CN107632859A - A kind of robot pattern development plug-in type framework - Google Patents
A kind of robot pattern development plug-in type framework Download PDFInfo
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- CN107632859A CN107632859A CN201710913311.0A CN201710913311A CN107632859A CN 107632859 A CN107632859 A CN 107632859A CN 201710913311 A CN201710913311 A CN 201710913311A CN 107632859 A CN107632859 A CN 107632859A
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Abstract
A kind of robot pattern development plug-in type framework, including the running environment platform based on windows operating systems, for calling the database of data, card cage and plug-in unit, by setting plug-in unit scheduler module on Development of Framework platform, plug-in unit Coordination module and the card i/f module for installing plug-in unit, it is as needed by user, plug-in unit is inserted by card i/f module customized development can be achieved, make programming that there is greater flexibility and autgmentability, the robot program code graphic programming based on ROS is realized finally by the function of base insert, effectively reduce the threshold and difficulty of user's learning robot exploitation, and the parallel stand-alone development of each subsystem on Development of Framework platform, system business logic becomes more fully apparent.
Description
Technical field
The present invention relates to robot program's development technique field, more particularly to a kind of robot pattern development plug-in type frame
Frame.
Background technology
Educational robot is mainly the manipulative ability for exercise student ', learns machinery, electronics, software etc. while amusement
Technology；Educational robot market is risen at present, and each development company is all releasing respective educational suite product, main flow direction
It is hardware modularity, assembling is flexible, programming realization graphic programming, to reduce the use difficulty of learner.
But the developing instrument released in the market is all to carry out exhaustive combination and exploitation by respective development teams, user is only
It can be combined in the range of confining, the fixation control algolithm provided using developer, lack flexibility；User can not participate in software
Function Extension, can not also customize the functional units of needs, rely only on development teams maintenance upgrade realize it is more multi-functional,
And maintenance upgrade need to carry out user's survey, it will directly increase cost；Lack simultaneously developer and user, user and user it
Between interaction, cause the stickiness of software users group relatively low.
The content of the invention
Technical problem solved by the invention is to provide a kind of robot pattern development plug-in type framework, with solution
The shortcomings that stating in background technology.
Technical problem solved by the invention is realized using following technical scheme：
A kind of robot pattern development plug-in type framework, including the running environment platform based on windows operating systems, be used for
Call data database, card cage and plug-in unit, wherein, card cage include plug-in unit scheduler module, plug-in unit Coordination module and
For installing the card i/f module of plug-in unit, plug-in unit includes base insert and expansion plugin, is examined by plug-in unit scheduler module dynamic
Plug-in unit is surveyed, with other plug-in units of controlled loading, further according to plug-in unit strategy by each plug-in unit pass corresponding with main program menu foundations of software
System, to realize plug-in registration, management and calling；The association of plug-in unit and running environment platform is completed by plug-in unit Coordination module simultaneously
Adjust, and the state for generate on running environment platform management information and progress plug-in unit to each plug-in unit is tracked, finally by base
Plinth plug-in unit completes plug-in type frame system main functionality；The Function Extension of running environment platform is realized by expansion plugin.
In the present invention, after plug-in unit scheduler module is detected by add-on file catalogue, using reflex mechanism by plug-in unit
Service registry is on running environment platform, and calling function, calling function include dish corresponding to generation on running environment platform
Uniterming, toolbar, built-in function are called.
In the present invention, card i/f module includes being used to realize plug-in unit to the flat of running environment platform direction one-way communication
Platform expansion interface realizes that running environment platform is extended to the card i/f of plug-in unit direction one-way communication, plug-in unit by platform with being used for
Interface obtains the various resources and data of running environment platform, including various system handles, program internal data and internal memory point
With etc.；Running environment platform is called the function that plug-in unit realized by card i/f, reads plug-in unit processing data etc..
In the present invention, base insert include daily record plug-in unit, the login plug-in unit for realizing authenticating user identification and mandate,
For the cross-platform ROS generated on windows running environment platforms under Ubuntu system environments（Robot Operating
System robot operating systems）Engineering generates plug-in unit, for the c/c++ codes based on ROS under the cross-platform environment to Ubuntu
The cross compile being compiled and debugging plug-in unit and patterned package plug-in unit.
In the present invention, daily record plug-in unit is Common Services Components, externally provides service, and main program and other plug-in units can lead to
The journal function of interface interchange daily record plug-in unit offer is crossed, daily record plug-in unit provides two kinds of forms of text and database journal, and passes through
Logging level division demarcation significance level；
Log in plug-in unit, there is provided local authentication authorizes long-distance identity-certifying mandate both of which and used for developer；
ROS engineerings generate plug-in unit, in main program grassroot project engineering, there is provided user's setting options, and according to the setting of user
Information is generated based on the ROS function bags under Ubuntu environment, automatically generates configuration file and dependence file；
Plug-in unit is debugged in cross compile, and long-range gdb debugging breakpoints and Debugging message feedback are realized by be connected with robot slave computer；
Patterned package plug-in unit, for the encapsulation to GDI, to realize graphical drag function, encapsulate mouse, the keyboard thing on basis
Part, end points are connected and disconnected from event, and three kinds of figure defined in the basic module of patterned package plug-in unit, port, line bases are right
As；The plug-in unit can be realized is patterned encapsulation to objects such as part, algorithms, is a Drawing Object by entity packages such as algorithms
Presented in painting canvas and realize dragging edit operation.
Beneficial effect：The present invention on Development of Framework platform by setting plug-in unit scheduler module, plug-in unit Coordination module and use
It is as needed by user in the card i/f module of installation plug-in unit, plug-in unit is inserted by card i/f module customization can be achieved
Exploitation, makes programming have greater flexibility and autgmentability, and the robot based on ROS is realized finally by the function of base insert
Program code graphic programming, the threshold and difficulty of the exploitation of user's learning robot are effectively reduced, and on Development of Framework platform
Each parallel stand-alone development of subsystem, system business logic become more fully apparent.
Brief description of the drawings
Fig. 1 is the connection relationship diagram of presently preferred embodiments of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are readily apparent from clearly, tying below
Conjunction is specifically illustrating, and the present invention is expanded on further.
A kind of robot pattern development plug-in type framework shown in Figure 1, including the fortune based on windows operating systems
Row environmental level, database, card cage and plug-in unit, be provided with card cage plug-in unit scheduler module, plug-in unit Coordination module and
For installing the card i/f module of plug-in unit, plug-in unit includes base insert and expansion plugin, passes through plug-in unit scheduler module and plug-in unit
Coordination module realizes plug-in registration, management and calling and realizes the coordination of plug-in unit and running environment platform；
After plug-in unit scheduler module is detected by add-on file catalogue, plug-in services are registered in operation ring using reflex mechanism
On the platform of border, and the calling function corresponding to generation on running environment platform, calling function includes menu option, toolbar, interior
Portion's funcall；
Plug-in unit Coordination module completes the coordination of plug-in unit and running environment platform, and generates pipe on running environment platform to each plug-in unit
Reason information and the state of progress plug-in unit are tracked；
Card i/f module includes platform expansion interface and card i/f, for solving correctly mutually to communicate between main program and plug-in unit
Letter, platform expansion interface are used to realize that plug-in unit passes through platform expansion interface to the one-way communication in running environment platform direction, plug-in unit
Obtain the various resources and data of running environment platform, including various system handles, program internal data and Memory Allocation etc.；
Card i/f is used to realize that running environment platform is called to the one-way communication in plug-in unit direction, running environment platform by card i/f
Function that plug-in unit is realized, read plug-in unit processing data etc.；
Base insert：Base insert includes daily record plug-in unit, logs in plug-in unit, ROS engineerings generation plug-in unit, cross compile and debugging plug-in unit
And patterned package service plug；
Daily record plug-in unit is Common Services Components, externally provides service, and main program and other plug-in units can pass through interface interchange daily record
The journal function that plug-in unit provides, daily record plug-in unit provides two kinds of forms of text and database journal, and is referred to by logging level division
Show significance level；
Plug-in unit is logged in, realizes authenticating user identification and mandate, there is provided local authentication authorizes long-distance identity-certifying mandate two
Kind pattern uses for developer；
ROS engineerings generate plug-in unit, are generated for cross-platform on windows running environment platforms under Ubuntu system environments
ROS function bags, in main program grassroot project engineering, there is provided user's setting options, and base is generated according to the configuration information of user
ROS function bags under Ubuntu environment, automatically generate configuration file and dependence file；
Plug-in unit is debugged in cross compile, is compiled, is passed through for the c/c++ codes based on ROS under the cross-platform environment to Ubuntu
It is connected with robot slave computer and realizes that long-range gdb debugging breakpoints feed back with Debugging message；
Patterned package plug-in unit, for the encapsulation to GDI, to realize graphical drag function, encapsulate mouse, the keyboard thing on basis
Part, end points are connected and disconnected from event, and three kinds of figure defined in the basic module of patterned package plug-in unit, port, line bases are right
As；The plug-in unit can be realized is patterned encapsulation to objects such as part, algorithms, is a Drawing Object by entity packages such as algorithms
Presented in painting canvas and realize dragging edit operation；
By plug-in unit scheduler module dynamic detection Plugin Mechanism, other plug-in units of controlled loading, according to plug-in unit strategy by each plug-in unit with
The main program menu of software establishes corresponding relation, and the main functionality of plug-in type frame system is completed by providing base insert,
By externally providing card i/f, the Function Extension of running environment platform is realized.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. a kind of robot pattern development plug-in type framework, including the running environment platform based on windows operating systems,
For calling the database, card cage and plug-in unit of data, it is characterised in that be provided with card cage plug-in unit scheduler module,
Plug-in unit Coordination module and the card i/f module for installing plug-in unit, plug-in unit include base insert and expansion plugin, pass through plug-in unit
Scheduler module dynamic detection plug-in unit, with other plug-in units of controlled loading, according to plug-in unit strategy by each plug-in unit and the main program of software
Menu establishes corresponding relation, to realize plug-in registration, management and calling；Plug-in unit and operation are completed by plug-in unit Coordination module simultaneously
The coordination of environmental level, and each plug-in unit is generated on running environment platform management information and carry out plug-in unit state carry out with
Track, plug-in type frame system main functionality is finally completed by base insert；The work(of running environment platform is realized by expansion plugin
Can extension.
2. a kind of robot pattern development plug-in type framework according to claim 1, it is characterised in that plug-in unit dispatches mould
After block is detected by add-on file catalogue, plug-in services are registered on running environment platform using reflex mechanism, and
Calling function corresponding to generation on running environment platform, calling function include menu option, toolbar, built-in function and called.
A kind of 3. robot pattern development plug-in type framework according to claim 1, it is characterised in that card i/f mould
Block includes being used to realize that plug-in unit realizes running environment to the platform expansion interface of running environment platform direction one-way communication with being used for
Card i/f of the platform to plug-in unit direction one-way communication.
A kind of 4. robot pattern development plug-in type framework according to claim 1, it is characterised in that base insert bag
Include daily record plug-in unit, the login plug-in unit for realizing authenticating user identification and mandate, put down for cross-platform in windows running environment
The ROS engineerings generation plug-in unit of ROS function bags under Ubuntu system environments is generated on platform, for base under the cross-platform environment to Ubuntu
In cross compile and debugging plug-in unit and patterned package plug-in unit that ROS c/c++ codes are compiled.
5. a kind of robot pattern development plug-in type framework according to claim 4, it is characterised in that ROS engineerings are given birth to
Into plug-in unit, in main program grassroot project engineering, there is provided user's setting options, and be based on according to the generation of the configuration information of user
ROS function bags under Ubuntu environment, automatically generate configuration file and dependence file.
6. a kind of robot pattern development plug-in type framework according to claim 4, it is characterised in that cross compile is adjusted
Plug-in unit is tried, long-range gdb debugging breakpoints and Debugging message feedback are realized by be connected with robot slave computer.
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Cited By (6)
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| CN109345134A (en) * | 2018-10-10 | 2019-02-15 | 上海工程技术大学 | A kind of campus card IC card management system |
| CN110333869A (en) * | 2019-06-26 | 2019-10-15 | 深圳玩智商科技有限公司 | ROS robot debugging apparatus, method, computer equipment and program product |
| CN110716910A (en) * | 2019-10-14 | 2020-01-21 | 中国建设银行股份有限公司 | Log management method, device, equipment and storage medium |
| CN111464422A (en) * | 2020-03-27 | 2020-07-28 | 北京海益同展信息科技有限公司 | Interaction method, interaction device, electronic equipment and storage medium |
| CN111625216A (en) * | 2020-04-29 | 2020-09-04 | 江苏瑞中数据股份有限公司 | Plug-in implementation method based on data conversion integration system |
| CN115904544A (en) * | 2022-12-27 | 2023-04-04 | 哈尔滨工大卫星技术有限公司 | Plug-in digital satellite system and management method and medium thereof |
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