CN110247859A - A kind of data transmission method for uplink and device based on AIRT-ROS node - Google Patents
A kind of data transmission method for uplink and device based on AIRT-ROS node Download PDFInfo
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- CN110247859A CN110247859A CN201910521487.0A CN201910521487A CN110247859A CN 110247859 A CN110247859 A CN 110247859A CN 201910521487 A CN201910521487 A CN 201910521487A CN 110247859 A CN110247859 A CN 110247859A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/24—Traffic characterised by specific attributes, e.g. priority or QoS
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/24—Traffic characterised by specific attributes, e.g. priority or QoS
- H04L47/2441—Traffic characterised by specific attributes, e.g. priority or QoS relying on flow classification, e.g. using integrated services [IntServ]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/32—Flow control; Congestion control by discarding or delaying data units, e.g. packets or frames
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/50—Queue scheduling
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/50—Queue scheduling
- H04L47/52—Queue scheduling by attributing bandwidth to queues
- H04L47/525—Queue scheduling by attributing bandwidth to queues by redistribution of residual bandwidth
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/50—Queue scheduling
- H04L47/62—Queue scheduling characterised by scheduling criteria
- H04L47/625—Queue scheduling characterised by scheduling criteria for service slots or service orders
- H04L47/6275—Queue scheduling characterised by scheduling criteria for service slots or service orders based on priority
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Abstract
1) the invention discloses a kind of data transmission method for uplink and device based on AIRT-ROS node, method include:, establish the scheduler tree of data dispatch for AIRT-ROS node；2), the current scheduling device in scheduler tree is, except in scheduler tree be located at leaf node position scheduler in addition to scheduler when, whether transmission bandwidth needed for judging current scheduling device data flow to be sent is less than the bandwidth allocation for sending the sending device of data flow to be sent；3), if it is not, whether transmission bandwidth needed for judging data flow to be sent is less than the remaining bandwidth of sending device；If so, data flow to be sent to be sent to higher level's scheduler of current scheduling device；If it is not, the partial data in data flow to be sent is abandoned, until meeting the remaining bandwidth of current scheduling device.Using the embodiment of the present invention, data stream scheduling effect in complex network environment can be improved.
Description
Technical field
The present invention relates to a kind of data transmission method for uplink and devices, are more particularly to a kind of data based on AIRT-ROS node
Sending method and device.
Background technique
Currently, AIRT-ROS (Artificial Intelligence real-time-Robot Operating
System, artificial intelligence real-time machine people operating system) node usually transmits data in a local area network, to ROS interior joint
The security mechanism of communication mainly uses the QoS (Quality of Service, service quality) of node.The principle of the program is:
For the data flow of certain classification, the transmission priority of some rank can be assigned for it, to identify its relative importance, and
Special transmission is provided using the mechanism such as various priority forwarding strategy, Congestion Avoidance provided by equipment for these data flows to take
Business.It is configured with the network environment of QoS, increases the predictability of network performance, and can effectively distribute network bandwidth, more
Reasonably utilize Internet resources.
Currently, the main method that all big enterprises utilize is the extension based on service quality QoS, mainly to stream identification
Priority is forwarded based on priority policy.
However, the communication support based on QoS can only provide the priority based on data flow.That is, being based on Service Quality
The method of amount QoS extension is suitble to organize in the simple environment of net topology in local area network etc., multiple in cross-domain topology and network congestion etc.
Lack the multi-layer quality of service guarantee to data flow in miscellaneous network environment.Therefore, complex network environment exists in the prior art
The ineffective technical problem of middle data stream scheduling.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of data transmission method for uplink based on AIRT-ROS node
And device, to improve data stream scheduling effect in complex network environment.
The present invention is to solve above-mentioned technical problem by the following technical programs:
The embodiment of the invention provides a kind of data transmission method for uplink based on AIRT-ROS node, which comprises
1) the scheduler tree of the data dispatch for the AIRT-ROS node, is established, wherein wrap in the scheduler tree
Include several scheduler；
2), the current scheduling device in the scheduler tree is, except the scheduling for being located at leaf node position in scheduler tree
When scheduler except device, whether transmission bandwidth needed for judging the current scheduling device data flow to be sent is less than described in transmission
The bandwidth allocation of the sending device of data flow to be sent；
3), if it is not, whether transmission bandwidth needed for judging data flow to be sent is less than the remaining bandwidth of the sending device；
If so, data flow to be sent to be sent to higher level's scheduler of the current scheduling device, using higher level's scheduler as current
Scheduler, and the step 2) is executed, until sending device is sent data flow to be sent；If it is not, by number to be sent
It abandons according to the partial data in stream, until meeting the remaining bandwidth of the current scheduling device, then data flow to be sent is sent to
Higher level's scheduler of the current scheduling device using higher level's scheduler as current scheduling device, and executes the step 2), directly
Extremely sending device is sent data flow to be sent.
Optionally, when current scheduling device is located at the leaf node position in the scheduler tree, institute is received pending
Data are sent to be added in the transmit queue of the current scheduling device according to corresponding priority.
Optionally, in the case where the judging result of the step 2), which is, is, data flow to be sent is sent to described work as
Higher level's scheduler of preceding scheduler using higher level's scheduler as current scheduling device, and executes the step 2), until will send out
Equipment is sent to send data flow to be sent.
Optionally, the remaining bandwidth is maximum residual bandwidth.
Optionally, higher level's scheduler that data flow to be sent is sent to the current scheduling device, comprising:
The characteristic information of data flow to be sent is sent to higher level's scheduler of the current scheduling device, wherein to be sent
The characteristic information of data flow includes: the size of the identification information of data flow, the data volume for including in data flow, data flow it is preferential
One of grade information is a variety of.
Optionally, whether the transmission bandwidth needed for judging data flow to be sent is less than the remaining bandwidth of the sending device
Judging result be in the case where, and the priority of data to be sent be highest priority when, in real time by data to be sent
Stream is sent to higher level's scheduler of the current scheduling device.
Optionally, the partial data by data flow to be sent abandons, until meeting the surplus of the current scheduling device
Remaining bandwidth, comprising:
According to the transmission sequence of each data cell in data flow to be sent, the remaining bandwidth institute of current scheduling device will exceed
The data cell of corresponding data volume abandons.
The embodiment of the invention also provides a kind of data sending device based on AIRT-ROS node, described device includes:
Module is established, for establishing the scheduler tree for being directed to the data dispatch of the AIRT-ROS node, wherein the tune
Spend the scheduler in device tree including several；
Judgment module is to remove and be located at leaf node in scheduler tree for the current scheduling device in the scheduler tree
When scheduler except the scheduler of position, whether transmission bandwidth needed for judging the current scheduling device data flow to be sent is small
In the bandwidth allocation for the sending device for sending the data flow to be sent；
Scheduler module, for judging data flow institute to be sent in the case where the judging result of the judgment module is no
Whether the transmission bandwidth needed is less than the remaining bandwidth of the sending device；If so, data flow to be sent is sent to described current
Higher level's scheduler of scheduler using higher level's scheduler as current scheduling device, and triggers the judgment module, until will send out
Equipment is sent to send data flow to be sent；If it is not, the partial data in data flow to be sent is abandoned, until meeting described
The remaining bandwidth of current scheduling device, then data flow to be sent is sent to higher level's scheduler of the current scheduling device, it will be described
Higher level's scheduler triggers the judgment module as current scheduling device, until sending device is sent data flow to be sent
It goes out.
Optionally, scheduler module is used for:
When current scheduling device is located at the leaf node position in the scheduler tree, the received data to be sent of institute are pressed
It is added to according to corresponding priority in the transmit queue of the current scheduling device.
Optionally, described device further includes sending module, is the case where being for the judging result in the judgment module
Under, data flow to be sent is sent to higher level's scheduler of the current scheduling device, is adjusted using higher level's scheduler as current
Device is spent, and triggers the judgment module, until sending device is sent data flow to be sent.
Optionally, the remaining bandwidth is maximum residual bandwidth.
Optionally, scheduler module is also used to:
The characteristic information of data flow to be sent is sent to higher level's scheduler of the current scheduling device, wherein to be sent
The characteristic information of data flow includes: the size of the identification information of data flow, the data volume for including in data flow, data flow it is preferential
One of grade information is a variety of.
Optionally, scheduler module is also used to:
Whether the transmission bandwidth needed for judging data flow to be sent is less than the judgement of the remaining bandwidth of the sending device
As a result in the case where being, and when the priority of data to be sent is highest priority, data flow to be sent is sent in real time
To higher level's scheduler of the current scheduling device.
Optionally, scheduler module is also used to:
According to the transmission sequence of each data cell in data flow to be sent, the remaining bandwidth institute of current scheduling device will exceed
The data cell of corresponding data volume abandons.
The present invention has the advantage that compared with prior art
Message is put by corresponding queue according to the label that message each in data flow is specified using the embodiment of the present invention,
The level of scheduler tree, which is dispatched, is grouped cluster and forwarding for different information flows, and level tune can be provided for data forwarding process
Degree service, and then improve data stream scheduling effect in complex network environment.
Detailed description of the invention
Fig. 1 is a kind of process signal of data transmission method for uplink based on AIRT-ROS node provided in an embodiment of the present invention
Figure；
Fig. 2 is a kind of principle signal of data transmission method for uplink based on AIRT-ROS node provided in an embodiment of the present invention
Figure；
Fig. 3 is the scheduling established in a kind of data transmission method for uplink based on AIRT-ROS node provided in an embodiment of the present invention
The structural schematic diagram of device tree；
Fig. 4 is a kind of structural representation of the data sending device based on AIRT-ROS node provided in an embodiment of the present invention
Figure.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
The embodiment of the invention provides a kind of data transmission method for uplink and device based on AIRT-ROS node, first below
A kind of data transmission method for uplink based on AIRT-ROS node provided in an embodiment of the present invention is introduced.
Embodiment 1
Fig. 1 is a kind of process signal of data transmission method for uplink based on AIRT-ROS node provided in an embodiment of the present invention
Figure, Fig. 2 are a kind of schematic illustration of the data transmission method for uplink based on AIRT-ROS node provided in an embodiment of the present invention, are such as schemed
Shown in 1 and Fig. 2, which comprises
S101: the scheduler tree of the data dispatch for the AIRT-ROS node is established, wherein in the scheduler tree
Including several scheduler.
It can be first the network tree of ROS node composition, all divide according to root node in network tree and the node of the intermediate level
Not Dui Ying a scheduler principle, generate and be preset with the scheduler network of scheduling strategy, by scheduler respectively according to root node,
The level of branch node and leaf node is divided.It should be noted that each ROS node in the bottom is distinguished
It is corresponding with a scheduling queue.
Then, scheduler, scheduling queue are assembled into different levels tree, the association as ROS node scheduling device
Relationship.
Fig. 3 is the scheduling established in a kind of data transmission method for uplink based on AIRT-ROS node provided in an embodiment of the present invention
The structural schematic diagram of device tree, as shown in figure 3, scheduler 1 ..., scheduler n be leaf node, each scheduler is to one one
A queue, such as the corresponding queue 1 of scheduler 1, the corresponding queue 2 of scheduler 2, the corresponding queue 3 of scheduler 3, and so on.Scheduler is
Root node.Under normal conditions if necessary to more levels scheduling relationship, can top root scheduler and scheduler 1 it
Between branch node 1, such as the corresponding scheduler 1- scheduler 5 of branch node 1 are set；Branch node 2 corresponds to scheduler 6- scheduler
10, the corresponding scheduler 11-20 of branch node 3, and so on.
Scheduler positioned at the leaf node position of the bottom can be scheduled scheduling queue；Positioned at root node or
The scheduler of branch node position is scheduled.Classifying rules and control parameter are configured on each scheduler.Due to dispatching plan
Slightly it is with different levels tree, will also has father and son's node with nest relation, father node is the stream of multiple child nodes
Measure convergent point.In this way, the classifying rules and control parameter that configure in child node will carry out a subseries and flowtube to flow
It manages, the classifying rules and control parameter configured on father node will carry out another subseries and traffic management to the flow of convergence.
Further, it can will be received when current scheduling device is located at the leaf node position in the scheduler tree
Data to be sent be added to according to corresponding priority in the transmit queue of the current scheduling device.
For example, scheduler 1 has received 3 data flows to be sent, the priority of each data flow to be sent is respectively, to
The priority for sending data flow 1 is during high, data flow 2 to be sent priority is, the priority of data flow to be sent 3 is low；
Then above-mentioned 3 data flows to be sent are added in the corresponding queue 1 of scheduler 1 according to high, normal, basic sequence.
S102: the current scheduling device in the scheduler tree is, except the tune for being located at leaf node position in scheduler tree
When spending the scheduler except device, whether transmission bandwidth needed for judging the current scheduling device data flow to be sent, which is less than, sends institute
State the bandwidth allocation of the sending device of data flow to be sent.
Illustratively, by taking the root node scheduler in Fig. 3 as an example, judge whether bandwidth needed for flow is less than for the flow
Bandwidth allocation, if flow be not less than scheduler bandwidth allocation, execute S103 step.
Under normal conditions, it needs to be scheduled the data flow to be sent that data volume size is 10M, the hair that system allows
Sending the time is 2s, then bandwidth needed for the data flow to be sent is 5M；If the sending time that system allows is 1s, this is pending
Bandwidth needed for sending data flow is 10M.
The bandwidth allocation of scheduler, as system are the size of the bandwidth of scheduler configuration.
S103: whether transmission bandwidth needed for judging data flow to be sent is less than the remaining bandwidth of the sending device；If
It is that data flow to be sent is sent to higher level's scheduler of the current scheduling device, is adjusted using higher level's scheduler as current
Device is spent, and executes the step S102, until sending device is sent data flow to be sent；If it is not, by number to be sent
It abandons according to the partial data in stream, until meeting the remaining bandwidth of the current scheduling device, then data flow to be sent is sent to
Higher level's scheduler of the current scheduling device using higher level's scheduler as current scheduling device, and executes the step S102,
Until sending device is sent data flow to be sent.
Illustratively, S103 step may include:
A: whether the bandwidth as needed for judging data to be sent is less than the remaining bandwidth of the corresponding sending device of scheduler；
B: if bandwidth needed for data to be sent is less than the remaining bandwidth of the corresponding sending device of scheduler, judge pending
The priority for sending data flow preferentially forwards, otherwise dropping packets if current message highest priority；
C: further, the remaining bandwidth is maximum residual bandwidth.If bandwidth needed for data to be sent is not less than
The remaining bandwidth of the corresponding sending device of scheduler then abandons the data traffic more than maximum residual portions of bandwidth.Actually answering
It, can be by the data packet discarding of order of transmission rearward in data to be sent, until being dropped the number to be sent after data packet in
It is no more than maximum residual bandwidth according to required bandwidth.
In order to solve the technical issues of data caused by abandoning partial data lack, the data buffer storage being dropped can be existed
In temporal cache, after it will be dropped the data to be sent after data packet and send, the data in temporal cache are sent again.
D: then, in current scheduling device there are in the case where father node, the father that data to be sent are sent to scheduler is saved
The corresponding scheduler of point, is scheduled by the corresponding scheduler of father node.
E: using the corresponding scheduler of father node as current scheduling device, step A is then executed.
Since the multinode communication support mechanism of AIRT-ROS is with different levels tree, will also exist has nesting
Father and son's node of relationship, father node are the traffic aggregation points of multiple child nodes.In this way, the classifying rules configured in child node and control
Parameter processed will carry out a subseries and traffic management to flow, and the classifying rules and control parameter configured on father node will be right
The flow of convergence carries out another subseries and traffic management.
In practical applications, be father node configuration classifying rules and be child node configuration classifying rules can be towards not
Same classification demand (such as user, business, discharge pattern), and on different nodes difference can also be done to bypass flow
Control action, multi-level, multi-user, multiple services traffic management are carried out to flow to realize.The scheduling plan of scheduler
Slightly choosing multiple dispatching algorithm, such as stringent SP (Strict Priority, priority), WRR (Weighted can be used
Round Robin, weighted polling).
Message is put by correspondence according to the label that message each in data flow is specified using embodiment illustrated in fig. 1 of the present invention
Queue, the level of scheduler tree, which is dispatched, is grouped cluster and forwarding for different information flows, can mention for data forwarding process
For level dispatch service, and then improve data stream scheduling effect in complex network environment.
In addition, in the multinode communication support mechanism of AIRT-ROS provided in an embodiment of the present invention each node Business Stream
Amount enters a queue and participates in scheduling, and queue is directed toward upstream scheduler and participates in the scheduling of scheduler.With integrated service
(Integrated Service) is different, and multinode communication support mechanism proposed by the present invention does not need signaling, i.e., saves at one
Before point issues message, other nodes in notice node topology are not needed.It can be Netowrk tape in more complex network topology
The limited ROS user node of width provides quality of service guarantee, meets the QoS demand of ROS user node different business.
Finally, inventive algorithm is simple, the service quality of flow dynamically can be adjusted and planned, it is especially suitable in network
Flow control between the more complex more ROS nodes of topology.
Embodiment 2
The embodiment of the present invention 2 is on the basis of the embodiment of the present invention 1, the case where the judging result of step S102 is to be
Under, data flow to be sent is sent to higher level's scheduler of the current scheduling device, is adjusted using higher level's scheduler as current
Device is spent, and executes the S102, until sending device is sent data flow to be sent.
Using the embodiment of the present invention 2, data can successively be sent.
Embodiment 3
The embodiment of the present invention 3 and the difference of the embodiment of the present invention 1 are, described that data flow to be sent is sent to described work as
Higher level's scheduler of preceding scheduler, comprising:
The characteristic information of data flow to be sent is sent to higher level's scheduler of the current scheduling device, wherein to be sent
The characteristic information of data flow includes: the size of the identification information of data flow, the data volume for including in data flow, data flow it is preferential
One of grade information is a variety of.
Using the above embodiment of the present invention, scheduler can identify pending according to the characteristic information of data flow to be sent
Data flow is sent, it is therefore not necessary to which data flow to be sent is sent to scheduler, the workload of scheduler is reduced, improves tune
Spend efficiency.
Embodiment 4
The embodiment of the present invention 4 and the difference of the embodiment of the present invention 1 be, the transmission band needed for judging data flow to be sent
In the case that the judging result of the wide remaining bandwidth for whether being less than the sending device is is, and in the priority of data to be sent
When for highest priority, data flow to be sent is sent to higher level's scheduler of the current scheduling device in real time.
Using the above embodiment of the present invention, the prioritization for node, business and datastream can be provided, from
And is guaranteeing service quality and solving to obtain a good balance between congestion.
Embodiment 5
The embodiment of the present invention 5 and the difference of the embodiment of the present invention 1 be, the partial data by data flow to be sent
It abandons, until meeting the remaining bandwidth of the current scheduling device, comprising:
According to the transmission sequence of each data cell in data flow to be sent, the remaining bandwidth institute of current scheduling device will exceed
The data cell of corresponding data volume abandons.
It illustratively, include 10 frame data frames in data flow to be sent, according to data frame 1, data frame 2, data frame
3 ..., the sequence of data frame 10 plays out；If bandwidth needed for sending data flow greatly is 5M, and requires to send in 1 second
It goes out, in sequence abandons data frame 6-10, data frame 1-5 is sent.
It, can be to avoid network excessive congestion using the above embodiment of the present invention.
Corresponding with embodiment illustrated in fig. 1 of the present invention, the embodiment of the invention also provides one kind to be based on AIRT-ROS node
Data sending device.
Embodiment 6:
Fig. 4 is a kind of structural representation of the data sending device based on AIRT-ROS node provided in an embodiment of the present invention
Figure, as shown in figure 4, described device includes:
Module 401 is established, for establishing the scheduler tree for being directed to the data dispatch of the AIRT-ROS node, wherein institute
State the scheduler in scheduler tree including several；
Judgment module 402 is to remove and be located at leaf section in scheduler tree for the current scheduling device in the scheduler tree
When putting the scheduler except the scheduler of position, whether transmission bandwidth needed for judging the current scheduling device data flow to be sent
Less than the bandwidth allocation for the sending device for sending the data flow to be sent；
Scheduler module 403, for judging number to be sent in the case where the judging result of the judgment module 402 is no
Whether it is less than the remaining bandwidth of the sending device according to transmission bandwidth needed for stream；If so, data flow to be sent is sent to institute
The higher level's scheduler for stating current scheduling device using higher level's scheduler as current scheduling device, and triggers the judgment module
402, until sending device is sent data flow to be sent；If it is not, the partial data in data flow to be sent is abandoned,
Until meeting the remaining bandwidth of the current scheduling device, then data flow to be sent is sent to higher level's tune of the current scheduling device
Device is spent, using higher level's scheduler as current scheduling device, and triggers the judgment module 402, up to will be to by sending device
Data flow is sent to send.
Message is put by correspondence according to the label that message each in data flow is specified using embodiment illustrated in fig. 1 of the present invention
Queue, the level of scheduler tree, which is dispatched, is grouped cluster and forwarding for different information flows, can mention for data forwarding process
For level dispatch service, and then improve data stream scheduling effect in complex network environment.
In a kind of specific embodiment of the embodiment of the present invention, scheduler module 403 is used for:
When current scheduling device is located at the leaf node position in the scheduler tree, the received data to be sent of institute are pressed
It is added to according to corresponding priority in the transmit queue of the current scheduling device.
In a kind of specific embodiment of the embodiment of the present invention, described device further includes sending module, for described
The judging result of judgment module is to dispatch the higher level that data flow to be sent is sent to the current scheduling device in the case where being
Device using higher level's scheduler as current scheduling device, and triggers the judgment module, until by sending device by number to be sent
It is sent according to stream.
In a kind of specific embodiment of the embodiment of the present invention, the remaining bandwidth is maximum residual bandwidth.
In a kind of specific embodiment of the embodiment of the present invention, scheduler module 403 is also used to:
The characteristic information of data flow to be sent is sent to higher level's scheduler of the current scheduling device, wherein to be sent
The characteristic information of data flow includes: the size of the identification information of data flow, the data volume for including in data flow, data flow it is preferential
One of grade information is a variety of.
In a kind of specific embodiment of the embodiment of the present invention, scheduler module 403 is also used to:
Whether the transmission bandwidth needed for judging data flow to be sent is less than the judgement of the remaining bandwidth of the sending device
As a result in the case where being, and when the priority of data to be sent is highest priority, data flow to be sent is sent in real time
To higher level's scheduler of the current scheduling device.
In a kind of specific embodiment of the embodiment of the present invention, scheduler module 403 is also used to:
According to the transmission sequence of each data cell in data flow to be sent, the remaining bandwidth institute of current scheduling device will exceed
The data cell of corresponding data volume abandons.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (14)
1. a kind of data transmission method for uplink based on AIRT-ROS node, which is characterized in that the described method includes:
1) the scheduler tree of the data dispatch for the AIRT-ROS node, is established, wherein if including in the scheduler tree
Do a scheduler；
2), the current scheduling device in the scheduler tree is, except be located in scheduler tree leaf node position scheduler it
When outer scheduler, transmission bandwidth needed for judging the current scheduling device data flow to be sent whether be less than send it is described pending
Send the bandwidth allocation of the sending device of data flow；
3), if it is not, whether transmission bandwidth needed for judging data flow to be sent is less than the remaining bandwidth of the sending device；If
It is that data flow to be sent is sent to higher level's scheduler of the current scheduling device, is adjusted using higher level's scheduler as current
Device is spent, and executes the step 2), until sending device is sent data flow to be sent；If it is not, by data to be sent
Partial data in stream abandons, until meeting the remaining bandwidth of the current scheduling device, then data flow to be sent is sent to institute
The higher level's scheduler for stating current scheduling device using higher level's scheduler as current scheduling device, and executes the step 2), until
Sending device is sent data flow to be sent.
2. a kind of data transmission method for uplink based on AIRT-ROS node according to claim 1, which is characterized in that current
When scheduler is located at the leaf node position in the scheduler tree, by the received data to be sent of institute according to corresponding priority
It is added in the transmit queue of the current scheduling device.
3. a kind of data transmission method for uplink based on AIRT-ROS node according to claim 1, which is characterized in that described
The judging result of step 2) is that in the case where being, data flow to be sent is sent to higher level's scheduler of the current scheduling device,
Using higher level's scheduler as current scheduling device, and the step 2) is executed, until by sending device by data flow to be sent
It sends.
4. a kind of data transmission method for uplink based on AIRT-ROS node according to claim 1, which is characterized in that described surplus
Remaining bandwidth is maximum residual bandwidth.
5. a kind of data transmission method for uplink based on AIRT-ROS node according to claim 1, which is characterized in that described to incite somebody to action
Data flow to be sent is sent to higher level's scheduler of the current scheduling device, comprising:
The characteristic information of data flow to be sent is sent to higher level's scheduler of the current scheduling device, wherein data to be sent
The characteristic information of stream includes: the size of the identification information of data flow, the data volume for including, the priority letter of data flow in data flow
One of breath is a variety of.
6. a kind of data transmission method for uplink based on AIRT-ROS node according to claim 1, which is characterized in that judging
The judging result whether transmission bandwidth needed for data flow to be sent is less than the remaining bandwidth of the sending device is the case where being
Under, and when the priority of data to be sent is highest priority, data flow to be sent is sent to the current scheduling in real time
Higher level's scheduler of device.
7. a kind of data transmission method for uplink based on AIRT-ROS node according to claim 1, which is characterized in that described to incite somebody to action
Partial data in data flow to be sent abandons, until meeting the remaining bandwidth of the current scheduling device, comprising:
According to the transmission sequence of each data cell in data flow to be sent, corresponding to the remaining bandwidth that will exceed current scheduling device
Data volume data cell abandon.
8. a kind of data sending device based on AIRT-ROS node, which is characterized in that described device includes:
Module is established, for establishing the scheduler tree for being directed to the data dispatch of the AIRT-ROS node, wherein the scheduler
It include several scheduler in tree；
Judgment module is to remove and be located at leaf node position in scheduler tree for the current scheduling device in the scheduler tree
Scheduler except scheduler when, whether transmission bandwidth needed for judging the current scheduling device data flow to be sent is less than hair
Send the bandwidth allocation of the sending device of the data flow to be sent；
Scheduler module, for judging needed for data flow to be sent in the case where the judging result of the judgment module is no
Whether transmission bandwidth is less than the remaining bandwidth of the sending device；If so, data flow to be sent is sent to the current scheduling
Higher level's scheduler of device using higher level's scheduler as current scheduling device, and triggers the judgment module, sets until will send
It is standby to send data flow to be sent；If it is not, the partial data in data flow to be sent is abandoned, until meeting described current
The remaining bandwidth of scheduler, then data flow to be sent is sent to higher level's scheduler of the current scheduling device, by the higher level
Scheduler triggers the judgment module as current scheduling device, until sending device is sent data flow to be sent.
9. a kind of data sending device based on AIRT-ROS node according to claim 8, which is characterized in that scheduling mould
Block is used for:
When current scheduling device is located at the leaf node position in the scheduler tree, by the received data to be sent of institute according to right
The priority answered is added in the transmit queue of the current scheduling device.
10. a kind of data sending device based on AIRT-ROS node according to claim 8, which is characterized in that described
Device further includes sending module, in the case where the judging result of the judgment module, which is, is, data flow to be sent to be sent out
It send to higher level's scheduler of the current scheduling device, using higher level's scheduler as current scheduling device, and triggers the judgement
Module, until sending device is sent data flow to be sent.
11. a kind of data sending device based on AIRT-ROS node according to claim 8, which is characterized in that described
Remaining bandwidth is maximum residual bandwidth.
12. a kind of data sending device based on AIRT-ROS node according to claim 8, which is characterized in that scheduling
Module is also used to:
The characteristic information of data flow to be sent is sent to higher level's scheduler of the current scheduling device, wherein data to be sent
The characteristic information of stream includes: the size of the identification information of data flow, the data volume for including, the priority letter of data flow in data flow
One of breath is a variety of.
13. a kind of data sending device based on AIRT-ROS node according to claim 8, which is characterized in that scheduling
Module is also used to:
Whether the transmission bandwidth needed for judging data flow to be sent is less than the judging result of the remaining bandwidth of the sending device
In the case where being, and when the priority of data to be sent is highest priority, data flow to be sent is sent to institute in real time
State higher level's scheduler of current scheduling device.
14. a kind of data sending device based on AIRT-ROS node according to claim 8, which is characterized in that scheduling
Module is also used to:
According to the transmission sequence of each data cell in data flow to be sent, corresponding to the remaining bandwidth that will exceed current scheduling device
Data volume data cell abandon.
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