CN109165055A - A kind of component loading method, device, computer equipment and storage medium - Google Patents
A kind of component loading method, device, computer equipment and storage medium Download PDFInfo
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- CN109165055A CN109165055A CN201811001815.6A CN201811001815A CN109165055A CN 109165055 A CN109165055 A CN 109165055A CN 201811001815 A CN201811001815 A CN 201811001815A CN 109165055 A CN109165055 A CN 109165055A
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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
- G06F9/44521—Dynamic linking or loading; Link editing at or after load time, e.g. Java class loading
- G06F9/44526—Plug-ins; Add-ons
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The embodiment of the invention discloses a kind of component loading method, device, computer equipment and storage mediums.This method comprises: reading preconfigured configuration file in the enabled instruction for detecting system, wherein include the information of component to be loaded in the configuration file, one of every kind of component and described system algoritic module are corresponding；The information of the component and the component to be loaded is determined according to the configuration file of reading；The component is loaded according to the information of the component, and operating said assembly after loading is complete.The technical solution of the embodiment of the present invention, determine which component loaded according to configuration file dynamic, it in this way on the basis of guaranteeing the independence of each algorithm, and can flexibly determine whether algorithm participates in whole system at runtime, facilitate algorithm debugging, exploitation and maintenance.
Description
Technical field
The present embodiments relate to data processing techniques more particularly to a kind of component loading method, device, computer to set
Standby and storage medium.
Background technique
With the continuous progress of science and technology, emerged various perfect in shape and functions integrated system (for example, Unmanned Systems,
Or intelligent robot client etc.).Multiple independences for realizing algorithms of different function are generally comprised in one integrated system
Module.
By taking Unmanned Systems as an example, the big quantity algorithm of each modules such as integrated perception, prediction is needed within the system.This
The characteristics of a little algorithms is: 1) algorithm process itself is independent；2) algorithm has specific input and output, need with upstream and downstream into
Row data exchange.It is every to increase a kind of algorithm or the modification to existing algorithmic code, influence whether the unnecessary of other modules
Compiling；In order to write and debugging algorithm, programming personnel will download and understand the generation of other much unrelated with oneself algorithm modules
Code.
In the implementation of the present invention, the discovery prior art has following defects that due to existing integrated system inventor
There are many algoritic module for including in system, these algoritic modules are coupled completely, reduce the maintainability of code, algorithm
Module extension is difficult, and learning cost increases, and whole efficiency is caused to decline.
Summary of the invention
The embodiment of the invention provides a kind of component loading method, device, computer equipment and storage mediums, to take into account
The functional completeness of the independence of algoritic module and entire integrated system.
In a first aspect, the embodiment of the invention provides a kind of component loading methods, comprising:
In the enabled instruction for detecting system, preconfigured configuration file is read, wherein in the configuration file
Information comprising component to be loaded, one of every kind of component and system algoritic module are corresponding；
The information of the component and the component to be loaded is determined according to the configuration file of reading；
The component is loaded according to the information of the component, and operating said assembly after loading is complete.
Second aspect, the embodiment of the invention also provides a kind of component loading devices, comprising:
Configuration file read module, in the enabled instruction for detecting system, reading preconfigured configuration text
Part, wherein include the information of component to be loaded, one of every kind of component and the system algorithm in the configuration file
Module is corresponding；
Module information determining module to be loaded, for the configuration file according to reading determine the component to be loaded with
And the information of the component；
Component load operating module for being loaded according to the information of the component to the component, and is loading
At rear operating said assembly.
The third aspect, the embodiment of the invention also provides a kind of computer equipment, which includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of places
It manages device and realizes the component loading method as described in any in the embodiment of the present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer storage mediums, are stored thereon with computer journey
Sequence realizes the component loading method as described in any in the embodiment of the present invention when program is executed by processor.
The technical solution of the embodiment of the present invention, by reading preconfigured configuration file, according to the configuration file of reading
Determine the information of the component and the component to be loaded；The component is loaded according to the information of the component,
And the mode of operating said assembly after loading is complete, determine which component loaded according to pre-set configuration file dynamic,
In this way on the basis of guaranteeing the independence of each algorithm, and it can flexibly determine whether algorithm participates in whole system at runtime
In, facilitate algorithm debugging, exploitation and maintenance.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of one of the embodiment of the present invention one component loading method；
Fig. 2 is the flow chart of one of the embodiment of the present invention two component loading method；
Fig. 3 is the flow chart of one of the embodiment of the present invention three component loading method；
Fig. 4 is the structure chart of one of embodiment of the present invention four component loading device；
Fig. 5 is the structure chart of one of embodiment of the present invention five configuration loading equipemtn.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to
Convenient for describing, only the parts related to the present invention are shown rather than entire infrastructure in attached drawing.
It also should be noted that only the parts related to the present invention are shown for ease of description, in attached drawing rather than
Full content.It should be mentioned that some exemplary embodiments are described before exemplary embodiment is discussed in greater detail
At the processing or method described as flow chart.Although operations (or step) are described as the processing of sequence by flow chart,
It is that many of these operations can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be weighed
It is new to arrange.The processing can be terminated when its operations are completed, it is also possible to have the extra step being not included in attached drawing
Suddenly.The processing can correspond to method, function, regulation, subroutine, subprogram etc..
Embodiment one
Fig. 1 is a kind of flow chart for component loading method that the embodiment of the present invention one provides, and the present embodiment is applicable to move
The case where state charging assembly, this method can be executed by the component loading device in the embodiment of the present invention, which can be used
The mode of software and/or hardware is realized, and generally can integrate in the equipment with certain computing capability, for example, terminal or
Person's server etc..Typically, it can integrate in the equipment of set-mounted integrated system (for example, automated driving system), the collection
At in system be configured with multiple relatively independent components.As shown in Figure 1, this method specifically includes following operation:
S110, in the enabled instruction for detecting system, read preconfigured configuration file, wherein configuration text
It include the information of component to be loaded in part, one of every kind of component and described system algoritic module are corresponding.
Configuration file storage system needs when starting
The setting of environment needed for system and the set of file, configuration file is pre-configured, after system starting, so that it may which reading is matched
Set the content in file.
Optionally, configuration file can be with are as follows: local profile, roaming profile are forced configuration file and temporarily matched
Set file.Local profile, the configuration file being previously stored on the hardware device where the system are any to being locally configured
Change made by file all only acts on the hardware device generation to change；Roaming profile is local profile
Copy is replicated and on the server that is stored on network, and when every subsystem starts, file can be all downloaded, any pair of roaming
The change of configuration file all can be synchronous with the copy of server；Configuration file is forced, the only administrator of the system could be to strong
Configuration file processed makes an amendment；Provisional configuration file is the use when faulty operation causes local profile that cannot be loaded,
Provisional configuration file allows to modify any configuration that may cause local profile load failure using the user of the system,
Provisional configuration file will be all deleted after each call.
Optionally, the information of component includes: complete trails information, the contextual information of component and the group of component of component
Part runs process.The complete trails information of component contains the routing information for calling the component, comprising: absolute path and opposite road
Diameter, the complete trails information of the component are used to indicate the storage address of the component；Contextual information includes: for specified described
Module data reads the input channel index information in channel and the output channel for specifying module data write-in channel
Index information, namely: the input channel index information is for indicating component data to be treated are obtained from where, institute
Output channel index information is stated for indicating the data obtained after component processing are exported to where.The operation process of component, instead
The operating status of the component is reflected, so-called operation process is exactly to have the program of certain standalone feature about some data acquisition system
Primary operation activity and system carry out Resource Distribution and Schedule operation basic unit, in a system, meeting simultaneously
There are multiple operation processes, these operation processes occupy CPU and various resources in turn, when system calls certain component, will create
The corresponding operation process of the component, the component are based on after the operation process is completed, and system cancels this operation process again,
Its occupied resource is withdrawn, is a complete process from revocation is created to.
Contain the information of component and corresponding component to be loaded in configuration file, and every kind of component and system
One of algoritic module it is corresponding, corresponding algoritic module can be called according to the information of institute's charging assembly.
Algorithm is the solution procedure for describing a problem, is the finite sequence of instruction, and each instruction indicates one or more
A operation.Algorithm is write as algoritic module by programming language, make algorithm that there is reusability and preferable portability, together
When, algoritic module also reduces the use difficulty of algorithm, has largely widened the application field of algorithm.System starting
Afterwards, preconfigured configuration file is read, further according to the information for the component for including in configuration file, calls corresponding algorithm mould
Block, to realize different functions.
In the present embodiment, the required algoritic module used, starts every time in system when can be according to system each run
Before, the information of the component in dynamic more new configuration file, and then realize the purpose of dynamically load component.
S120, the information that the component and the component to be loaded are determined according to the configuration file of reading.
S130, the component is loaded according to the information of the component, and runs described group after loading is complete
Part.Optionally, which is called according to the complete trails information in the information of the component and the component is loaded, and
After loading is complete, the assembly operating process of the component is established；After establishing the assembly operating process of the component, first may be used
To be registered by the assembly operating process to the class in the component, it can be used in component define in the present embodiment
The macro class in component register；Then the class object for the class that creation is registered in the component；Pass through the component again
Assembly operating process, and initialized in conjunction with the class object of the contextual information of the component to creation, with statement
Input channel index information corresponding with the class object and output channel index information；Finally by the group of the component
Part runs process, the processing function of the class object defined in the component is called, to from the data read channel
Data handled, and data processed result is supplied to the data, channel is written, to complete assembly operating.
Wherein, it increases a class newly every time in assembly, requires first to complete to register in factory class and could use.It is existing
Technology can be in application code plus the code of these registrations, this logon mode one become strong so that coupling, and two every time
It is manually added the workload that registration code has aggravated application layer.One has been used to pre-define in assembly in the present embodiment
The macro registration for being automatically performed class.Avoiding problems code is modified on application, make code convenient for safeguarding.
The technical solution of the embodiment of the present invention, by reading preconfigured configuration file, according to the configuration file of reading
Determine the information of the component and the component to be loaded；The component is loaded according to the information of the component,
And the mode of operating said assembly after loading is complete, determine which component loaded according to pre-set configuration file dynamic,
In this way on the basis of guaranteeing the independence of each algorithm, and it can flexibly determine whether algorithm participates in whole system at runtime
In, facilitate algorithm debugging, exploitation and maintenance.
Embodiment two
Fig. 2 is the flow chart of one of the embodiment of the present invention two component loading method, and the present embodiment is with above-described embodiment
Based on embodied, in the present embodiment, the information of component further comprises the priority of the assembly operating process of component,
Different operations is executed according to different priority at the end of the operation process of component according to different priority.Accordingly
, the method for the present embodiment specifically includes following operation:
S210, in the enabled instruction for detecting system, read preconfigured configuration file, wherein configuration text
It include the information of component to be loaded in part, one of every kind of component and described system algoritic module are corresponding.
The information of component includes: the assembly operating process of the complete trails information of component, the contextual information of component, component
With the priority of the assembly operating process of component.
S220, the information that the component and the component to be loaded are determined according to the configuration file of reading；
S230, the component is loaded according to the information of the component, and runs described group after loading is complete
Part.
Optionally, which is called according to the complete trails information in the information of the component and the component is added
It carries, and after loading is complete, establishes the assembly operating process of the component.
If S240, detecting that the assembly operating process of target element is moved to end, according to the component of the target element
The priority of operation process, executes and the target element is matched ends processing strategy.
Each operation process has corresponding priority, priority determine the component when run and occupy CPU when
Between length, in the same dispatching cycle, the time that the high process of priority occupies is long, and when the low process of priority occupies
Between it is short.
If the priority of the assembly operating process of S250, the target element meets the first priority conditions, terminate
The system of the system runs process；If the priority of the assembly operating process of the target element meets the second priority
Condition then restarts the assembly operating process of the target element.
Optionally, priority can be divided into the numerical value from 0 to 31, and priority is that 0-15 grades of definition is the first priority,
Priority is that 16-31 grades of definition is the second priority, and preferred value is lower, and priority is higher.If detecting target element
Assembly operating process is moved to end, and the priority of the assembly operating process of the target element meets the first priority conditions, then
Terminate the system operation process of the system；If detecting that the assembly operating process of target element is moved to end, and the target
The priority of the assembly operating process of component meets the second priority conditions, then restart the assembly operating of the target element into
Journey.
The advantages of this arrangement are as follows ensure that on the basis of taking into account various components independence, dynamically being loaded
The safety and reliability of whole system.For example, in an automated driving system, for complete environment sensing component (after
Text is referred to as first assembly) it is a very important component, if the first assembly breaks down, the automated driving system
It safe can not then control effectively to vehicle.Therefore, one very high priority can be set for the first assembly,
And terminate (for example, by kill) by unexpected in the assembly operating process of the first assembly, the automated driving system is closed immediately,
So that the vehicle static safety to guarantee other vehicles in road surface on road surface as early as possible；Similar, it is used in automated driving system
In acquisition vehicle oneself state component (being hereinafter the second component) to the safety effects of entire automated driving system
Effect will be lower than first assembly, therefore, can for second component be arranged a relatively low priority, and this second
The assembly operating process of component is surprisingly terminated, and the assembly operating process is restarted.
The technical solution of the embodiment of the present invention is being read by the way that the operation process priority of component is arranged in configuration file
After taking configuration file, charging assembly, the case where assembly operating process is moved to end is encountered, it can be according to the assembly operating of the component
The priority of process judges that ends with system operation process still restarts the assembly operating process of the component and combined one
Component plays the role of in the entire system, by the corresponding relationship established between component importance and component priority, and root
Different processing operations is executed according to different priorities, while introducing abnormal restoring mechanism to the greatest extent for component, is guaranteed
The safety and reliability of whole system.
Embodiment three
Fig. 3 is the flow chart of one of the embodiment of the present invention three component loading method, and the present embodiment is with above-described embodiment
Based on embodied, in the present embodiment, by taking the control loop of unmanned equipment as an example.
Unmanned equipment is that Unmanned operation, common nothing are realized by equipment intelligence control system mounted
People's steer includes: pilotless automobile, unmanned vehicle etc.；With the Unmanned Systems of pilotless automobile
For, pilotless automobile is that road environment is perceived by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle and arrives
Up to the intelligent automobile of predeterminated target.It is vehicle-periphery is perceived using onboard sensor, and according to perceive it is obtained
Road, vehicle location and obstacle information, control the steering and speed of vehicle, to enable the vehicle to reliably and securely in road
Road travels.
A large amount of algorithm is contained in these modules of Unmanned Systems.The characteristics of these algorithms, is: 1) algorithm process
Itself it is that independent 2) algorithm there are specific input and output, needs to carry out data exchange with upstream and downstream.Increase a kind of algorithm, and
Modification to code influences whether the unnecessary compiling of other modules；In order to write and debugging algorithm, need to learn and work as
The code of other unrelated modules of preceding algoritic module.Numerous modules are coupled completely, reduce the maintainability of code,
Module extension is difficult, and learning cost increases, and whole efficiency is caused to decline.
A kind of component loading method suitable for Unmanned Systems disclosed in the present embodiment, its step are as follows:
S310, in the enabled instruction for detecting Unmanned Systems, read preconfigured configuration file, wherein institute
State include in configuration file component to be loaded information, one of every kind of component and described system algoritic module is corresponding；
The algoritic module includes: environmental perception module, behaviour decision making module, state acquisition module and control module.
Wherein, environmental perception module is integrated with the key technologies such as the calculating of audio visual information synergism, natural language understanding
Research achievement, for being perceived instead of human brain to environment；Behaviour decision making module is integrated with the cognition etc. based on driving behavior
Key technology, for being made a policy to the movement of vehicle platform next step according to the environmental information of perception；State acquisition module,
For collecting the data of oneself state acquisition of each sensor to vehicle；Control module, for controlling vehicle in non-autonomous control
Under traveling, the driving safety of support vehicles.Every kind of module includes a large amount of algorithm, such as: environmental perception module is based on
Vision system positions this vehicle, first by the triangulation to stereo-picture, obtains disparity map to calculate each point
Depth information；Then it by the notable feature between matching continuous stereo image frame, is built by the feature between different frame
Vertical correlation, and thus estimate the motion conditions between this two frame；Finally by comparing the notable feature captured and known
Point on figure calculates the current location of vehicle.
S320, the information that the component and the component to be loaded are determined according to the configuration file of reading；
Optionally, the information of component includes: complete trails information, the contextual information of component and the group of component of component
Part runs process.
S330, the component is loaded according to the information of the component, and runs described group after loading is complete
Part.
If S340, detecting that the assembly operating process of target element is moved to end, according to the component of the target element
The priority of operation process, executes and the target element is matched ends processing strategy.
If the priority of the assembly operating process of S350, the target element meets the first priority conditions, terminate
The system of the system runs process；If the priority of the assembly operating process of the target element meets the second priority
Condition then restarts the assembly operating process of the target element.
Optionally, priority can be divided into the numerical value from 0 to 31, and priority is that 0-15 grades of definition is the first priority,
Priority is that 16-31 grades of definition is the second priority, and preferred value is lower, and priority is higher.If detecting target element
Assembly operating process is moved to end, and the priority of the assembly operating process of the target element meets the first priority conditions, then
Terminate the system operation process of the system；If detecting that the assembly operating process of target element is moved to end, and the target
The priority of the assembly operating process of component meets the second priority conditions, then restart the assembly operating of the target element into
Journey.
The technical solution of the embodiment of the present invention different components is arranged the priority of different assembly operating processes, according to
Preconfigured configuration file dynamic determines to load which component, in this way on the basis of guaranteeing the independence of each algorithm, and can be
It flexibly determines whether algorithm participates in whole system when operation, facilitates algorithm debugging, exploitation and maintenance.It avoids
The problems such as numerous modules are coupled, and the maintainable of code is caused to reduce, and module extension is difficult, reduce study at
This, while improving whole efficiency.
Example IV
Fig. 4 is a kind of structural schematic diagram for component loading device that the embodiment of the present invention four provides.The present embodiment is applicable
In the dynamically load component the case where, the mode which can be used software and/or hardware is realized, which can be integrated in any
In the equipment for providing component load function, as shown in figure 4, the component loading device specifically includes: configuration file read module
410, module information determining module 420 to be loaded and component load operating module 430.
Configuration file read module 410, for reading preconfigured configuration in the enabled instruction for detecting system
File, wherein include the information of component to be loaded in the configuration file, one of every kind of component and the system are calculated
Method module is corresponding；
Module information determining module 420 to be loaded determines the component to be loaded for the configuration file according to reading
And the information of the component；
Component load operating module 430 for being loaded according to the information of the component to the component, and is adding
Operating said assembly after the completion of load.
The technical solution of the embodiment of the present invention, by reading preconfigured configuration file, according to the configuration file of reading
Determine the information of the component and the component to be loaded；The component is loaded according to the information of the component,
And the mode of operating said assembly after loading is complete, determine which component loaded according to pre-set configuration file dynamic,
In this way on the basis of guaranteeing the independence of each algorithm, and it can flexibly determine whether algorithm participates in whole system at runtime
In, facilitate algorithm debugging, exploitation and maintenance.
Embodiment five
On the basis of the various embodiments described above, in component loading device shown in Fig. 4, configuration file read module 410 is read
The information for the component for including in the configuration file taken may include: the contextual information of the complete trails information of component, component
And the assembly operating process of component；
The contextual information may include: the input channel index letter for specifying the module data to read channel
It ceases and for specifying the module data that the output channel index information in channel is written.
Component load operating module 430, can be specifically used for:
The component is loaded according to the complete trails information of the component, and after loading is complete, establishes described group
The assembly operating process of part；
By the assembly operating process of the component, the class in the component is registered, and create be registered in it is described
The class object of class in component；
By the assembly operating process of the component, according to the contextual information of the component to the class pair of creation
As being initialized, to state input channel index information corresponding with the class object and output channel index information；
By the assembly operating process of the component, the processing function of the class object defined in the component is called,
Data from the data read channel are handled, and data processed result is supplied to the data and is written and is led to
Road.
Optionally, the macro class in the component defined in the component can be used to register.
Optionally, the information for the component for including in the configuration file further include: the assembly operating process of the component
Priority.
Component load operating module 430, can be also used for:
If detecting that the assembly operating process of target element is moved to end, according to the assembly operating of the target element
The priority of process, executes and the target element is matched ends processing strategy.
If the priority of the assembly operating process of the target element meets the first priority conditions, terminate the system
The system of system runs process；
If the priority of the assembly operating process of the target element meets the second priority conditions, the mesh is restarted
Mark the assembly operating process of component.
Method provided by any embodiment of the invention can be performed in the said goods, has the corresponding function mould of execution method
Block and beneficial effect.
Embodiment six
Fig. 5 is a kind of structural schematic diagram for computer equipment that the embodiment of the present invention six provides.Fig. 5, which is shown, to be suitable for using
Come realize embodiment of the present invention exemplary computer device 12 block diagram.The computer equipment 12 that Fig. 5 is shown is only one
A example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 5, computer equipment 12 is showed in the form of universal computing device.The component of computer equipment 12 can
To include but is not limited to: one or more processor or processing unit 16, system storage 28 connect not homologous ray group
The bus 18 of part (including system storage 28 and processing unit 16).
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture
(MAC) bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI)
Bus.
Computer equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can
The usable medium accessed by computer equipment 12, including volatile and non-volatile media, moveable and immovable Jie
Matter.
System storage 28 may include the computer system readable media of form of volatile memory, such as deposit at random
Access to memory (RAM) 30 and/or cache memory 32.Computer equipment 12 may further include it is other it is removable/no
Movably, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for reading and writing
Immovable, non-volatile magnetic media (Fig. 5 do not show, commonly referred to as " hard disk drive ").It, can although being not shown in Fig. 5
To provide the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk "), and it is non-easy to moving
The CD drive that the property lost CD (such as CD-ROM, DVD-ROM or other optical mediums) is read and write.In these cases, often
A driver can be connected by one or more data media interfaces with bus 18.Memory 28 may include at least one
A program product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform
The function of various embodiments of the present invention.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 includes --- but being not limited to --- operating system, one or more application program, Qi Tacheng
It may include the realization of network environment in sequence module and program data, each of these examples or certain combination.Program
Module 42 usually executes function and/or method in embodiment described in the invention.
Computer equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24
Deng) communication, can also be enabled a user to one or more equipment interact with the computer equipment 12 communicate, and/or with make
The computer equipment 12 any equipment (such as network interface card, the modulatedemodulate that can be communicated with one or more of the other calculating equipment
Adjust device etc.) communication.This communication can be carried out by input/output (I/O) interface 22.Also, computer equipment 12 may be used also
To pass through network adapter 20 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network
Network, such as internet) communication.As shown, network adapter 20 passes through other modules of bus 18 and computer equipment 12
Communication.It should be understood that although not shown in the drawings, can in conjunction with computer equipment 12 use other hardware and/or software module,
Including but not limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive
Dynamic device and data backup storage system etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application with
And data processing, such as realize component loading method provided by the embodiment of the present invention: in the enabled instruction for detecting system
When, read preconfigured configuration file, wherein include the information of component to be loaded, every kind of component in the configuration file
It is corresponding with one of system algoritic module；According to the configuration file of reading determine the component to be loaded and
The information of the component；The component is loaded according to the information of the component, and runs described group after loading is complete
Part.
Typically, the computer equipment of the embodiment of the present invention can be configured in unmanned vehicle.
Embodiment seven
The embodiment of the present invention seven provides a kind of computer readable storage medium, is stored thereon with computer program, the journey
The component loading method provided such as all inventive embodiments of the application is provided when sequence is executed by processor:
In the enabled instruction for detecting system, preconfigured configuration file is read, wherein in the configuration file
Information comprising component to be loaded, one of every kind of component and system algoritic module are corresponding；
The information of the component and the component to be loaded is determined according to the configuration file of reading；
The component is loaded according to the information of the component, and operating said assembly after loading is complete.
It can be using any combination of one or more computer-readable media.Computer-readable medium can be meter
Calculation machine readable signal medium or computer readable storage medium.Computer readable storage medium for example can be --- but not
Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter
The more specific example (non exhaustive list) of calculation machine readable storage medium storing program for executing include: electrical connection with one or more conducting wires,
Portable computer diskette, hard disk, random access memory (RAM), read-only memory (ROM), erasable type may be programmed read-only deposit
Reservoir (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory
Part or above-mentioned any appropriate combination.In this document, computer readable storage medium, which can be, any include or deposits
The tangible medium of program is stored up, which can be commanded execution system, device or device use or in connection.
Computer-readable signal media may include in a base band or the data as the propagation of carrier wave a part are believed
Number, wherein carrying computer-readable program code.The data-signal of this propagation can take various forms, packet
Include --- but being not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media
It can also be any computer-readable medium other than computer readable storage medium, which can send,
It propagates or transmits for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but not
It is limited to --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
Fully execute, partly execute on the user computer on the user computer, being executed as an independent software package,
Part executes on the remote computer or executes on a remote computer or server completely on the user computer for part.
In situations involving remote computers, remote computer can pass through the network of any kind --- including local area network (LAN)
Or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize Internet service
Provider is connected by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.Those skilled in the art can manage
Solution, the invention is not limited to the specific embodiments described herein, is able to carry out various apparent changes for a person skilled in the art
Change, readjust and substitutes without departing from protection scope of the present invention.Therefore, although by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, the case where not departing from present inventive concept
Under, it can also include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of component loading method characterized by comprising
In the enabled instruction for detecting system, read preconfigured configuration file, wherein in the configuration file comprising to
The information of the component of load, one of every kind of component and system algoritic module are corresponding；
The information of the component and the component to be loaded is determined according to the configuration file of reading；
The component is loaded according to the information of the component, and operating said assembly after loading is complete.
2. the method according to claim 1, wherein the information for the component for including in the configuration file includes:
The assembly operating process of the complete trails information of component, the contextual information of component and component；
The contextual information includes: for specifying the module data to read the input channel index information in channel and be used for
Specify the output channel index information in module data write-in channel.
3. according to the method described in claim 2, it is characterized in that, being added according to the information of the component to the component
It carries, and operating said assembly includes: after loading is complete
The component is loaded according to the complete trails information of the component, and after loading is complete, establishes the component
Assembly operating process；
By the assembly operating process of the component, the class in the component is registered, and creates and is registered in the component
In class class object；
By the assembly operating process of the component, carried out according to the class object of the contextual information of the component to creation
Initialization, to state input channel index information corresponding with the class object and output channel index information；
By the assembly operating process of the component, the processing function of the class object defined in the component is called, to next
It is handled from the data in the data read channel, and data processed result is supplied to the data, channel is written.
4. according to the method described in claim 2, it is characterized in that, the information for the component for including in the configuration file is also wrapped
It includes: the priority of the assembly operating process of the component；
The component is loaded according to the information of the component, and after loading is complete after operating said assembly, also
Include:
If detecting that the assembly operating process of target element is moved to end, according to the assembly operating process of the target element
Priority, executes and the target element is matched ends processing strategy.
5. according to the method described in claim 4, it is characterized in that, according to the preferential of the assembly operating process of the target element
Grade, executes and the target element is matched ends processing strategy, comprising:
If the priority of the assembly operating process of the target element meets the first priority conditions, terminate the system
System runs process；
If the priority of the assembly operating process of the target element meets the second priority conditions, the target group is restarted
The assembly operating process of part.
6. according to the method described in claim 3, it is characterized in that, by the assembly operating process of the component, to described group
Class in part is registered, comprising:
By the assembly operating process of the component, infused using the macro class in the component defined in the component
Volume.
7. method according to claim 1-6, which is characterized in that the system is the driving of unmanned equipment
System.
8. a kind of component loading device characterized by comprising
Configuration file read module, for reading preconfigured configuration file in the enabled instruction for detecting system,
In, it include the information of component to be loaded, one of every kind of component and the system algoritic module phase in the configuration file
It is corresponding；
Module information determining module to be loaded determines the component to be loaded and described for the configuration file according to reading
The information of component；
Component load operating module, for being loaded according to the information of the component to the component, and after loading is complete
Operating said assembly.
9. a kind of computer equipment, which is characterized in that the computer equipment includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now component loading method as described in any in claim 1-7.
10. a kind of computer storage medium, is stored thereon with computer program, which is characterized in that the program is executed by processor
Component loading method of the Shi Shixian as described in any in claim 1-7.
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| CN201811001815.6A CN109165055B (en) | 2018-08-30 | 2018-08-30 | Unmanned system component loading method and device, computer equipment and medium |
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| CN201811001815.6A CN109165055B (en) | 2018-08-30 | 2018-08-30 | Unmanned system component loading method and device, computer equipment and medium |
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| CN111290799A (en) * | 2020-02-06 | 2020-06-16 | 北京字节跳动网络技术有限公司 | Component loading method and device, electronic equipment and storage medium |
| CN111752560A (en) * | 2019-11-25 | 2020-10-09 | 京东安联财产保险有限公司 | Component generation method and device, computer equipment and computer-readable storage medium |
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| CN113590213A (en) * | 2021-06-24 | 2021-11-02 | 深圳开源互联网安全技术有限公司 | Component maintenance method, electronic device, and storage medium |
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| CN111273956B (en) * | 2020-01-17 | 2024-03-01 | 广州虎牙科技有限公司 | Program module loading method, device, equipment and storage medium |
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| CN113590213A (en) * | 2021-06-24 | 2021-11-02 | 深圳开源互联网安全技术有限公司 | Component maintenance method, electronic device, and storage medium |
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