CN109866209A - A kind of remote debugging method, system and computer readable storage medium - Google Patents
A kind of remote debugging method, system and computer readable storage medium Download PDFInfo
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- CN109866209A CN109866209A CN201811447370.4A CN201811447370A CN109866209A CN 109866209 A CN109866209 A CN 109866209A CN 201811447370 A CN201811447370 A CN 201811447370A CN 109866209 A CN109866209 A CN 109866209A
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Abstract
This application involves a kind of remote debugging method, system and computer readable storage mediums, the method is applied to teaching machine, wireless communication module is provided in the teaching machine, the remote debugging method is the following steps are included: obtain the operating system of teaching machine and the fault message of application interface generation；By fault message, module is sent to default remote control terminal by wireless communication；Receive the debugging instruction that the default remote control terminal is fed back according to the fault message；The operating system for controlling the teaching machine executes debugging operations corresponding with the debugging instruction.Compared with traditional short distance debugs teaching machine, the embodiment of the present application has been compatible with long-range monitoring and has debugged the function of teaching machine the application, reduces debugging cost, improves debugging efficiency.
Description
Technical field
This application involves robotic technology field more particularly to a kind of remote debugging method, system and computer-readable deposit
Storage media.
Background technique
With the continuous development of smart machine and intelligent tutoring, teaching machine is applied to showing in robot or numerically-controlled machine tool
Religion method is gradually risen, and the teaching interface of teaching machine is as the window of human-computer interaction and the experience performance of user as teaching
One important evaluation index of device, therefore the exploitation at teaching interface is also particularly important in the development process of robot.
Teaching machine needs just to can guarantee its stability by largely debugging, traditional teaching machine as embedded product
Adjustment method carries out intersection artificial debugging by the devices short distances such as serial port terminal and emulator, still, when a teaching machine
After being largely delivered for use, since the demand of client constantly upgrades and the teaching interface bug of teaching machine is constantly presented, research staff
It needs to debug and collect bug information to scene with commissioning staff, so as to cause manpower, various costs such as material resources increase
Add and the debugging efficiency of teaching machine reduces.
Summary of the invention
In order to solve the above-mentioned technical problem or it at least is partially solved above-mentioned technical problem, this application provides a kind of remote
Journey adjustment method, system and computer readable storage medium.
In view of this, in a first aspect, being applied to teaching machine, the teaching this application provides a kind of remote debugging method
Wireless communication module is provided in device, the remote debugging method the following steps are included:
The fault message that the operating system and application interface for obtaining teaching machine generate；
By fault message, module is sent to default remote control terminal by wireless communication；
Receive the debugging instruction that the default remote control terminal is fed back according to the fault message；
The operating system for controlling the teaching machine executes debugging operations corresponding with the debugging instruction.
With reference to first aspect, in first aspect in the first possible embodiment, the method also includes:
Detect the operation information for the operation equipment being connected with teaching machine；
Position corresponding with the operation equipment is generated in the local display interface of the teaching machine according to operation information
Set data and warning message；
By the position data and warning message, module is sent to default remote control terminal by wireless communication.
With reference to first aspect, described by the position data and report in second of first aspect possible embodiment
Module is sent to default remote control terminal to alert information by wireless communication, comprising:
By the position data and warning message by wireless communication module be sent to default message format it is described default
Remote control terminal.
With reference to first aspect, in first aspect in the third possible embodiment, the behaviour of the control teaching machine
Make system and execute debugging operations corresponding with the debugging instruction, comprising:
The position of breakpoint to be added is determined in the interface program of the operating system of the teaching machine；
The breakpoint to be added is added in the interface program；
And/or
Debugging message to be added is extracted from the debugging instruction；
The Debugging message to be added is added in the interface program.
Second aspect, this application provides a kind of remote debugging methods, are applied to remote control terminal, the remote control terminal
In be provided with wireless communication module, the wireless communication module is communicated with teaching machine, the remote debugging method include with
Lower step:
Fault message is received by the wireless communication module；
Debugging instruction is generated according to the fault message；
The debugging instruction is sent to the teaching machine by the wireless communication module.
In conjunction with second aspect, in second aspect in the first possible embodiment, the method also includes:
By the wireless communication module receive corresponding with the operation equipment that the teaching machine is connected position data and
Warning message；
The position data and warning message are shown in the local display interface of the remote control terminal.
It is described in the remote control terminal in second of second aspect possible embodiment in conjunction with second aspect
The position data and warning message are shown in local display interface, comprising:
The position data and report are shown with default message format in the local display interface of the remote control terminal
Alert information.
The third aspect, this application provides a kind of remote debugging system, including remote control terminal and such as first aspect institute
The teaching machine stated.
Fourth aspect, this application provides a kind of remote debugging systems, including teaching machine and as described in second aspect
Teaching machine.
5th aspect, this application provides a kind of computer readable storage medium, on the computer readable storage medium
It is stored with remote debugging program, remote debugging as described in relation to the first aspect is realized when the remote debugging program is executed by processor
The step of method.
6th aspect, this application provides a kind of computer readable storage medium, on the computer readable storage medium
It is stored with remote debugging program, the remote debugging as described in second aspect is realized when the remote debugging program is executed by processor
The step of method.
Above-mentioned technical proposal provided by the embodiments of the present application has the advantages that compared with prior art
This method provided by the embodiments of the present application is applied to teaching machine and remote control terminal, teaching machine and remote control terminal
It is provided with wireless communication module, the fault message generated by the operating system and application interface that obtain teaching machine, by failure
Module is sent to default remote control terminal to information by wireless communication, receives what default remote control terminal was fed back according to fault message
Debugging instruction, the operating system for controlling teaching machine execute debugging operations corresponding with debugging instruction, debug with traditional short distance
Teaching machine is compared, and the embodiment of the present application has been compatible with long-range monitoring and has debugged the function of teaching machine, is reduced debugging cost, is improved
Debugging efficiency.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be 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 a kind of flow diagram of remote debugging method provided by the embodiments of the present application；
Fig. 2 is the flow diagram of another remote debugging method provided by the embodiments of the present application；
Fig. 3 is the flow diagram of another remote debugging method provided by the embodiments of the present application；
Fig. 4 is the flow diagram of another remote debugging method provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the application, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
The embodiment of the present application provides a kind of remote debugging method, is applied to teaching machine, is provided with nothing in the teaching machine
Line communication module, as shown in Figure 1, the remote debugging method the following steps are included:
The fault message that S101, the operating system for obtaining teaching machine and application interface generate.
S102, by fault message, module is sent to default remote control terminal by wireless communication.
S103, the debugging instruction that default remote control terminal is fed back according to fault message is received.
S104, the operating system for controlling teaching machine execute debugging operations corresponding with debugging instruction.
In another embodiment of the application, above-mentioned steps S104, the control teaching machine operating system execute with it is described
The corresponding debugging operations of debugging instruction, comprising the following steps:
The position of breakpoint to be added is determined in the interface program of the operating system of the teaching machine；
The breakpoint to be added is added in the interface program；
And/or
Debugging message to be added is extracted from the debugging instruction；
The Debugging message to be added is added in the interface program.
In another embodiment of the application, as shown in Fig. 2, the remote debugging method is further comprising the steps of:
The operation information for the operation equipment that S201, detection are connected with teaching machine.
S202, positional number corresponding with operation equipment is generated in the local display interface of teaching machine according to operation information
According to and warning message.
S203, by position data and warning message, module is sent to default remote control terminal by wireless communication.
In another embodiment of the application, above-mentioned steps S203 specifically: pass through the position data and warning message
Wireless communication module is sent to the default remote control terminal with default message format.
It in the embodiment of the present application, will be wireless after driving wireless communication module by the embedded OS of teaching machine
Communication module is set as ad hoc mode, it is preferred that wireless communications mode uses serial ports wireless module or USB wireless module.
After the master control board starting of teaching machine, start the embedded OS of teaching machine, then passes through the interior of embedded OS
Core starts the wireless communication module that wireless communication module connects default remote control terminal, point-to-point connection.Meanwhile by embedded
Three processes of os starting: process A, process B and process C, wherein process A is interacted by IPC method with process C.Process
A is used to synchronize the local display interface of teaching machine, detects the operation information for the operation equipment being connected with teaching machine, works as machine
When the operation equipment high-speed cruising such as people or numerically-controlled machine tool gets up, the local display interface of teaching machine will be generated largely with movement
Relevant position data and warning message etc., process A collect these information with Millisecond, are sent to remotely with default message format
Control terminal (such as PC machine), remote control terminal are realized real-time by presetting message format in local display interface simultaneous display
Monitoring.
Process B is used for debugging routine, periodically collects the application interface generation of operating system relevant information and teaching machine
Bug information, module is sent to remote control terminal by wireless communication, while B process passes through the debugging instruction received and goes to control
The operating system of teaching machine, the operating system for controlling teaching machine add breakpoint and/or Debugging message in interface program.
Process C (application interface), periodically by the motion-dependent data and alarm signal of the operation equipment being connected with teaching machine
Process A is given in breath interaction, and A process is allowed to be uploaded to remote control terminal in time, and wherein motion-dependent data is mainly the operation such as robot
The associ-ated motion parameters of equipment, such as the coordinate parameters of robot, I/O parameter and warning message of driver etc..
The embodiment of the present application also provides a kind of remote debugging methods, are applied to remote control terminal, the remote control terminal
In be provided with wireless communication module, the wireless communication module is communicated with teaching machine, as shown in figure 3, the remote debugging
Method the following steps are included:
S301, by wireless communication module receive fault message.
S302, debugging instruction is generated according to fault message.
S303, by debugging instruction, module is sent to teaching machine by wireless communication.
In another embodiment of the application, as shown in figure 4, above-mentioned remote debugging method is further comprising the steps of:
S401, by wireless communication module receive the corresponding position data of the operation equipment that is connected with teaching machine and alarm
Information.
S402, display position data and warning message in the local display interface of remote control terminal.
In another embodiment of the application, above-mentioned steps S402 specifically: in the local display of the remote control terminal
The position data and warning message are shown with default message format in interface.
In the embodiment of the present application, above-mentioned wireless communication module preferably uses USB wireless module, by the radio communication mold
Block is set as ad hoc mode and static IP.Remote control terminal shows that data and the data of switching display interface pass through channel radio
Believe that module transfer, the debugging page of remote control terminal are used to transmit wirelessly and receive operation system information and the display circle of teaching machine
The fault message (bug information) occurred after the operation of face, according to fault information analysis failure cause, finally generates according to fault message
Debugging instruction, debugging instruction is sent teaching machine by module by wireless communication.
The application can be not limited to the above embodiments the one-to-one direct-connected mode of middle teaching machine and remote control terminal, be also suitable
One-to-many internetwork connection mode, such as ap mode are interacted simultaneously with a remote control terminal and more teaching machines,
In the same network, using remote control terminal as the core of interaction, each teaching machine is not interfere with each other, parallel work, long-range to control
End processed and any teaching machine carry out the interaction of both sides, form a huge Information management networks.
This method provided by the embodiments of the present application is applied to teaching machine and remote control terminal, teaching machine and remote control terminal
It is provided with wireless communication module, the fault message generated by the operating system and application interface that obtain teaching machine, by failure
Module is sent to default remote control terminal to information by wireless communication, receives what default remote control terminal was fed back according to fault message
Debugging instruction, the operating system for controlling teaching machine execute debugging operations corresponding with debugging instruction, debug with traditional short distance
Teaching machine is compared, and the embodiment of the present application has been compatible with long-range monitoring and has debugged the function of teaching machine, is reduced debugging cost, is improved
Debugging efficiency.
The embodiment of the present application also provides a kind of remote debugging system, including remote control terminal and as shown in Figure 1 and Figure 2
Teaching machine.
The embodiment of the present application also provides a kind of remote debugging systems, including teaching machine and as shown in Figure 3, Figure 4 remote
Process control end.
The embodiment of the present application also provides a kind of computer readable storage medium, deposited on the computer readable storage medium
Remote debugging program is contained, the remote debugging program realizes remote debugging method as shown in Figure 1 when being executed by processor
Step.
The embodiment of the present application also provides a kind of computer readable storage medium, deposited on the computer readable storage medium
Remote debugging program is contained, the remote debugging program realizes remote debugging method as shown in Figure 3 when being executed by processor
Step.
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.
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 a specific embodiment of the invention, is made skilled artisans appreciate that or realizing this hair
It is bright.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 present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and applied principle and features of novelty phase one herein
The widest scope of cause.
Claims (11)
1. a kind of remote debugging method, which is characterized in that be applied to teaching machine, be provided with radio communication mold in the teaching machine
Block, the remote debugging method the following steps are included:
The fault message that the operating system and application interface for obtaining teaching machine generate；
By fault message, module is sent to default remote control terminal by wireless communication；
Receive the debugging instruction that the default remote control terminal is fed back according to the fault message；
The operating system for controlling the teaching machine executes debugging operations corresponding with the debugging instruction.
2. remote debugging method according to claim 1, which is characterized in that the method also includes:
Detect the operation information for the operation equipment being connected with teaching machine；
Positional number corresponding with the operation equipment is generated in the local display interface of the teaching machine according to operation information
According to and warning message；
By the position data and warning message, module is sent to default remote control terminal by wireless communication.
3. remote debugging method according to claim 2, which is characterized in that described by the position data and warning message
Module is sent to default remote control terminal by wireless communication, comprising:
By the position data and warning message by wireless communication module be sent to default message format it is described default long-range
Control terminal.
4. remote debugging method according to claim 1, which is characterized in that the operating system of the control teaching machine
Execute debugging operations corresponding with the debugging instruction, comprising:
The position of breakpoint to be added is determined in the interface program of the operating system of the teaching machine；
The breakpoint to be added is added in the interface program；
And/or
Debugging message to be added is extracted from the debugging instruction；
The Debugging message to be added is added in the interface program.
5. a kind of remote debugging method, which is characterized in that be applied to remote control terminal, be provided in the remote control terminal wireless
Communication module, the wireless communication module are communicated with teaching machine, the remote debugging method the following steps are included:
Fault message is received by the wireless communication module；
Debugging instruction is generated according to the fault message；
The debugging instruction is sent to the teaching machine by the wireless communication module.
6. remote debugging method according to claim 5, which is characterized in that the method also includes:
Position data corresponding with the operation equipment that the teaching machine is connected and alarm are received by the wireless communication module
Information；
The position data and warning message are shown in the local display interface of the remote control terminal.
7. remote debugging method according to claim 6, which is characterized in that the local in the remote control terminal
The position data and warning message are shown in display interface, comprising:
The position data and alarm signal are shown with default message format in the local display interface of the remote control terminal
Breath.
8. a kind of remote debugging system, which is characterized in that including remote control terminal and such as Claims 1-4 any one institute
The teaching machine stated.
9. a kind of remote debugging system, which is characterized in that including teaching machine and as described in claim 5 to 7 any one
Remote control terminal.
10. a kind of computer readable storage medium, which is characterized in that be stored with long-range tune on the computer readable storage medium
Program is tried, the remote debugging program realizes remote debugging according to any one of claims 1 to 4 when being executed by processor
The step of method.
11. a kind of computer readable storage medium, which is characterized in that be stored with long-range tune on the computer readable storage medium
Program is tried, the remote debugging as described in any one of claim 5 to 7 is realized when the remote debugging program is executed by processor
The step of method.
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| CN111966582A (en) * | 2020-07-27 | 2020-11-20 | 安徽芯纪元科技有限公司 | Cluster debugging system with multiple debugging objects and management method and debugging method thereof |
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Application publication date: 20190611 |