CN110465938A - Read/writing control method, equipment and the storage medium of state constraint figure - Google Patents
Read/writing control method, equipment and the storage medium of state constraint figure Download PDFInfo
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- CN110465938A CN110465938A CN201910576643.3A CN201910576643A CN110465938A CN 110465938 A CN110465938 A CN 110465938A CN 201910576643 A CN201910576643 A CN 201910576643A CN 110465938 A CN110465938 A CN 110465938A
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- read
- state constraint
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- constraint
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
This application involves read/writing control method, equipment and the storage mediums of a kind of state constraint figure, method includes: after first sensor front end determines that state constraint figure is in Read-Write Locks shared model locking state, read the state constraint figure, wherein, the Read-Write Locks shared model allows each sensor front end to read data, but does not allow that data are written；The first sensor front end generates new state constraint according to the state constraint figure and new sensor information；The first sensor front end is that after the state constraint figure locks, the new state constraint is written in Xiang Suoshu state constraint figure according to Read-Write Locks exclusive mode, wherein the Read-Write Locks exclusive mode only allows the first sensor front end write-in data.The data that the application realizes during multiple sensor front end read-writes are synchronous.
Description
Technical field
This application involves field of artificial intelligence more particularly to a kind of read/writing control methods of state constraint figure, equipment
And storage medium.
Background technique
Intelligent robot generally requires in the work environment arbitrarily movement, this just needs intelligent robot that can identify periphery
Environment positions itself.Intelligent robot is accurately positioned, intelligent robot completion pair can be effectively helped
The movement answered improves intelligence machine human reriability.
By taking multiple sensor robot location technology as an example, intelligent robot is determined by the information of multiple sensor collections
Position, can help intelligent robot to adapt to environment complicated and changeable.In position fixing process, need to collect the information of multiple sensors,
And the respective state constraint of multiple sensor is calculated, the respective state constraint of multiple sensor is transferred to back-end processing journey
Sequence passes through the state of back-end processing program solution robot.
The state constraint of each sensor is combined into a state constraint figure, also, each sensor front end constantly to
New state constraint is added in the state constraint figure.Optimizer reads the content of entire state constraint figure in this process simultaneously,
To solve the state of robot.
As it can be seen that state constraint figure needs are read and write by multiple sensor front ends, how to guarantee that multiple sensor front ends were read and write
Data in journey are synchronous, are problems in need of consideration.
Summary of the invention
In order to solve the above-mentioned technical problem or it at least is partially solved above-mentioned technical problem, this application provides a kind of shapes
Read/writing control method, equipment and the storage medium of modal constraint figure.
In a first aspect, this application provides a kind of read/writing control methods of state constraint figure, comprising:
After first sensor front end determines that state constraint figure is in Read-Write Locks shared model locking state, the state is read
Constraints graph, wherein the Read-Write Locks shared model allows each sensor front end to read data, but does not allow that data are written；
The first sensor front end generates new state about according to the state constraint figure and new sensor information
Beam；
The first sensor front end is Xiang Suoshu state after the state constraint figure locks according to Read-Write Locks exclusive mode
The new state constraint is written in constraints graph, wherein the Read-Write Locks exclusive mode only allows the first sensor front end
Data are written.
Optionally, the Read-Write Locks shared model locking state is that second sensor front end locks the state constraint figure
After obtain.
Optionally, the Read-Write Locks shared model locking state is that first sensor front end locks the state constraint figure
After obtain.
Optionally, after the state constraint figure is read in the first sensor front end, the method also includes:
The first sensor front end unlocks the Read-Write Locks shared model of the state constraint figure.
Optionally, it after first sensor front end determines that state constraint figure is in Read-Write Locks shared model locking state, reads
The state constraint figure, comprising:
The first interface function of default setting is called in the first sensor front end, is judged by the first interface function
Whether the state constraint figure is in Read-Write Locks shared model locking state, if so, the state constraint figure is directly read, it is no
Then, state constraint figure setting is locked after Read-Write Locks shared model, to read the state constraint figure.
Optionally, the first sensor front end is written into the state constraint figure after the new state constraint,
The method also includes:
The first sensor front end unlocks the Read-Write Locks exclusive mode of the state constraint figure.
Optionally, after the first sensor front end is locked according to Read-Write Locks exclusive mode for the state constraint figure, to
The new state constraint is written in the state constraint figure, comprising:
Second interface function is called in the first sensor front end, by the second interface function according to Read-Write Locks mutual exclusion
Mode is that after the state constraint figure locks, the new state constraint is written in Xiang Suoshu state constraint figure.
Optionally, the first sensor front end unlocks the Read-Write Locks exclusive mode of the state constraint figure, comprising:
The first sensor front end is by the second interface function to the Read-Write Locks mutual exclusion mould of the state constraint figure
Formula unlock.
Second aspect, this application provides a kind of devices, are applied to first sensor front end, comprising:
Read module reads the state after determining that state constraint figure is in Read-Write Locks shared model locking state
Constraints graph, wherein the Read-Write Locks shared model allows each sensor front end to read data, but does not allow that data are written；
Processing module, for generating new state constraint according to the state constraint figure and new sensor information；
Writing module, for being Xiang Suoshu state constraint after the state constraint figure locks according to Read-Write Locks exclusive mode
The new state constraint is written in figure, wherein the Read-Write Locks exclusive mode only allows the first sensor front end to be written
Data.
The third aspect, this application provides a kind of electronic equipment, comprising: processor, communication interface, memory and communication are total
Line, wherein processor, communication interface and memory complete mutual communication by communication bus；The memory, for depositing
Store up computer program；The processor realizes the state constraint figure for executing the program stored in the memory
Read/writing control method.
Fourth aspect, this application provides a kind of computer readable storage mediums, are stored with computer program, the calculating
Machine program realizes the read/writing control method of the state constraint figure when being executed by processor.
Above-mentioned technical proposal provided by the embodiments of the present application has the advantages that the embodiment of the present application compared with prior art
This method of offer, first sensor front end to state constraint figure carry out read operation during, to state constraint figure according to
Read-Write Locks shared model locks, to guarantee that each sensor front end reads identical state constraint figure；Before first sensor
End locks during carrying out write operation to state constraint figure, to state constraint figure according to Read-Write Locks exclusive mode, to protect
When new state constraint is written in card in state constraint figure, other sensor front ends not will do it read operation, so as to avoid not
The inconsistent situation of the state constraint figure that same sensor is read.To sum up, the embodiment of the present application realizes multiple sensor front ends
Data during read-write are synchronous.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without any creative labor, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the read/writing control method flow diagram of state constraint figure provided by the embodiments of the present application；
Fig. 2 is the structural schematic diagram of the read-write control device of state constraint figure provided by the embodiments of the present application；
The structural schematic diagram for the electronic equipment that Fig. 3 provided for the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the application, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
A kind of read/writing control method of state constraint figure is provided in the embodiment of the present application, this method is applied to any one
Sensor front end is illustrated by taking first sensor as an example below, wherein sensor front end is mainly responsible for what pretreatment detected
Sensing data, and the state constraint of robot is calculated.As shown in Figure 1, this method specifically includes that
Step 101, it after first sensor front end determines that state constraint figure is in Read-Write Locks shared model locking state, reads
State constraint figure.
Wherein, Read-Write Locks shared model allows each sensor front end to read data, but does not allow that data are written.
Wherein, the locking state of Read-Write Locks shared model can be is obtained by one of following two approach:
The first approach, Read-Write Locks shared model locking state are to obtain after second sensor front end locks state constraint figure
It arrives.Wherein, first sensor front end is different from second sensor front end.
Specifically, second sensor front end is earlier than first sensor front end, according to Read-Write Locks shared model to state constraint
Figure locks, and first sensor front end does not need to lock according still further to Read-Write Locks shared model herein, directly reads state constraint figure i.e.
It can.
For the first approach, after the reading state constraints graph of second sensor front end, to the Read-Write Locks of state constraint figure
Shared model unlock.
Second of approach, Read-Write Locks shared model locking state are to obtain after first sensor front end locks state constraint figure
It arrives.
Specifically, in the state that state constraint figure is in and is not locked, first sensor front end is earliest according to Read-Write Locks
Shared model locks state constraint figure.
For second of approach, after the reading state constraints graph of first sensor front end, to the Read-Write Locks of state constraint figure
Shared model unlock.
In one specific embodiment, the first interface function of default setting is called in first sensor front end, by this first
Interface function judges whether state constraint figure is in Read-Write Locks shared model locking state, if so, directly reading state constraint
Otherwise figure locks the setting of state constraint figure for after Read-Write Locks shared model, reading state constraints graph.
Step 102, first sensor front end generates new state about according to state constraint figure and new sensor information
Beam.
Specifically, first sensor front end indexes node relevant to first sensor from state constraint figure, according to rope
The corresponding sensor information of the node guided to and new sensor information, generate new state constraint.
Step 103, first sensor front end is after state constraint figure locks, to state constraint according to Read-Write Locks exclusive mode
The new state constraint is written in figure.
Wherein, Read-Write Locks exclusive mode only allows first sensor front end that data are written, and before not allowing any sensor
Read data in end.
Wherein, first sensor front end is written into state constraint figure after new state constraint, to state constraint figure
The unlock of Read-Write Locks exclusive mode.After being locked in order to subsequent other sensor front ends according to Read-Write Locks exclusive mode, about to state
New state constraint is written in beam figure.
In one specific embodiment, first sensor front end call second interface function, by second interface function according to
Read-Write Locks exclusive mode is that after state constraint figure locks, new state constraint is written into state constraint figure.
Also, first sensor front end passes through second interface letter after new state constraint is added into state constraint figure
The Read-Write Locks exclusive mode unlock of several pairs of state constraint figures.
In one specific embodiment, sensor front end always has certain mode, finds out the mode, and fixed for the mode
An adopted general template, all sensor front ends are all based on the template and operate to state constraint figure.Think after analysis,
Sensor front end basic need carries out the following processing process: treatment process 1, reading state optimization figure；Treatment process 2, according to shape
State optimization figure and new sensor information, generate new state constraint；Treatment process 3 is written newly into state optimization figure
State constraint.
So, treatment process 1 is realized by defining first interface function, define second interface function and realize treatment process 3,
And define third interface function and realize treatment process 2, by first interface function, second interface function and third interface function
It is defined in general template, each sensor front end is handled state constraint figure according to the general template.First connects
Mouth function realizes that shared model locks, and second interface function realizes that exclusive mode locks, to realize multiple sensor front ends readings
Data during writing are synchronous, avoid the inconsistent situation of the state constraint figure of different sensor readings.
Also, each sensor front end is unified for using a template, is realized to any number of sensor front end
Unification, save the development amount of sensor front end.
For example, defining base class are as follows:
template<typename DataType,typename LookupReturnType>
class FrontEndBase(){
public:
FrontEndBase()；
Virtual LookupReturnType Lookup ()=0；
Virtual Associate (const LookupReturnType&lookup_return_value)=0；
Virtual AddConstraints (const ConstraintList&constraints)=0；
DataProcess(const DataType&data)；
}
Using the template that the base class is general as each sensor front end, each sensor front end needs to realize three pure void sides
Method, as three important steps.
In the DataProcess function of the base class:
FrontEndBase::DataProcess(const DataType&data){
//step 1, first interface function
graph_lock.lock_shared()；
LookupReturnType lookup_return_value=Lookup ()；
graph_lock.unlock_shared()；
//step 2, third interface function
ConstraintList constraints=Associate (lookup_return_value)；
//step 3, second interface function
graph_lock.lock()；
AddConstraints(constraints)；
graph_lock.unlock()；
}
Certain specific sensor front ends may not be needed comprising the whole in above three interface function, for not needing
It the part for including can be directly vacant.
In the embodiment of the present application, first sensor front end is during carrying out read operation to state constraint figure, to state
Constraints graph is locked according to Read-Write Locks shared model, to guarantee that each sensor front end reads identical state constraint figure；The
One sensor front end adds state constraint figure according to Read-Write Locks exclusive mode during carrying out write operation to state constraint figure
Lock, so that other sensor front ends not will do it read operation when guaranteeing that new state constraint is written in state constraint figure, thus
Avoid the inconsistent situation of the state constraint figure of different sensor readings.To sum up, the embodiment of the present application realizes multiple biographies
Data during the read-write of sensor front end are synchronous.
Based on same design, the embodiment of the present application provides a kind of read-write control device of state constraint figure, which answers
For first sensor front end, the specific implementation of the device can be found in the description of above method embodiment part, repeat place not
It repeats again.As shown in Fig. 2, the device mainly includes:
Read module 201 reads the shape after determining that state constraint figure is in Read-Write Locks shared model locking state
Modal constraint figure, wherein the Read-Write Locks shared model allows each sensor front end to read data, but does not allow that data are written；
Processing module 202, for generating new state about according to the state constraint figure and new sensor information
Beam；
Writing module 203, for being after the state constraint figure locks according to Read-Write Locks exclusive mode, Xiang Suoshu state is about
The new state constraint is written in beam figure, wherein the Read-Write Locks exclusive mode only allows the first sensor front end to write
Enter data.
Based on same design, a kind of electronic equipment is additionally provided in the embodiment of the present application, as shown in figure 3, the electronic equipment
Specifically include that processor 301, communication interface 302, memory 303 and communication bus 304, wherein processor 301, communication interface
302 and memory 303 mutual communication completed by communication bus 304.Wherein, being stored in memory 303 can be by locating
The program that device 301 executes is managed, processor 301 executes the program stored in memory 303, realizes following steps: first sensor
After front end determines that state constraint figure is in Read-Write Locks shared model locking state, the state constraint figure is read, wherein the reading
Writing lock shared model allows each sensor front end to read data, but does not allow that data are written；First sensor front end root
According to the state constraint figure and new sensor information, new state constraint is generated；The first sensor front end is according to reading
Writing lock exclusive mode is that after the state constraint figure locks, the new state constraint is written in Xiang Suoshu state constraint figure,
In, the Read-Write Locks exclusive mode only allows the first sensor front end write-in data.
The communication bus 304 mentioned in above-mentioned electronic equipment can with when Peripheral Component Interconnect standard (Peripheral
Component Interconnect, abbreviation PCI) bus or expanding the industrial standard structure (Extended Industry
Standard Architecture, abbreviation EISA) bus etc..The communication bus 304 can be divided into address bus, data/address bus,
Control bus etc..Only to be indicated with a thick line in Fig. 3, it is not intended that an only bus or a seed type convenient for indicating
It is total under.
Communication interface 302 is for the communication between above-mentioned electronic equipment and other equipment.
Memory 303 may include random access memory (Random Access Memory, abbreviation RAM), can also be with
Including nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.Optionally, memory
It can also be that at least one is located remotely from the storage device of aforementioned processor 301.
Above-mentioned processor 301 can be general processor, including central processing unit (Central Processing
Unit, abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc., can also be digital signal processor
(Digital Signal Processing, abbreviation DSP), specific integrated circuit (Application Specific
Integrated Circuit, abbreviation ASIC), field programmable gate array (Field-Programmable Gate Array,
Abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.
In the another embodiment of the application, a kind of computer readable storage medium is additionally provided, this is computer-readable to deposit
Computer program is stored in storage media, when the computer program is run on computers, so that computer executes above-mentioned reality
Apply the read/writing control method of state constraint figure described in example.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.The computer program produces
Product include one or more computer instructions.When loading and execute on computers the computer instruction, all or part of real estate
Life is according to process or function described in the embodiment of the present application.The computer can with when general purpose computer, special purpose computer, computer
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, computer instruction is from website station
Point, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless
(such as infrared, microwave etc.) mode is transmitted to another web-site, computer, server or data center.The meter
Calculation machine readable storage medium storing program for executing can be any usable medium that computer can access or include that one or more can use Jie
The data storage devices such as matter integrated server, data center.The usable medium can be magnetic medium (such as floppy disk, hard disk,
Tape etc.), optical medium (such as DVD) or semiconductor medium (such as solid state hard disk) etc..
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The above is only a specific embodiment of the invention, is made skilled artisans appreciate that or realizing this hair
It is bright.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and applied principle and features of novelty phase one herein
The widest scope of cause.
Claims (10)
1. a kind of read/writing control method of state constraint figure characterized by comprising
After first sensor front end determines that state constraint figure is in Read-Write Locks shared model locking state, the state constraint is read
Figure, wherein the Read-Write Locks shared model allows each sensor front end to read data, but does not allow that data are written；
The first sensor front end generates new state constraint according to the state constraint figure and new sensor information；
The first sensor front end is Xiang Suoshu state constraint after the state constraint figure locks according to Read-Write Locks exclusive mode
The new state constraint is written in figure, wherein the Read-Write Locks exclusive mode only allows the first sensor front end to be written
Data.
2. the read/writing control method of state constraint figure according to claim 1, which is characterized in that the Read-Write Locks share mould
Formula locking state is to obtain after second sensor front end locks the state constraint figure.
3. the read/writing control method of state constraint figure according to claim 1, which is characterized in that the Read-Write Locks share mould
Formula locking state is to obtain after first sensor front end locks the state constraint figure.
4. the read/writing control method of state constraint figure according to claim 3, which is characterized in that before the first sensor
After the state constraint figure is read at end, the method also includes:
The first sensor front end unlocks the Read-Write Locks shared model of the state constraint figure.
5. the read/writing control method of state constraint figure according to any one of claims 1 to 4, which is characterized in that first passes
After sensor front end determines that state constraint figure is in Read-Write Locks shared model locking state, the state constraint figure is read, comprising:
The first interface function of default setting is called in the first sensor front end, by described in first interface function judgement
Whether state constraint figure is in Read-Write Locks shared model locking state, if so, the state constraint figure is directly read, otherwise,
State constraint figure setting is locked after Read-Write Locks shared model, to read the state constraint figure.
6. the read/writing control method of state constraint figure according to claim 5, which is characterized in that before the first sensor
It holds and is written after the new state constraint into the state constraint figure, the method also includes:
The first sensor front end unlocks the Read-Write Locks exclusive mode of the state constraint figure.
7. the read/writing control method of state constraint figure according to claim 6, which is characterized in that before the first sensor
End is that after the state constraint figure locks, the new state is written in Xiang Suoshu state constraint figure according to Read-Write Locks exclusive mode
Constraint, comprising:
Second interface function is called in the first sensor front end, by the second interface function according to Read-Write Locks exclusive mode
After locking for the state constraint figure, the new state constraint is written in Xiang Suoshu state constraint figure.
8. the read/writing control method of state constraint figure according to claim 7, which is characterized in that before the first sensor
It holds and the Read-Write Locks exclusive mode of the state constraint figure is unlocked, comprising:
The first sensor front end is by the second interface function to the Read-Write Locks exclusive mode solution of the state constraint figure
Lock.
9. a kind of electronic equipment characterized by comprising processor, communication interface, memory and communication bus, wherein processing
Device, communication interface and memory complete mutual communication by communication bus；
The memory, for storing computer program；
The processor realizes that claim 1 to 8 is described in any item for executing the program stored in the memory
The read/writing control method of state constraint figure.
10. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the computer program is located
Manage the read/writing control method that claim 1 to 8 described in any item state constraint figures are realized when device executes.
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| CN201910576643.3A CN110465938B (en) | 2019-06-28 | 2019-06-28 | Read-write control method, device and storage medium of state constraint graph |
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| CN108345452A (en) * | 2017-01-23 | 2018-07-31 | 阿里巴巴集团控股有限公司 | A kind of thread management method and device |
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