CN110166485A - A kind of the scheduling application method and device of agreement - Google Patents
A kind of the scheduling application method and device of agreement Download PDFInfo
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- CN110166485A CN110166485A CN201910515854.6A CN201910515854A CN110166485A CN 110166485 A CN110166485 A CN 110166485A CN 201910515854 A CN201910515854 A CN 201910515854A CN 110166485 A CN110166485 A CN 110166485A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/133—Protocols for remote procedure calls [RPC]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
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Abstract
The dispatching method and device of agreement provided by the invention construct graphic interface and first from package interface in advance, and first from the scheduling relation information that package interface includes between N number of first protocol interface, and N is more than or equal to 1；Graphic interface is realized based on first environment, and first is realized from package interface, the first protocol interface based on second environment；On this basis, the interface parameter needed for being configured based on graphic interface, and required protocol interface is called from package interface by calling.The present invention realizes the graphical operation called to agreement, while difficulty and error rate when greatly reducing the protocol stack using second environment, reduces the code capacity requirement to practitioner.
Description
Technical field
The invention belongs to vehicle-mounted ethernet technology field more particularly to the scheduling application methods and device of a kind of agreement.
Background technique
With the development of intelligent driving technology, ethernet technology is based particularly on the middleware Technology of Ethernet in intelligence
In driving field using more and more, wherein ZeroMQ is made due to the characteristics such as the high-performance of its own, distribution, cross-platform
It shows one's talent in numerous middleware Technologies, is widely used in the research and development of intelligent driving, the processes such as test.
In traditional automotive field, user in the R&D process of intelligent driving control algolithm if necessary to use
ZeroMQ protocol stack, it usually needs according to the Open Source Code of ZeroMQ, dispatched by writing corresponding calling logic code and
Use ZeroMQ protocol stack.It is developed however, the control algolithm of intelligent driving is typically based on Matlab Simulink, and ZeroMQ
Protocol stack is realized based on C Plus Plus code, and Matlab and traditional C/C++ are in grammer (definition of such as pointer, data type
Etc.), constraint etc. there is corresponding difference, this result in ZeroMQ protocol stack in orthodox car industry application simultaneously
Less friendly, there are ZeroMQ protocol stacks to call complicated error-prone, to practitioner code capacity requirement in use
The problems such as high.
To, how to provide one in a kind of environment (such as above-mentioned Matlab environment) to based on another environment (such as
Above-mentioned C++ environment) protocol stack realized carry out using solution so that this is realized based on another environment
The use process simplicity of protocol stack, close friendization become current technical problem urgently to be resolved.
Summary of the invention
In view of this, the purpose of the present invention is to provide the scheduling application method and device of a kind of agreement, to solve one
Existing calling complicated code capacity error-prone, to practitioner when in kind environment using the protocol stack based on another environment
It is required that the problems such as high, so that by the calling process simplicity of the protocol stack realized based on another environment, close friendization.
For this purpose, the present invention is disclosed directly below technical solution:
A kind of scheduling application method of agreement, comprising:
Obtain the interface parameter configured in graphic interface；
Based on the interface parameter, call by corresponding process flow first from package interface；
Based on described first from package interface, call with described first from corresponding N number of first protocol interface of package interface；
Wherein, the graphic interface and described first constructs in advance from package interface, and described first from package interface
In include scheduling relationship between N number of first protocol interface, N is integer more than or equal to 1；
The graphic interface realizes that described first is based on from package interface and first protocol interface based on first environment
Second environment is realized.
The above method, it is preferred that the graphic interface includes: transmission interface for sending data information and for receiving
The receiving interface of data information；
The quantity of the transmission interface is at least one, for sending message packet to identical or different port respectively；
The quantity of the receiving interface is at least one, for receiving the Izvestia of identical or different port transmission respectively
Text.
The above method, it is preferred that the message packet is in advance according to message format defined in Json document form；
The message format includes message header and message body, and the message header includes that data/address bus type, data are transmitted
One of channel and data type are a variety of, and the message body includes timestamp, the nodename, data that message forms the time
In tranceive type, the Internet protocol address of node, the port numbers of data transmission, the length of data packet and useful load information
It is one or more.
The above method, it is preferred that the graphic interface further include: configuration interface, the configuration interface and the port one
One is corresponding；
The configuration interface is for port descriptor needed for generating data information transfer；The port descriptor is described
The address information of port descriptor is stored in global memory, so that at least one transmission interface with identical port requirements is total
Enjoy use.
The above method, it is preferred that the transmission interface sends message packet, comprising:
The port descriptor is obtained from global memory, alternatively, obtaining the port descriptor from global memory
Address information simultaneously obtains the port descriptor based on the address information；
Based on the port descriptor, the message packet is sent to required port using respective protocol.
The above method, it is preferred that the address information that the port descriptor is obtained from global memory, comprising:
The identification information of port descriptor needed for obtaining；
The address information for corresponding to the port descriptor of the identification information, the address information are obtained from global memory
Data type be the first data type corresponding to the first environment；
It is the second data type by the data type conversion of the address information, second data type is corresponding to institute
State the second data type of second environment.
The above method, it is preferred that the first environment includes Matlab environment, and the second environment includes C++ environment.
A kind of scheduling use device of agreement, comprising:
Acquiring unit, for obtaining the interface parameter configured in graphic interface；
First call unit, for being based on the interface parameter, by corresponding process flow calling first from package interface；
Second call unit, for, from package interface, being called corresponding from package interface with described first based on described first
N number of first protocol interface；
Wherein, the graphic interface and described first constructs in advance from package interface, and described first from package interface
In include scheduling relationship between N number of first protocol interface, N is integer more than or equal to 1；
The graphic interface realizes that described first is based on second from package interface and the first protocol interface based on first environment
Environment is realized.
Above-mentioned apparatus, it is preferred that the graphic interface includes: transmission interface for sending data information and for receiving
The receiving interface of data information；
The quantity of the transmission interface is at least one, for sending message packet to identical or different port respectively；
The quantity of the receiving interface is at least one, for receiving the Izvestia of identical or different port transmission respectively
Text.
Above-mentioned apparatus, it is preferred that the graphic interface further include: configuration interface, the configuration interface and the port one
One is corresponding；
The configuration interface is for port descriptor needed for generating data information transfer；The port descriptor is described
The address information of port descriptor is stored in global memory, so that at least one transmission interface with identical port requirements is total
Enjoy use.
As it can be seen from the above scheme the scheduling application method and device of agreement provided by the invention, construct figure in advance and connect
Mouthful and first from package interface, constructed first from package interface include N number of (integer more than or equal to 1) first protocol interface
Between scheduling relation information；The graphic interface realizes that described first from package interface, the first protocol interface based on first environment
It is realized based on second environment；On this basis, can based on the form of graphic interface configure needed for each interface parameter, and by pair
The calling to required one or more protocol interfaces is realized from the calling of package interface.It can be seen that the present invention realizes
To the graphical operation that agreement is called, and realize the complicated scheduling relation information envelope of protocol interface each in predetermined protocol stack
It is more succinct from package interface for filling, so that may make need not write in first environment to the original agreement stack of second environment
The complicated calling code of each protocol interface, only to the more succinct design for being called code from package interface, significantly
The difficulty and error rate used protocol stack is reduced, is reduced to the requirement of the code capacity of practitioner, may make described the
The use process of the protocol stack of two environment more simplicity, close friendization.
Detailed description of the invention
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, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow chart of the scheduling application method of agreement provided in an embodiment of the present invention；
Fig. 2 is transmission interface provided in an embodiment of the present invention, from each protocol interface of package interface and ZeroMQ protocol stack
Between call relation schematic diagram；
Fig. 3 is a kind of message format example of the CAN message information provided in an embodiment of the present invention suitable for automobile industry；
Fig. 4 is the patterned realization process schematic of ZeroMQ protocol stack provided in an embodiment of the present invention；
Fig. 5 is the implementation process schematic diagram that transmission interface provided in an embodiment of the present invention sends message packet；
Fig. 6 (a) is the feelings of port collision caused when multiple transmission interfaces need to send data to the same port simultaneously
Condition schematic diagram；
Fig. 6 (b) is that the configuration interface provided in an embodiment of the present invention by creation realizes multiple transmission interfaces simultaneously to same
The schematic diagram of a port transmission data；
Fig. 7 is provided in an embodiment of the present invention to assist based on three classes graphic interface of the invention and from package interface to ZeroMQ
View interface is called and then uses the schematic illustration of ZeroMQ agreement；
Fig. 8 is a kind of structural schematic diagram of the scheduling use device of agreement provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides the scheduling application methods and device of a kind of agreement, it is intended to solve in automotive field in first environment
Protocol stack (the ZeroMQ agreement such as realized based on C++ environment realized based on second environment is used in (such as MATLAB environment)
Stack etc., wherein agreement included by ZeroMQ protocol stack and corresponding protocol interface are based on the realization of C++ environment) when it is existing
Calling it is complicated it is error-prone, the problems such as high, is required to the code capacity of practitioner so that the use process by protocol stack is succinct
Change, close friendization, this method and device are applicable to but are not limited to the vehicle data based on acquisition to the control algolithm of intelligent driving
In the application scenarios developed, tested and verified, the scheduling of agreement of the invention will be used by specific embodiment below
Method and device is described in detail.
It is a kind of flow chart of the scheduling application method of agreement provided in an embodiment of the present invention, in the present embodiment with reference to Fig. 1
In, as shown in Figure 1, the scheduling application method of the agreement includes following treatment process:
Step 101 obtains the interface parameter configured in graphic interface.
The present embodiment will be mainly with right in Matlab environment (environment commonly used by the control algolithm research and development of intelligent driving)
For being scheduled use based on the ZeroMQ protocol stack that C++ environment is realized, the solution of the present invention is illustrated, wherein
ZeroMQ refers to a series of interfaces similar to Socket, is mainly used for data transmission.
In order to enable close friendization, the present invention is in advance in first environment by the use process simplicity of the protocol stacks such as ZeroMQ
As Matlab environment corresponding software tool (such as Matlab Simulink) in construct multiple figures towards ZeroMQ protocol stack
Shape interface S-Function, corresponding to when being transmitted using the ZeroMQ protocol stack to data data receive (reception),
(transmission) two types are sent out, the graphic interface includes at least following two:
1) for sending the transmission interface (sfunc_zmqTransmit) of data information
The quantity of the transmission interface is at least one, for sending message packet to identical or different port respectively.
2) receiving interface (sfunc_zmqRcv) of information for receiving data
The quantity of the receiving interface is at least one, for receiving the Izvestia of identical or different port transmission respectively
Text.
In specific implementation, each type of graphic interface can construct one or more in advance according to actual needs, described
Transmission interface and the receiving interface are respectively provided with multiple interface parameters, so that user is in the process demand for having data information
It is configured when (such as to the transmission process demand of data information or reception process demand), wherein the transmission interface
(sfunc_zmqTransmit) and each interface parameter provided by the receiving interface (sfunc_zmqRcv) and each interface parameter
Associated description information, source-information specifically refer to example provided by following table 1:
Table 1
When user need to use respective graphical interface, required graphic interface can be called based on corresponding operating, is called
Graphic interface can be the transmission interface or the receiving interface.
It, can be by user further according to actual needs in the graphic interface called after graphic interface needed for calling
The configuration for carrying out interface parameter then can get and match on the transmission interface so that the graphic interface called is transmission interface as an example
IP (Internet Protocol, Internet protocol) address, port, transmission timeout parameter, message class in the above-mentioned table 1 set
The parameter value of each interface parameters such as type, channel, message id (Identity, identity number), message size, wherein each
The mode that Json configuration file specifically can be used in the parameter value of interface parameter carries out configuration acquisition.
The parameter value of acquired each interface parameter can to data information carry out transmission process (as send data information or
Receive data information) when use.
Wherein, received data information can be the vehicle data from automobile, the vehicle data may include but
It is not limited to CAN data message or Ethernet data message provided by each monitoring part (radar, camera etc.) on automobile,
Transmitted data information can be the corresponding control algolithm of exploitation to gained after vehicle data progress relevant treatment
Result data.
Step 102 is based on the interface parameter, by corresponding process flow calling first from package interface；Wherein, described
Graphic interface and described first constructs in advance from package interface, and described first includes described N number of first from package interface
Scheduling relationship between protocol interface, N are the integer more than or equal to 1.
Specifically, the application constructs at least one from package interface in advance, includes: each predetermined protocol from package interface
Scheduling relation information between at least one protocol interface of stack, and each the second environment such as C/C++ is based on from package interface
Environment is realized；The process flow includes multiple processing links, at least one link needs pair in the multiple processing links
What is constructed in advance is called from first in package interface from package interface；Described first from package interface be based on the boundary
Face parameter, when handling by corresponding process flow to corresponding link, called needed for the link from package interface.
First protocol interface is the N number of protocol interface for having from package interface corresponding relationship with first.It is described at least one
Scheduling relation information between one protocol interface can include but is not limited to described corresponding N number of from package interface with described first
Adduction relationship information between protocol interface and/or successively execute order information.The process flow can be data sending processing
Process or data receiver process flow, to send data instance, according to the constraint that Matlab is provided, the flow chart of data processing
May include graphic interface operation when resource distribution (mdlSetupRuntimeResources), initialization (mdlStart),
The output of data information sends resource release when (mdlOutputs), graphic interface operation
(mdlCleanRuntimeResources) and terminate (mdlStop) these processing links.
At least one link in above-mentioned each processing links need to by call ZeroQM protocol stack in respective protocol come
The processing of the link is realized, for example, resource distribution when above-mentioned graphic interface is run
(mdlSetupRuntimeResources) link need to call mq::init () (initialization) in ZeroQM protocol stack and
Zmq::bind () (binding) the two agreements API (compile by Application Programming Interface, application program
Journey interface) come processing needed for realizing the link；The output of data information, which sends (mdlOutputs) link, need to call ZeroQM
Zmq::poll () (waiting-timeout), zmq::encode_header () (header file coding), zmq: in protocol stack:
Encode_data () (data encoding), zmq::send () (transmission) these agreements API are come place needed for realizing the link
Reason；Resource release (mdlCleanRuntimeResources) link when graphic interface is run need to call mq::close ()
(closing) agreement API is come processing needed for realizing the link etc..
The control algolithm of intelligent driving is typically based on Matlab Simulink exploitation, and ZeroMQ agreement is based on C++ language
Say what code was realized, Matlab and traditional C/C++ are in the grammer definition of such as pointer (, in terms of), constraint side
There is corresponding difference in face, this results in application of the ZeroMQ protocol stack in orthodox car industry not too much friendly.Specific table
It is existing are as follows: on the one hand, the api interface form (i.e. protocol interface) that ZeroMQ protocol stack provides not necessarily connects convenient for the figure of Matlab
Mouth S-Function is called；On the other hand, the graphic interface S-Function of Matlab may call ZeroMQ protocol stack
Multiple api interfaces, so that calling process seems cumbersome.
In addition, S-Function, which as the graphic interface under Matlab environment, does not require nothing more than user, is familiar with S-Function
Frame from the ease for use of exploitation and can safeguard there is also coding bound and many restrictions of the use aspect of data type
Property angle consider, try not to make S-Function excessive modification, based in terms of these, in order to enable in Matlab
More convenient succinct to the agreement calling for the ZeroMQ protocol stack realized based on C++ environment under environment, the invention proposes right
The protocol interface of ZeroMQ protocol stack carries out technical thought of the further API from encapsulation based on C++ environment, and is specifically based on
Logic association between each protocol interface of ZeroMQ protocol stack will be associated with stronger each protocol interface and be packaged as a whole to form one
It is a from package interface (from abstract API), and adduction relationship and/or elder generation between each protocol interface are being embodied from package interface
The scheduling relation information such as execution sequence afterwards finally obtains and is packaged at least one protocol interface respectively and its dispatches relation information
It is multiple from package interface.Specifically, resource distribution when for example, can be by the operation of above-mentioned graphic interface
(mdlSetupRuntimeResources) mq::init () and the two agreements of zmq::bind () API called needed for link
And its scheduling relation information is packaged as a whole to obtain from package interface zmqServerOn (), and the output of data information is sent
(mdlOutputs) zmq::poll (), the zmq::encode_header (), zmq::encode_data called needed for link
(), these agreements of zmq::send () API are packaged as a whole to obtain from package interface zmqSend (), and graphic interface is run
When resource release (mdlCleanRuntimeResources) link need to call mq::close () this agreement API encapsulation
For one from package interface zmqServerOff () etc..
By each protocol interface of ZeroMQ protocol stack be further encapsulated as it is each from package interface on the basis of, when
The figure that transmission interface (sfunc_zmqTransmit), receiving interface (sfunc_zmqRcv) etc. are carried out under Matlab environment connects
Mouthful design when, it is only necessary to design wherein to accordingly from package interface (based on C++ environment realize) calling code, without
Code is called to be designed the complicated of each protocol interface of ZeroMQ protocol stack (realizing based on C++ environment) again；And either
The modification of ZeroMQ protocol stack or upgrade, it is only necessary to modify to ZeroMQ own protocol interface and/or to from package interface
Correlative code is modified, the code without modifying graphic interface S-Function, as a result, by ZeroMQ protocol stack
Protocol interface further from encapsulation advantage it is apparent.
With reference to table 2 below, table 2 shows and manages corresponding to link everywhere in transmission interface (sfunc_zmqTransmit)
From package interface, and respectively each protocol interface of the corresponding ZeroQM protocol stack encapsulated of package interface:
Table 2
Specifically, when the processing links that the process flow includes need the corresponding association of invocation protocol stack such as ZeroMQ protocol stack
When discussing interface, the present invention does not directly carry out writing and modifying for code to calling process, but calls and correspond to required agreement
The first of interface is from package interface, by taking processing links is resource distribution (mdlSetupRuntimeResources) links as an example,
Then specifically call the zmqServerOn () from package interface when execution to the link, similarly, if described need to call from encapsulation
The corresponding link of interface is that the output of the data information sends (mdlOutputs) link, then specifically adjusts when execution to the link
With zmqSend () from package interface, if it is described need to call from the link of package interface be the graphic interface operation when resource
(mdlCleanRuntimeResources) link is discharged, then specifically calls the zmqServerOff when execution to the link
() is from package interface.
Step 103, based on described first from package interface, call with described first from package interface corresponding N number of first
Protocol interface.
Shown in table 2 as above, by first from package interface for zmqServerOn () for, the first protocol interface includes at this time
Two, be zmq::init () and zmq::bind () respectively.
First from package interface includes simultaneously scheduling relation information between N number of first protocol interface, with reference to Fig. 2 shows
Transmission interface, from the call relation schematic diagram between each protocol interface of package interface and ZeroMQ protocol stack, calling can be passed through
The corresponding link need to call first from package interface, to further realize to need to call first from package interface
The calling of corresponding each first protocol interface, reference table 2 are sent with the output that the corresponding link is the data information
(mdlOutputs) it for, then by the calling to the zmqSend (), can further realize to the ZeroMQ protocol stack
Zmq::poll (), zmq::encode_header (), zmq::encode_data (), zmq::send () these agreements
The calling of interface, so can based on the calling to these protocol interfaces, realize to required waiting-timeout, header file coding,
The use of the agreements such as data encoding, data transmission.
The zmqSend () shown in the above-mentioned table 2 this from package interface for, if not using this from package interface,
When carrying out data transmission using transmission interface (sfunc_zmqTransmit), the zmq: for first calling ZeroMQ protocol stack is necessarily needed:
Poll () protocol interface, then successively zmq::encode_header (), the zmq::encode_data of invocation protocol stack again
The protocol interfaces such as (), zmq::send () successively realize that header file coding, data encoding and data such as send at the processing, it is clear that association
The calling for discussing interface is relatively complicated, calls code accordingly more complex, in addition to meeting the characteristic of waiting-timeout, it is also necessary to
The decision logic code to event Event is added in the graphic interface S-Function of Matlab, to involve additionally
In addition to this size of code calls directly these protocol interfaces in the graphic interface S-Function of Matlab, it is also necessary to scheme
The header file of these protocol interfaces is additionally added in shape interface S-Function, this meeting so that graphic interface to the whole of protocol interface
The design of a calling process is more complex, and use it is of the invention it is above-mentioned from encapsulation technical thought to each protocol interface of protocol stack into
Row is above-mentioned from after encapsulating, and can be good at solving these problems.
Based on above scheme it is found that the present embodiment realizes the graphical operation called to agreement, and realizing will be predetermined
The complicated scheduling relation information encapsulation of each protocol interface is in protocol stack in order to more succinct from package interface, to may make
It need not be write in first environment and code is called to the complicated of each protocol interface of the original agreement stack of second environment, only to more
For the succinct design for being called code from package interface, the difficulty and error used protocol stack is greatly reduced
Rate reduces the code capacity requirement to practitioner, may make the use process of the protocol stack of the second environment more simple
Clean, close friendization.
In an alternative embodiment of the invention, the transmission interface, specifically will be to be sent when sending message packet
Data information is encapsulated as the message packet of predefined format, and sends the message packet.
ZeroMQ protocol stack is top-level protocol stack, relatively more abstract to the definition of message in order to guarantee its universality, not fixed
The type of the data field of justice specification and its analysis mode and method, user's self-defining is needed in practical application.Specifically
Ground, in practical applications, user only need to define the IP address of message, source port and destination port, it can carry out data
Transmitting-receiving, does not standardize the specific business tine of data, and the present invention is in order to enable ZeroMQ message can better adapt to
Automobile industry develops common data type, such as CAN message and Ethernet message etc., using Json file to ZeroMQ
It is customized that the message of transmission has carried out format.
CAN message would generally be comprising such as properties:
The channel CAN_Channel/CAN: without specification；
CAN_ID/CAN message ID: less than 3 byte (CAN standard frame)；
CAN_MSG_DLC/CAN message length: 1 byte；
CAN_DataPayload/CAN message data content: 1~8 byte；
Ethernet message would generally be comprising such as properties:
The channel Eth_Channel/Eth: without specification；
Eth_PDU_ID/PDU message ID:4 byte；
Eth_PDU_Length/PDU message length: 4 bytes；
Eth_PDU_DataPayload/PDU data content: 0~1464 byte.
It according to the above characteristic, is abstracted, can be by ZeroMQ message format definition includes message header and message body.
It, can be by each field of the ZeroMQ message in Json file by taking the general CAN message information of automobile industry as an example
It is defined as one of including but not limited to following field or a variety of:
<NodeName>: nodename；
<NodeType>: sending or receives；
<Endpoint>: node IP address；
<Port>: the port numbers of data transmission；
<BusType>: data/address bus type；
<Channel>: the channel of data transmission；
<ID>: data type, CAN data or Ethernet data；
<PayloadSize>: the length of data packet；
<Payload>: useful load information；
<TimeStamp>: the timestamp of message formation time；
Wherein, one of<BusType>,<Channel>and<ID>in above-mentioned each field or a variety of design can be existed
In message header, and remaining each field be<NodeName>,<NodeType>,<Endpoint>,<Port>,<PayloadSize>,
One of<Payload>and<TimeStamp>or a variety of can be designed in message body, show this hair with reference to Fig. 3, Fig. 3
A kind of message format example defined in bright suitable for the CAN message information of automobile industry.
On the basis of the message packet to ZeroMQ carries out above-mentioned format definition, when handling data information, lead to
It, can be based on corresponding association after crossing the self-styled attaching mouth for calling the corresponding link that need to call and realizing the calling to respective protocol interface
View handles the data information, such as carries out delay waiting, coded treatment, and is finally encapsulated as processing result above-mentioned
The message packet of predefined format, and then send the message packet, for example, will using corresponding control algolithm to vehicle data into
Resulting result data is sent to by the predefined format for the result data from current PC machine after row relevant treatment
In the PC machine tested, verified etc..
In specific implementation, as shown in figure 4, production Json configuration file (being used for describing Z eroMQ message), production can be passed through
Graphic interface S-Function, for protocol stack protocol interface carry out from building of package interface etc., can finally pass through tune
With from package interface invocation protocol interface, and then carry out data processing, aloow the message format of ZeroMQ preferably to fit
Common communication data format (such as CAN/ Ethernet PDU) requirement with orthodox car industry.
In practical application scene, the quantity of the transmission interface under Matlab environment may be it is multiple, further may be used
Can have multiple transmission interfaces needs the case where sending data to the same port simultaneously, as shown in Fig. 6 (a), transmission interface S-
The port that it is 1.2.3.4 that function1, which is needed to IP address, port numbers are 1001 sends data Msg1 and data Msg2, and same
When transmission interface S-function2 to also need to the IP address be 1.2.3.4, the port that port numbers are 1001 sends data
Msg3 and data Msg4 is sending data however, being limited to the Resources Sharing Mechanism of the graphic interface S-function of matlab
When, a S-function creates one, and for itself visible porthandle, (port descriptor is a C++ object, is sending out
The port descriptor need to be used by sending when data) after, another S-function can not then create identical porthandle again,
As a result, when multiple transmission interfaces need to send data to the same port simultaneously, the conflict of port will cause.
In order to solve this problem, it in an alternative embodiment of the invention, additionally provides a kind of for generating data information
The configuration interface (sfunc_zmqSetup) of required port descriptor when transmission, that is, the graphic interface constructed in advance
It can also include the configuration interface, the configuration interface is likewise provided with multiple configurable interface parameters, illustratively, institute
The interface parameter for stating configuration interface can include but is not limited to the parameters such as node IP address, port, with reference to table 3 below, below
Table 3 is exemplary to provide the configuration interface and two class interfaces (transmission interface, receiving interface) presented above of the present embodiment
Interface parameter and its description information, source-information:
Table 3
Corresponding required port number is identical when the quantity of the configuration interface sends data with each transmission interface, to scheme
For 6 (a) example, since transmission interface S-function1 and transmission interface S-function2 correspond to a port, thus
As shown in Fig. 6 (b), it can be directed to S-function1, S-function2, create a configuration interface, the configuration created
Interface is provided as the function of S-function1, S-function2 creation port descriptor porthandle, and can will be created
Porthandle or the address information of the porthandle created deposit in the global memory of Matlab, since configuration connects
The address information of the mouth porthandle created the or porthandle created is deposited in the global memory of Matlab, from
And the address information of the porthandle or porthandle stored S-function1 and S- for example described for each transmission interface
Function2 is visible, and is used for the S-function1 and S-function2 is shared.
Specifically, the port descriptor PortHandle identification information may be defined as IP address and end by required port
The character string of slogan composition as shown in Fig. 6 (b), further can write power function such as mxSetData using one on this basis
The address information of this PortHandle or this porthandle is written to the global memory (work of Matlab by () function
Space memory) in.
In an alternative embodiment of the invention, the transmission interface with reference to shown in Fig. 5 sends the implementation process of message packet
Schematic diagram, the transmission interface can specifically realize the transmission to message packet by treatment process below:
Step 501 obtains the port descriptor from global memory, alternatively, obtaining the port from global memory
The address information of descriptor simultaneously obtains required port descriptor based on the address information；
Step 502 is based on the port descriptor, using agreement corresponding to respective protocol interface by the message packet
It is sent to required port.
When needing to send data information to certain Single port, such as need to utilize transmission interface by the processing result of control algolithm
The corresponding message packet of information is sent to another PC machine for being tested the processing result, being verified from current PC machine
When port, then required end can be obtained from the global memory of Matlab according to the identification information of the PortHandle of required port
Mouth descriptor, alternatively, institute can be obtained from the global memory of Matlab according to the identification information of the PortHandle of required port
The address information of the PortHandle needed, and then required PortHandle is obtained based on the address information, on this basis,
It can be finally based on the PortHandle, needed for the message packet being sent to using the respective protocol in ZeroMQ protocol stack
Port；Wherein, the identification information of the port descriptor can be but not limited to the globally unique identifier of port descriptor.
It should be noted that the data type of the PortHandle address information stored in the global memory of Matlab is
Suitable for the first data type of Matlab environment, and the address information of acquired PortHandle is finally for C++ environment
What the respective protocol in lower ZeroMQ protocol stack used, thus need to by the data type of the address information of PortHandle, by
The first data type conversion assigned in Matlab environment is the second number being matched with C++ environment, using for ZeroMQ agreement
According to type.
It shows with reference to Fig. 7, Fig. 7 based on above-mentioned three classes graphic interface provided by the present invention and provided self-styled attaching
Mouth is called and then uses the schematic illustration of ZeroMQ agreement to ZeroMQ protocol interface.
Configuration interface of the present embodiment by creation for port descriptor needed for generating data information transfer, and will match
The address information for setting port descriptor or port descriptor that interface is created is deposited in the global memory of Matlab, is solved
Multiple transmission interfaces need port collision problem when sending data to the same port simultaneously under Matlab environment, can effectively realize
Data are sent to the same port simultaneously in multiple transmission interfaces in Matlab environment.
Corresponding to the scheduling application method of above-mentioned agreement, the embodiment of the invention also provides a kind of scheduling of agreement uses
Device, the structural schematic diagram of the scheduling use device of the agreement with reference to shown in Fig. 8, the apparatus may include:
Acquiring unit 801, for obtaining the interface parameter configured in graphic interface；
First call unit 802 calls the first self-styled attaching by corresponding process flow for being based on the interface parameter
Mouthful；
Second call unit 803, for from package interface, being called based on described first with described first from package interface pair
N number of first protocol interface answered；
Wherein, the graphic interface and described first constructs in advance from package interface, and described first from package interface
In include scheduling relationship between N number of first protocol interface, N is integer more than or equal to 1；
The graphic interface realizes that described first is based on second from package interface, the first protocol interface based on first environment
Environment is realized.
In an optional embodiment of the embodiment of the present invention, the graphic interface includes: for sending data information
The receiving interface of transmission interface and for receiving data information；The quantity of the transmission interface be at least one, for respectively to
Identical or different port sends message packet；The quantity of the receiving interface be at least one, for receive respectively it is identical or
The message packet of different port transmissions.
In an optional embodiment of the embodiment of the present invention, the message packet is in advance according to Json document form institute
The message format of definition；
The message format includes message header and message body, and the message header includes that data/address bus type, data are transmitted
One of channel, data type are a variety of, and the message body includes timestamp, the nodename, data that message forms the time
In tranceive type, the Internet protocol address of node, the port numbers of data transmission, the length of data packet and useful load information
It is one or more.
In an optional embodiment of the embodiment of the present invention, the graphic interface further include: configuration interface, the configuration
Interface and the port correspond；
The configuration interface is for port descriptor needed for generating data information transfer；The port descriptor is described
The address information of port descriptor is stored in global memory, so that at least one transmission interface with identical port requirements is total
Enjoy use.
In an optional embodiment of the embodiment of the present invention, the transmission interface sends message packet, comprising:
Required port descriptor is obtained from global memory, alternatively, obtaining required port description from global memory
The address information of symbol simultaneously obtains required port descriptor based on the address information；
Based on the port descriptor, the message packet is sent to institute using agreement corresponding to respective protocol interface
The port needed.
In an optional embodiment of the embodiment of the present invention, the transmission interface obtains required end from global memory
The address information of mouth descriptor, comprising:
Obtain the identification information of the port descriptor；
The address information for corresponding to the port descriptor of the identification information, the address information are obtained from global memory
Data type be the first data type corresponding to the first environment；
It is the second data type by the data type conversion of the address information, second data type is corresponding to institute
State the second data type of second environment.
For the scheduling use device of agreement disclosed by the embodiments of the present invention, since it is disclosed with each embodiment above
Agreement scheduling application method it is corresponding, so be described relatively simple, related similarity refers to each embodiment above
The explanation of the scheduling application method part of middle agreement, and will not be described here in detail.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For convenience of description, it describes to be divided into various modules when system above or device with function or unit describes respectively.
Certainly, the function of each unit can be realized in the same or multiple software and or hardware in carrying out the present invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It realizes by means of software and necessary general hardware platform.Based on this understanding, technical solution of the present invention essence
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment or embodiment of the invention
Method described in part.
Finally, it is to be noted that, herein, such as first, second, third and fourth or the like relational terms
It is only used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying these
There are any actual relationship or orders between entity or operation.Moreover, the terms "include", "comprise" or its is any
Other variants are intended to non-exclusive inclusion, so that including the process, method, article or equipment of a series of elements
Include not only those elements, but also including other elements that are not explicitly listed, or further includes for this process, side
Method, article or the intrinsic element of equipment.In the absence of more restrictions, limited by sentence "including a ..."
Element, 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 preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of scheduling application method of agreement characterized by comprising
Obtain the interface parameter configured in graphic interface；
Based on the interface parameter, call by corresponding process flow first from package interface；
Based on described first from package interface, call with described first from corresponding N number of first protocol interface of package interface；
Wherein, the graphic interface and described first constructs in advance from package interface, and described first wraps from package interface
The scheduling relationship between N number of first protocol interface is included, N is the integer more than or equal to 1；
The graphic interface realizes that described first is based on second from package interface and first protocol interface based on first environment
Environment is realized.
2. the method according to claim 1, wherein the graphic interface includes: for sending data information
The receiving interface of transmission interface and for receiving data information；
The quantity of the transmission interface is at least one, for sending message packet to identical or different port respectively；
The quantity of the receiving interface is at least one, for receiving the message packet of identical or different port transmission respectively.
3. according to the method described in claim 2, it is characterized in that, the message packet is in advance according to Json document form institute
The message format of definition；
The message format includes message header and message body, and the message header includes the channel of data/address bus type, data transmission
And one of data type or a variety of, the message body include timestamp, nodename, the data transmit-receive that message forms the time
One of type, the Internet protocol address of node, port numbers, the length of data packet and the useful load information of data transmission
Or it is a variety of.
4. according to the method described in claim 2, it is characterized in that, the graphic interface further include: configuration interface, the configuration
Interface and the port correspond；
The configuration interface is for port descriptor needed for generating data information transfer；The port descriptor or the port
The address information of descriptor is stored in global memory, is made so that at least one transmission interface with identical port requirements is shared
With.
5. according to the method described in claim 4, it is characterized in that, the transmission interface sends message packet, comprising:
The port descriptor is obtained from global memory, alternatively, obtaining the address of the port descriptor from global memory
Information simultaneously obtains the port descriptor based on the address information；
Based on the port descriptor, the message packet is sent to required port using corresponding agreement.
6. according to the method described in claim 5, it is characterized in that, described obtain the port descriptor from global memory
Address information, comprising:
Obtain the identification information of the port descriptor；
The address information for corresponding to the port descriptor of the identification information, the number of the address information are obtained from global memory
According to the first data type that type is corresponding to the first environment；
It is the second data type by the data type conversion of the address information, second data type is corresponding to described the
Second data type of two environment.
7. method according to claim 1 or 6, which is characterized in that the first environment includes Matlab environment, and described
Two environment include C++ environment.
8. a kind of scheduling use device of agreement characterized by comprising
Acquiring unit, for obtaining the interface parameter configured in graphic interface；
First call unit, for being based on the interface parameter, by corresponding process flow calling first from package interface；
Second call unit, for, from package interface, being called corresponding N number of from package interface with described first based on described first
First protocol interface；
Wherein, the graphic interface and described first constructs in advance from package interface, and described first wraps from package interface
The scheduling relationship between N number of first protocol interface is included, N is the integer more than or equal to 1；
The graphic interface realizes that described first is based on second from package interface and first protocol interface based on first environment
Environment is realized.
9. device according to claim 8, which is characterized in that the graphic interface includes: for sending data information
The receiving interface of transmission interface and for receiving data information；
The quantity of the transmission interface is at least one, for sending message packet to identical or different port respectively；
The quantity of the receiving interface is at least one, for receiving the message packet of identical or different port transmission respectively.
10. device according to claim 9, which is characterized in that the graphic interface further include: configuration interface, it is described to match
It sets interface and the port corresponds；
The configuration interface is for port descriptor needed for generating data information transfer；The port descriptor or the port
The address information of descriptor is stored in global memory, is made so that at least one transmission interface with identical port requirements is shared
With.
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