107273219B CN107273219B CN201710294288.1A CN201710294288A CN107273219B CN 107273219 B CN107273219 B CN 107273219B CN 201710294288 A CN201710294288 A CN 201710294288A CN 107273219 B CN107273219 B CN 107273219B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/54—Interprogram communication
- G06F9/542—Event management; Broadcasting; Multicasting; Notifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/3003—Monitoring arrangements specially adapted to the computing system or computing system component being monitored
- G06F11/3017—Monitoring arrangements specially adapted to the computing system or computing system component being monitored where the computing system is implementing multitasking
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/3065—Monitoring arrangements determined by the means or processing involved in reporting the monitored data
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/445—Program loading or initiating
- G06F9/44505—Configuring for program initiating, e.g. using registry, configuration files
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/54—Interprogram communication
- G06F9/546—Message passing systems or structures, e.g. queues
Abstract
The disclosure is directed to a kind of apparatus control method and devices, which comprises obtain the information flow in micro-nano satellite between all functional modules and functional module；Determine robot operating system ROS node corresponding with each functional module；All ROS nodes, which are generated, according to the information flow determines ROS calculating figure；Determine the communication mode between ROS node；Corresponding with each ROS node independent operating file is generated, and controls the corresponding operating file of different ROS nodes and runs；The communication information between the operation information and ROS of ROS node at runtime is recorded as log information.ROS node can be compiled individually, debugged and be run in this method, so more people's concurrent developments can preferably be supported, so that efficiency greatly improves, and since the corresponding executable file of ROS node can be with loose couplings, so flexibility and scalability greatly improve.
Description
Technical field
This disclosure relates to micro-nano satellite technical field more particularly to a kind of apparatus control method and device.
Background technique
Micro-nano satellite technology is quickly grown in recent years, rapidly goes to have from initially simple university research exploration field bright
The research field of aobvious practical ability and huge commercial value.As (Commercial Off The Shelf, commercialization are ready-made by COTS
Product) device and a large amount of new technologies application, the ability of microsatellite is greatly improved, or even connects in the ability of individual aspects
Closely it is even more than Large-scale satellite.
The software of satellite is a complicated multi-task software system, is operated normally for ensuring that satellite is in-orbit to Guan Chong
It wants.As increasingly complexity, the requirement to software on star of space tasks are also higher and higher.Relative to large satellite, micro-nano satellite is very
More single machines integrate, such as day opens up No.1 satellite and integrates the function of house keeping computer, attitude control computer, number pipe computer
In a house keeping computer, and then it is more to result in the need for the functional task quantity executed.
Software uses embedded OS (such as VxWorks, μ COS, Free RTOS) more on current micro-nano star, needs
The functional task module of execution may be dispersed in multiple subsystems, as tracking-telemetry and command subsystem, attitude control subsystem, data handling subsystem,
Navigation subsystem etc., each subsystem may have independent hardware, it is also possible to which multiple subsystems share a set of hardware, are dividing
System is internal can to run multiple functional tasks.It can be connected by star internal bus between subsystem, be realized not by star internal bus
With the communication between the task of subsystem.Inside subsystem, functional task is typically based on embedded real-time operating system realization,
Each functional task corresponds to a thread, carries out communication and together by means such as semaphore, message, global variables between thread
Step, protects public resource by mutex, realizes the matching between friction speed thread by queue.
This communication mode, although in terms of real-time preferably, there is larger limitation in terms of flexibility and scalability.
Since these independently operated functional tasks are run in a manner of multithreading, there is extensive information exchange, logic between each other
Relationship and operation constraint are increasingly complex, often need multiple software engineers to be separately encoded in early period, are then integrating
It is compiled into a unified Software Mirroring.This design pattern, there are many deficiencies, is also unfavorable in terms of standardization, scalability
There is larger limitation in team collaboration when coping with complex space task in terms of software flexibility, scalability.
Summary of the invention
This application discloses a kind of apparatus control method and devices, to solve described in background technique based on embedded operation system
The micro-nano satellite software of system has that standardization, flexibility and scalability are poor.
In order to solve the above technical problems, the application is disclosed directly below technical solution:
A kind of apparatus control method, comprising:
Obtain the information flow in micro-nano satellite between all software function modules and functional module；
Determine robot operating system ROS node corresponding with each functional module；
Generate ROS according to the information flow and all ROS nodes and calculate figure, include: in the ROS calculating figure ROS node,
ROS message, ROS message subject, ROS service and ROS Message Record packet；
The communication mode between ROS node is determined according to the characteristics of information interaction of the corresponding functional module of ROS node,
The communication mode includes: message mode and method of service；
Generate with each ROS node individually corresponding operating file, and control the corresponding operation of different ROS nodes
Running paper；
The communication information between the operation information and ROS of ROS node at runtime is recorded as log information.
It is optionally, described that ROS calculating figure is generated according to the information flow and all ROS nodes, comprising:
The communication information between different ROS nodes is obtained according to the information flow；
Determine that ROS message, ROS service, ROS message subject and ROS between ROS node disappear according to the communication information
Breath record packet；
According to the ROS node, ROS message, ROS message subject, ROS service and the generation of ROS Message Record packet
ROS calculates figure.
Optionally, it is described according to ROS node to the characteristics of information interaction of right functional module determine ROS node it
Between communication mode, comprising:
The characteristics of according to the information interaction of the corresponding functional module of ROS node, judges to transmit information between ROS node
Whether mode is one-to-many；
When the mode for transmitting information between ROS node is one-to-many, determine that ROS publisher node and multiple ROS receive section
Point；
Establish message subject corresponding with the ROS publisher node；
It controls the ROS publisher node and regularly publishes broadcast message relevant to the message subject；
When controlling the ROS receiving node and broadcasting the message described in the demand, institute is subscribed to from the message subject of the foundation
State broadcast message.
Optionally, it is described according to ROS node to the characteristics of information interaction of right functional module determine ROS node it
Between communication mode, comprising:
The characteristics of according to ROS node to the information interaction of right functional module, judge to transmit information between ROS node
Mode whether be point-to-point；
When the mode for transmitting information between ROS node is point-to-point, two ROS for carrying out point-to-point transmitting information are saved
Point determines that ROS node pair, described one ROS node of ROS node centering are that message initiates node, and another ROS node connects for message
Receive node；
It establishes with the ROS node in the message recipient node to corresponding first call back function；
When needing to carry out point-to-point transmission information, the message initiates node and sends information to the message recipient node
Request；When the message recipient node receives information request, the message recipient node calls first call back function,
When first call back function is replied message according to information request generation, the message recipient node disappears the reply
Breath is sent to the message and initiates node.
Optionally, it is described according to ROS node to the characteristics of information interaction of right functional module determine ROS node it
Between communication mode, comprising:
The characteristics of according to ROS node to the information interaction of right functional module, judge whether need between ROS node
Tasks synchronization；
When needing tasks synchronization between ROS node, determines to synchronize and initiate ROS node reception ROS synchronous at least one
Node；
The second call back function corresponding with the tasks synchronization is established in the synchronous receiving node；
It is described same when the synchronous reception ROS node receives the synchronous synchronization request for initiating the transmission of ROS node
Step receives ROS node and calls second call back function, replys when second call back function is generated according to the synchronization request
When message, described reply message is sent to the synchronous initiation ROS node by the synchronous reception ROS node.
A kind of plant control unit, comprising:
Acquiring unit, for obtaining the information flow in micro-nano satellite between all functional modules and functional module；
Node determination unit, for determining robot operating system ROS node corresponding with each functional module；
Figure generation unit is calculated, calculates figure, the ROS meter for generating ROS according to the information flow and all ROS nodes
It include: ROS node, ROS message, ROS message subject, ROS service and ROS Message Record packet in nomogram；
Communication mode determination unit, for being determined according to the characteristics of the information interaction of the corresponding functional module of ROS node
Communication mode between ROS node, the communication mode include: message mode and method of service；
File generating unit, for generating and each ROS node individually corresponding operating file；
Running paper unit, for controlling the corresponding operating file operation of different ROS nodes；
Recording unit, for recording the communication information between the operation information and ROS of ROS node at runtime as day
Will information.
Optionally, the calculating figure generation unit, comprising:
The communication information obtains subelement, for obtaining the communication information between different ROS nodes according to the information flow；
Information determines subelement, for determined according to the communication information ROS message between ROS node, ROS service,
ROS message subject and ROS Message Record packet；
Subelement is generated, for according to the ROS node, ROS message, ROS message subject, ROS service and ROS message
Record packet generates the ROS and calculates figure.
Optionally, the communication mode determination unit, comprising:
First judgment sub-unit, the characteristics of for according to the information interaction of the corresponding functional module of ROS node, judgement
Transmit whether the mode of information is one-to-many between ROS node；
Node determines subelement, for determining that ROS is issued when the mode for transmitting information between ROS node is one-to-many
Node and multiple ROS receiving nodes；
Message subject establishes subelement, for establishing message subject corresponding with the ROS publisher node；
Issue subelement, for control the ROS publisher node regularly publish it is relevant to the message subject broadcast disappear
Breath；
Subelement is subscribed to, when broadcasting the message described in the demand for controlling the ROS receiving node, from disappearing for the foundation
The broadcast message is subscribed in breath theme.
Optionally, the communication mode determination unit, comprising:
Second judgment sub-unit, for being judged according to ROS node the characteristics of information interaction of right functional module
Transmit whether the mode of information is point-to-point between ROS node；
Node is to subelement is determined, for will carry out a little pair when the mode for transmitting information between ROS node is point-to-point
Two ROS nodes of point transmitting information determine that ROS node pair, described one ROS node of ROS node centering are that message initiates section
Point, another ROS node are message recipient node；
First establishes subelement, for establishing with the ROS node in the message recipient node to corresponding first
Call back function；
Information request transmission sub-unit, for when needing to carry out point-to-point transmission information, the message initiate node to
The message recipient node sends information request；
First calls subelement, for when the message recipient node receives information request, the message sink section
Point calls first call back function；
First message transmission sub-unit, for being replied message when first call back function according to information request generation
When, described reply message is sent to the message initiation node by the message recipient node.
Optionally, the communication mode determination unit, comprising:
Third judgment sub-unit, for being judged according to ROS node the characteristics of information interaction of right functional module
Whether tasks synchronization is needed between ROS node；
Synchronization node determines subelement, for when needing tasks synchronization between ROS node, determining that the synchronous ROS that initiates is saved
Point reception ROS node synchronous at least one；
Second establishes subelement, for establishing in the synchronous receiving node second time corresponding with the tasks synchronization
Letter of transfer number；
Second calls subelement, for sending when the synchronous reception ROS node receives the synchronous ROS node of initiating
Synchronization request when, the synchronous ROS node that receives calls second call back function；
Second transmission sub-unit, for when second call back function according to the synchronization request generation reply message when,
Described reply message is sent to the synchronous initiation ROS node by the synchronous reception ROS node.
The technical scheme provided by this disclosed embodiment can include the following benefits:
The apparatus control method provided by the embodiments of the present application can be according to defending when realizing Satellite Software based on ROS
The information flow between all functional modules and functional module in star software, is first converted to ROS node for functional module, then
Determine that the ROS comprising ROS node calculates figure, and the Satellite Software of micro-nano satellite is designed with ROS theory again, since ROS system has
There is good communication mechanism, this enables the corresponding executable file of each ROS node to be designed separately, and at runtime
The corresponding executable file of ROS node can be with loose couplings, therefore, and each functional module can be used as separate threads operation, example
Such as using the remote control in micro-nano satellite, program-controlled, number pass, equipment management functional module is as the realization of ROS node, in exploitation
Functional module each in micro-nano satellite can individually can be write to form independent operation text with stand-alone development, such technical staff
Part, ROS node after the completion can be compiled individually, debugged and run, and this mode can preferably support more people's concurrent developments, so that
Efficiency greatly improves, and since the corresponding executable file of ROS node can be with loose couplings, so flexibility and expansible
Property greatly improves.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Technical solution in ord to more clearly illustrate embodiments of the present application or in background technique, below will be to embodiment or back
Attached drawing needed in scape technical description is briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without any creative labor, is also possible to obtain other drawings based on these drawings.
Fig. 1 is software function schematic diagram on a kind of star of micro-nano satellite provided by the embodiments of the present application；
Fig. 2 is the flow diagram of apparatus control method provided by the embodiments of the present application；
Fig. 3 is the structural schematic diagram of plant control unit provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the application, instead of all the embodiments.Based on the embodiment in the application, this field is general
The application guarantor all should belong in logical technical staff every other embodiment obtained without making creative work
The range of shield.
Fig. 1 is software schematic diagram on a kind of star of micro-nano satellite provided by the embodiments of the present application.
As shown in Figure 1, including multiple common function modules of micro-nano satellite in figure, comprising: telemetering, remote control, number biography, parameter
Upper note, note on software, clock, beacon, program-controlled, gesture stability etc. on star, information flow between each functional module arrow as shown in figure 1
Head direction.
Fig. 2 is the flow diagram of apparatus control method provided by the embodiments of the present application.
As shown in Fig. 2, method includes the following steps:
S101 obtains the information flow in micro-nano satellite between all functional modules and functional module.
Each micro-nano satellite has different functional module and unique functional module according to the difference of design requirement
Between information flow.So in the embodiment of the present application, first having to some essential informations for obtaining target micro-nano satellite.Such as Fig. 1
It is shown, the information flow between all functional modules and functional module in figure including micro-nano satellite.In the embodiment of the present application,
Information flow between the functional module and functional module of micro-nano satellite can be by technical staff according to micro-nano satellite design scheme
It provides, alternatively, the parameters for extracting micro-nano satellite directly from design scheme obtain.
S102 determines robot operating system ROS node corresponding with each functional module.
ROS (Robot Operating System, robot operating system) is aimed at designed by robot software's exploitation
A set of computer operating system framework out is derived from the STAIR project of Stanford University Artificial Intelligence Laboratory in 2007 earliest
Between the personal robot project (Personal Robotics Program) of robot technology company Willow Garage
Cooperation, its development is pushed by Willow Garage company after 2008.
ROS is the sub-operating system of an open source, provides the service similar to operating system, including hardware abstraction description,
Message transmission, program distribution package management between bsp driver management, the execution of common functions, program, it also provides some works
Tool and library are used to obtain, establish, write and execute the program of multimachine fusion.ROS is not traditional operating system,
The primary design object of ROS is to improve rate of code reuse in robot research and development field.The operation framework of ROS is a kind of using ROS
The processing framework of communication module realization intermodule loose couplings.This enables executable file to be designed separately, and at runtime
Loose couplings.
In the embodiment of the present application, it after getting the functional module of micro-nano satellite, first has to determine according to ROS node
Rule determines ROS node corresponding with functional module in each micro-nano satellite, generates and micro-nano satellite pair based on this
The ROS calculating figure answered.
S103 generates ROS according to the information flow and all ROS nodes and calculates figure.
Under normal conditions, ROS is by calculating figure (Compute Graph) come self-organising software.The element of calculating figure includes:
(1) ROS node: main calculation procedure.
(2) ROS node manager: registration and lookup for node.
(3) ROS parameter server: core position of the keyword there are system is run data through.
(4) ROS message: for the communication between node.
(5) ROS message subject: the data/address bus that message is routed and is managed.
(6) ROS is serviced: point-to-point data interaction.
(7) ROS Message Record packet: for saving and playing back the data record of ROS message.
In the embodiment of the present application, it is included at least in determining ROS calculating figure: ROS node, ROS message, ROS message master
Topic, ROS service and Message Record packet.
In the application one embodiment, step S103 be may comprise steps of:
S11 obtains the communication information between different ROS nodes according to the information flow.
S12, according to the communication information determine ROS message between ROS node, ROS service, ROS message subject and
ROS Message Record packet；
S13 is generated according to the ROS node, ROS message, ROS message subject, ROS service and ROS Message Record packet
The ROS calculates figure.
S104 determines the communication between ROS node according to the characteristics of information interaction of the corresponding functional module of ROS node
Mode.
In this embodiment of the present application, the communication mode includes: message mode and method of service.In addition, functional module
Information interaction the characteristics of include: point-to-point, one-to-many, tasks synchronization etc., wherein two functional modules, which carry out, to be referred to point
One-to-one transmission, two-way point-to-point information exchange is realized using ROS service between functional module.ROS service be suitable for request,
The occasion of response mode work.General utility functions can be made into ROS service, called for other function module.
It is one-to-many to refer to that a functional module carries out message broadcast to multiple functional modules, broadcast type between functional module
Communication is realized by ROS message subject.Such as required when the operation of the information such as clock multiple modules on telemetry, star, it can be with
Telemetry message theme and clock information theme are established, clock module is issued to the two message subjects respectively on telemetry module and star
Telemetry message and clock information need to disappear accordingly to the subscription of the two message subjects using the module of telemetering and clock
Breath；
Tasks synchronization, which refers to, to be needed to carry out tasks synchronization between two functional modules, due to ROS node do not have semaphore and
Mutex, so resource is all encapsulated in intra-node.In this way, synchronizing between node can only be serviced by ROS message or ROS
It completes.Message receiver or service provider design call back function, and message receiver is receiving message or server offer is placed on
Call back function is triggered when receiving service request, and then realizes tasks synchronization.
S105, generate with each ROS node individually corresponding operating file, and control different ROS nodes correspondences
Operating file operation.
Since ROS system provides good communication mechanism, this enables executable file to be designed separately, and is running
When loose couplings.So calculating figure when generating ROS corresponding with functional module in micro-nano satellite, and determine ROS calculating figure
In after communication mode between each ROS node, can come using functional module each in micro-nano satellite as a node of ROS real
Now, each functional module can be used as separate threads operation when operation.Such as the remote control in micro-nano satellite, program-controlled, number are passed, set
The functional modules such as standby management, can be with stand-alone development in exploitation respectively as the realization of ROS node.
ROS node can be created by catkin_create_pkg tool, and catkin_create_pkg tool produces text
Part catalogue, configuration file and compilation script form independent operating file.Node after the completion can be compiled individually, debugged and be transported
Row.This mode can preferably support more people's concurrent developments.
S106 records the communication information between the operation information and ROS of ROS node at runtime as log information.
In the embodiment of the present application, journal function can be realized by ROS Message Record packet, can also self-developing log mould
Block, ROS Message Record function can record multiclass ROS message simultaneously.In order to carry out effective monitoring to micro-nano satellite operational process,
In the embodiment of the present application, when recording operation information or log information, and not all record, but can be selectively to part
Operation information and log information are recorded, and in a particular application, which operation information and log information are selected, technical staff can
With sets itself.
The apparatus control method provided by the embodiments of the present application can be according to defending when realizing Satellite Software based on ROS
The information flow between all functional modules and functional module in star software, is first converted to ROS node for functional module, then
Determine that the ROS comprising ROS node calculates figure, and the Satellite Software of micro-nano satellite is designed with ROS theory again, since ROS system has
There is good communication mechanism, this enables the corresponding executable file of each ROS node to be designed separately, and at runtime
The corresponding executable file of ROS node can be with loose couplings, therefore, and each functional module can be used as separate threads operation, example
Such as using the remote control in micro-nano satellite, program-controlled, number pass, equipment management functional module is as the realization of ROS node, in exploitation
Functional module each in micro-nano satellite can individually can be write to form independent operation text with stand-alone development, such technical staff
Part, ROS node after the completion can be compiled individually, debugged and run, and this mode can preferably support more people's concurrent developments, so that
Efficiency greatly improves, and since the corresponding executable file of ROS node can be with loose couplings, so flexibility and expansible
Property greatly improves.
In the application one embodiment, abovementioned steps S104 be may comprise steps of.
S21 the characteristics of according to the information interaction of the corresponding functional module of ROS node, judges to transmit letter between ROS node
Whether the mode of breath is one-to-many；
When the mode for transmitting information between ROS node is one-to-many, step S21 is executed.
S21 determines ROS publisher node and multiple ROS receiving nodes；
S22 establishes message subject corresponding with the ROS publisher node；
S23 controls the ROS publisher node and regularly publishes broadcast message relevant to the message subject；
S24 is ordered from the message subject of the foundation when controlling the ROS receiving node and broadcasting the message described in the demand
Read the broadcast message.
In the application one embodiment, abovementioned steps S104 be may comprise steps of.
S31 the characteristics of according to ROS node to the information interaction of right functional module, judges to transmit between ROS node
Whether the mode of information is point-to-point；
When the mode for transmitting information between ROS node is point-to-point, S32 is executed.
S32 will carry out two of point-to-point transmitting information when the mode for transmitting information between ROS node is point-to-point
ROS node determines that ROS node pair, described one ROS node of ROS node centering are that message initiates node, and another ROS node is to disappear
Cease receiving node；
S33 is established with the ROS node in the message recipient node to corresponding first call back function；
S34, when needing to carry out point-to-point transmission information, the message is initiated node and is sent to the message recipient node
Information request；When the message recipient node receives information request, the message recipient node calls first readjustment
Function, when first call back function is replied message according to information request generation, the message recipient node will be described
It replies message and is sent to the message initiation node.
In the application one embodiment, abovementioned steps S104 be may comprise steps of.
S41, according to ROS node to the characteristics of information interaction of right functional module judge between ROS node whether
Need tasks synchronization；
When needing tasks synchronization between ROS node, S42 is executed.
S42 is determined to synchronize and is initiated ROS node reception ROS node synchronous at least one；
S43 establishes the second call back function corresponding with the tasks synchronization in the synchronous receiving node；
S44, when the synchronous reception ROS node receives the synchronous synchronization request for initiating the transmission of ROS node, institute
It states the synchronous ROS node that receives and calls second call back function, when second call back function is generated according to the synchronization request
When replying message, described reply message is sent to the synchronous initiation ROS node by the synchronous reception ROS node.
By the description of above embodiment of the method, it is apparent to those skilled in the art that the application can
Realize by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases the former
It is more preferably embodiment.Based on this understanding, the technical solution of the application substantially makes tribute to the prior art in other words
The part offered can be embodied in the form of software products, which is stored in a storage medium, packet
Some instructions are included to use so that a computer equipment (can be personal computer, server or the network equipment etc.) executes
The all or part of the steps of each embodiment the method for the application.And storage medium above-mentioned includes: read-only memory
(ROM), the various media that can store program code such as random access memory (RAM), magnetic or disk.
Corresponding with the application apparatus control method embodiment shown in Fig. 2, present invention also provides a kind of controls of equipment
Device；It is a kind of structural schematic diagram of plant control unit provided by the embodiments of the present application referring to Fig. 3.
As shown in figure 3, the apparatus may include: acquiring unit 11, node determination unit 12, calculate figure generation unit 13,
Communication mode determination unit 14, file generating unit 15, running paper unit 16 and recording unit 17, wherein
Acquiring unit 11, for obtaining the information flow in micro-nano satellite between all functional modules and functional module；
Node determination unit 12, for determining robot operating system ROS node corresponding with each functional module；
Figure generation unit 13 is calculated, calculates figure, the ROS for generating ROS according to the information flow and all ROS nodes
It include: ROS node, ROS message, ROS message subject, ROS service and ROS Message Record packet in calculating figure；
Communication mode determination unit 14, for according to the information interaction of the corresponding functional module of ROS node the characteristics of, are true
Determine the communication mode between ROS node, the communication mode includes: message mode and method of service；
File generating unit 15, for generating and each ROS node individually corresponding operating file.
Running paper unit 16, for controlling the corresponding operating file operation of different ROS nodes；
Recording unit 17, for recording the communication information conduct between the operation information and ROS of ROS node at runtime
Log information.
In the application one embodiment, figure generation unit is calculated, comprising:
The communication information obtains subelement, for obtaining the communication information between different ROS nodes according to the information flow；
Information determines subelement, for determined according to the communication information ROS message between ROS node, ROS service,
ROS message subject and ROS Message Record packet；
Subelement is generated, for according to the ROS node, ROS message, ROS theme, ROS service and ROS Message Record
Packet generates the ROS and calculates figure.
In the application one embodiment, the communication mode determination unit, comprising:
First judgment sub-unit, the characteristics of for according to the information interaction of the corresponding functional module of ROS node, judgement
Transmit whether the mode of information is one-to-many between ROS node；
Node determines subelement, for determining that ROS is issued when the mode for transmitting information between ROS node is one-to-many
Node and multiple ROS receiving nodes；
Message subject establishes subelement, for establishing message subject corresponding with the ROS publisher node；
Issue subelement, for control the ROS publisher node regularly publish it is relevant to the message subject broadcast disappear
Breath；
Subelement is subscribed to, when broadcasting the message described in the demand for controlling the ROS receiving node, from disappearing for the foundation
The broadcast message is subscribed in breath theme.
In the application one embodiment, the communication mode determination unit, comprising:
Second judgment sub-unit, for being judged according to ROS node the characteristics of information interaction of right functional module
Transmit whether the mode of information is point-to-point between ROS node；
Node is to subelement is determined, for will carry out a little pair when the mode for transmitting information between ROS node is point-to-point
Two ROS nodes of point transmitting information determine that ROS node pair, described one ROS node of ROS node centering are that message initiates section
Point, another ROS node are message recipient node；
First establishes subelement, for establishing with the ROS node in the message recipient node to corresponding first
Call back function；
Information request transmission sub-unit, for when needing to carry out point-to-point transmission information, the message initiate node to
The message recipient node sends information request；
First calls subelement, for when the message recipient node receives information request, the message sink section
Point calls first call back function；
First message transmission sub-unit, for being replied message when first call back function according to information request generation
When, described reply message is sent to the message initiation node by the message recipient node.
In the application one embodiment, the communication mode determination unit, comprising:
Third judgment sub-unit, for being judged according to ROS node the characteristics of information interaction of right functional module
Whether tasks synchronization is needed between ROS node；
Synchronization node determines subelement, for when needing tasks synchronization between ROS node, determining that the synchronous ROS that initiates is saved
Point reception ROS node synchronous at least one；
Second establishes subelement, for establishing in the synchronous receiving node second time corresponding with the tasks synchronization
Letter of transfer number；
Second calls subelement, for sending when the synchronous reception ROS node receives the synchronous ROS node of initiating
Synchronization request when, the synchronous ROS node that receives calls second call back function；
Second transmission sub-unit, for when second call back function according to the synchronization request generation reply message when,
Described reply message is sent to the synchronous initiation ROS node by the synchronous reception ROS node.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit can be realized in the same or multiple software and or hardware when application.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit of separate part description may or may not be physically separated, component shown as a unit can be or
Person may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
Herein, only emphasis describes the difference with other schemes to each preferred embodiment, as long as each preferred embodiment
Do not conflict, can any combination, embodiment is formed by after combination also within scope disclosed in this specification, it is contemplated that
Text is succinct, is individually described with regard to being no longer formed by embodiment to combination herein.
It is understood that the application can be used in numerous general or special purpose computing system environments or configuration.Such as: it is a
People's computer, server computer, handheld device or portable device, multicomputer system, are based on micro process at laptop device
The system of device, set top box, programmable consumer-elcetronics devices, network PC, minicomputer, mainframe computer including to take up an official post
The distributed computing environment etc. of what system or equipment.
The application can describe in the general context of computer-executable instructions executed by a computer, such as program
Module.Generally, program module includes routines performing specific tasks or implementing specific abstract data types, programs, objects, group
Part, data structure etc..The application can also be practiced in a distributed computing environment, in these distributed computing environments, by
Task is executed by the connected remote processing devices of communication network.In a distributed computing environment, program module can be with
In the local and remote computer storage media including storage equipment.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The above is only the specific embodiment of the application, is made skilled artisans appreciate that or realizing this Shen
Please.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of apparatus control method characterized by comprising
Obtain the information flow in micro-nano satellite between all functional modules and functional module；
Determine robot operating system ROS node corresponding with each functional module；
ROS is generated according to the information flow and all ROS nodes and calculates figure, includes: ROS node, ROS in the ROS calculating figure
Message, ROS message subject, ROS service and ROS Message Record packet；
The communication mode between ROS node is determined according to the characteristics of information interaction of the corresponding functional module of ROS node, it is described
Communication mode includes: message mode and method of service；
Generate with each ROS node individually corresponding operating file, and control the corresponding operating file of different ROS nodes
Operation；
The communication information between the operation information and ROS of ROS node at runtime is recorded as log information.
2. the method according to claim 1, wherein described generate according to the information flow and all ROS nodes
ROS calculates figure, comprising:
The communication information between different ROS nodes is obtained according to the information flow；
ROS message, ROS service, ROS message subject and the ROS message note between ROS node are determined according to the communication information
Record packet；
The ROS meter is generated according to the ROS node, ROS message, ROS message subject, ROS service and ROS Message Record packet
Nomogram.
3. the method according to claim 1, wherein it is described according to ROS node between right functional module
The characteristics of information exchange, determines the communication mode between ROS node, comprising:
The characteristics of according to the information interaction of the corresponding functional module of ROS node, judges the mode that information is transmitted between ROS node
It whether is one-to-many；
When the mode for transmitting information between ROS node is one-to-many, ROS publisher node and multiple ROS receiving nodes are determined；
Establish message subject corresponding with the ROS publisher node；
It controls the ROS publisher node and regularly publishes broadcast message relevant to the message subject；
When controlling the ROS receiving node and broadcasting the message described in the demand, subscribed to from the message subject of the foundation described wide
Broadcast message.
4. the method according to claim 1, wherein it is described according to ROS node between right functional module
The characteristics of information exchange, determines the communication mode between ROS node, comprising:
The characteristics of according to ROS node to the information interaction of right functional module, judges the side that information is transmitted between ROS node
Whether formula is point-to-point；
It is when the mode for transmitting information between ROS node is point-to-point, two ROS nodes for carrying out point-to-point transmitting information are true
Determine ROS node pair, described one ROS node of ROS node centering is that message initiates node, and another ROS node is message sink section
Point；
It establishes with the ROS node in the message recipient node to corresponding first call back function；
When needing to carry out point-to-point transmission information, the message initiates node asks to message recipient node transmission information
It asks；When the message recipient node receives information request, the message recipient node calls first call back function, when
When first call back function is replied message according to information request generation, the message recipient node is replied message described
It is sent to the message and initiates node.
5. the method according to claim 1, wherein it is described according to ROS node between right functional module
The characteristics of information exchange, determines the communication mode between ROS node, comprising:
The characteristics of according to ROS node to the information interaction of right functional module, judge whether need task between ROS node
It is synchronous；
When needing tasks synchronization between ROS node, determines to synchronize and initiate ROS node reception ROS node synchronous at least one；
The second call back function corresponding with the tasks synchronization is established in the synchronous receiving node；
When the synchronous reception ROS node receives the synchronous synchronization request for initiating the transmission of ROS node, described synchronize is connect
It receives ROS node and calls second call back function, when second call back function is replied message according to synchronization request generation
When, described reply message is sent to the synchronous initiation ROS node by the synchronous reception ROS node.
6. a kind of plant control unit characterized by comprising
Acquiring unit, for obtaining the information flow in micro-nano satellite between all functional modules and functional module；
Node determination unit, for determining robot operating system ROS node corresponding with each functional module；
Figure generation unit is calculated, calculates figure for generating ROS according to the information flow and all ROS nodes, the ROS calculates figure
In include: ROS node, ROS message, ROS message subject, ROS service and ROS Message Record packet；
Communication mode determination unit, for determining that ROS is saved according to the characteristics of information interaction of the corresponding functional module of ROS node
Communication mode between point, the communication mode includes: message mode and method of service；
File generating unit, for generating and each ROS node individually corresponding operating file；
Running paper unit, for controlling the corresponding operating file operation of different ROS nodes；
Recording unit is believed for recording the communication information between the operation information and ROS of ROS node at runtime as log
Breath.
7. device according to claim 6, which is characterized in that the calculating figure generation unit, comprising:
The communication information obtains subelement, for obtaining the communication information between different ROS nodes according to the information flow；
Information determines subelement, for determining that the ROS message between ROS node, ROS service, ROS disappear according to the communication information
Cease theme and ROS Message Record packet；
Subelement is generated, for according to the ROS node, ROS message, ROS message subject, ROS service and ROS Message Record
Packet generates the ROS and calculates figure.
8. device according to claim 6, which is characterized in that the communication mode determination unit, comprising:
First judgment sub-unit the characteristics of for according to the information interaction of the corresponding functional module of ROS node, judges that ROS is saved
Transmit whether the mode of information is one-to-many between point；
Node determines subelement, for determining ROS publisher node when the mode for transmitting information between ROS node is one-to-many
With multiple ROS receiving nodes；
Message subject establishes subelement, for establishing message subject corresponding with the ROS publisher node；
Subelement is issued, regularly publishes broadcast message relevant to the message subject for controlling the ROS publisher node；
Subelement is subscribed to, when broadcasting the message described in the demand for controlling the ROS receiving node, from the message master of the foundation
The broadcast message is subscribed in topic.
9. device according to claim 6, which is characterized in that the communication mode determination unit, comprising:
Second judgment sub-unit, for judge ROS section to the characteristics of information interaction of right functional module according to ROS node
Transmit whether the mode of information is point-to-point between point；
Node is to subelement is determined, for that will carry out point-to-point biography when the mode for transmitting information between ROS node is point-to-point
Two ROS nodes for passing information determine that ROS node pair, described one ROS node of ROS node centering are that message initiates node, separately
One ROS node is message recipient node；
First establishes subelement, for being established in the message recipient node with the ROS node to corresponding first readjustment
Function；
Information request transmission sub-unit, for when needing to carry out point-to-point transmission information, the message initiates node to described
Message recipient node sends information request；
First calls subelement, for when the message recipient node receives information request, the message recipient node tune
With first call back function；
First message transmission sub-unit, for when first call back function according to the information request generation reply message when,
Described reply message is sent to the message initiation node by the message recipient node.
10. device according to claim 6, which is characterized in that the communication mode determination unit, comprising:
Third judgment sub-unit, for judge ROS section to the characteristics of information interaction of right functional module according to ROS node
Whether tasks synchronization is needed between point；
Synchronization node determines subelement, for when needing tasks synchronization between ROS node, determine it is synchronous initiate ROS node and
At least one, which is synchronized, receives ROS node；
Second establishes subelement, for establishing the second readjustment letter corresponding with the tasks synchronization in the synchronous receiving node
Number；
Second calling subelement receives the same of the synchronous initiation ROS node transmission for working as the synchronous ROS node that receives
When step request, the synchronous ROS node that receives calls second call back function；
Second transmission sub-unit, for when second call back function according to the synchronization request generation reply message when, it is described
Described reply message is sent to the synchronous initiation ROS node by synchronous reception ROS node.
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| CN112394912B (en) * | 2019-08-16 | 2022-03-25 | 北京大学 | Robot application data dynamic extraction method based on ROS (reactive oxygen species) calculation graph |
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