CN111124700B - Method and device for accessing simulation software model - Google Patents
Method and device for accessing simulation software model Download PDFInfo
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- CN111124700B CN111124700B CN201811291244.4A CN201811291244A CN111124700B CN 111124700 B CN111124700 B CN 111124700B CN 201811291244 A CN201811291244 A CN 201811291244A CN 111124700 B CN111124700 B CN 111124700B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/54—Interprogram communication
- G06F9/546—Message passing systems or structures, e.g. queues
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/54—Interprogram communication
- G06F9/541—Interprogram communication via adapters, e.g. between incompatible applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The embodiment of the invention provides an access method and device of a simulation software model. The method comprises the following steps: converting input parameters required by the simulation algorithm nodes to obtain an input theme of an operating system; transmitting the operating system input theme to a simulation algorithm model through an operating system node; and receiving an operating system output theme from the operating system node, wherein the operating system output theme comprises output parameters returned by the simulation algorithm model aiming at input parameters in the operating system input theme. In the embodiment of the invention, the simulation algorithm node is accessed to the simulation software model through the operating system node, and the parameter transmission between the simulation algorithm node and the simulation software model can be realized through the operating system node by utilizing the message transmission mechanism of the operating system.
Description
Technical Field
The present invention relates to the field of computer simulation technologies, and in particular, to a method and an apparatus for accessing a simulation software model.
Background
ROS (Robot Operating System, robotic operating system) is currently widely accepted as an operating system in the robot field, and is familiar and used by most robot lovers and developers in its convenient access.
ROS are also used for messaging in the primary phase of the autopilot domain. Commercial simulation software was generated earlier, which had a unique access method in traditional vehicle factories. With the development of automatic driving in recent years, how to enable the traditional simulation software to access the ROS becomes an urgent function for people.
Disclosure of Invention
The embodiment of the invention provides an access method and device for a simulation software model, which are used for solving one or more technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides an access method for a simulation software model, including:
converting input parameters required by the simulation algorithm nodes to obtain an input theme of an operating system;
transmitting the operating system input theme to a simulation algorithm model through an operating system node;
and receiving an operating system output theme from the operating system node, wherein the operating system output theme comprises output parameters returned by the simulation algorithm model aiming at input parameters in the operating system input theme.
In one embodiment, the method further comprises:
and carrying out reduction calculation on the input parameters required by the simulation algorithm nodes according to the unified measurement unit of the simulation software model.
In one embodiment, the simulation software model is a dynamics model, and the step of converting input parameters required by the simulation algorithm nodes to obtain an operating system input theme includes:
and converting kinetic input parameters required by the simulation algorithm nodes to obtain the input theme of the operating system, wherein the kinetic input parameters comprise at least one of brake, accelerator, gear and steering wheel angle.
In one embodiment, sending the operating system input theme to a simulation algorithm model by an operating system node includes:
transmitting the operating system input theme to an operating system node packaged based on a dynamics model;
sending, by the operating system node, the operating system input topics including the dynamics input parameters to the dynamics model.
In one embodiment, receiving an operating system output theme from the operating system node includes:
and receiving the operation system output theme returned by the dynamics model aiming at the dynamics input parameters through an operation system node, wherein the operation system output theme comprises dynamics output parameters corresponding to the dynamics input parameters.
In a second aspect, an embodiment of the present invention provides an access device for a simulation software model, including:
the conversion module is used for converting input parameters required by the simulation algorithm nodes to obtain an input theme of the operating system;
the transmission module is used for transmitting the input theme of the operating system to the simulation algorithm model through the operating system node;
the receiving module is used for receiving an operating system output theme from the operating system node, wherein the operating system output theme comprises output parameters returned by the simulation algorithm model aiming at input parameters in the operating system input theme.
In one embodiment, the apparatus further comprises:
and the protocol calculation module is used for carrying out reduction calculation on the input parameters required by the simulation algorithm nodes according to the unified measurement unit of the simulation software model.
In one embodiment, the simulation software model is a dynamics model, and the conversion module is further configured to convert dynamics input parameters required by the simulation algorithm node to obtain the operating system input theme, where the dynamics input parameters include at least one of a brake, a throttle, a gear, and a steering wheel angle.
In one embodiment, the sending module is further configured to send the operating system input theme to an operating system node encapsulated based on a dynamics model; sending, by the operating system node, the operating system input topics including the dynamics input parameters to the dynamics model.
In one embodiment, the receiving module is further configured to receive, by an operating system node, the operating system output theme returned by the dynamics model for the dynamics input parameter, where the operating system output theme includes a dynamics output parameter corresponding to the dynamics input parameter.
In a third aspect, an embodiment of the present invention provides an access device for simulating a software model, where the function of the device may be implemented by hardware, or may be implemented by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.
In one possible design, the structure of the apparatus includes a processor and a memory, where the memory is configured to store a program for supporting the apparatus to execute the access method of the simulation software model described above, and the processor is configured to execute the program stored in the memory. The apparatus may also include a communication interface for communicating with other devices or communication networks.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium for storing computer software instructions for an access device for simulating a software model, which includes a program for executing the above-described access method for simulating a software model.
In a fifth aspect, embodiments of the present invention provide a computer program product comprising a computer program/instruction which, when executed by a processor, implements a method as described above.
One of the above technical solutions has the following advantages or beneficial effects: the simulation algorithm node is accessed into the simulation software model through the operating system node, and the parameter transfer between the simulation algorithm node and the simulation software model can be realized through the operating system node by utilizing the message transfer mechanism of the operating system.
The other technical scheme has the following advantages or beneficial effects: the automatic driving simulation algorithm node is connected with the dynamic model through the operating system node, and the dynamic parameters between the automatic driving simulation algorithm node and the dynamic model can be transferred through the operating system node by utilizing a message transfer mechanism of the operating system.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become apparent by reference to the drawings and the following detailed description.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
Fig. 1 shows a flow chart of an access method of a simulation software model according to an embodiment of the invention.
Fig. 2 shows a flow chart of an access method of a simulation software model according to an embodiment of the invention.
Fig. 3 shows a schematic diagram of an application scenario of an access method of a simulation software model according to an embodiment of the present invention.
Fig. 4 shows a flowchart of an application example of an access method of a simulation software model according to an embodiment of the present invention.
Fig. 5 shows a block diagram of the structure of an access device for simulating a software model according to an embodiment of the present invention.
Fig. 6 shows a block diagram of the structure of an access device for simulating a software model according to an embodiment of the present invention.
Fig. 7 shows a block diagram of the structure of an access device for simulating a software model according to an embodiment of the present invention.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
Fig. 1 shows a flow chart of an access method of a simulation software model according to an embodiment of the invention. As shown in fig. 1, the method for accessing the simulation software model may include a determination process, which may specifically include:
and S11, converting input parameters required by the simulation algorithm nodes to obtain an input theme of the operating system.
And step S12, transmitting the input theme of the operating system to a simulation algorithm model through an operating system node.
Step S13, receiving an operating system output theme from the operating system node, wherein the operating system output theme comprises output parameters returned by the simulation algorithm model aiming at input parameters in the operating system input theme.
In one example, the operating system of an embodiment of the present invention may include an on-board operating system with a real-time messaging mechanism, such as ROS. Software of the vehicle-mounted operating system can be applied to the simulation environment. Taking ROS as an example, ROS topics include ROS input topics and ROS output topics. The ROS input theme may include a field name corresponding to the input parameter. The ROS output theme may include a field name to which the output parameter corresponds. For example: in dynamics, the kinetic input parameters of brake, throttle, gear, steering wheel angle can be wrapped into a set named ROS theme topicA.
In the embodiment of the invention, the simulation algorithm node is accessed to the simulation software model through the operating system node, and the parameter transfer between the simulation algorithm node and the simulation software model can be realized through the operating system node by utilizing the message transfer mechanism of the operating system. Taking ROS as an example, the simulation algorithm node is accessed into the simulation software model through the ROS node, and parameter transmission between the simulation algorithm node and the simulation software model can be realized through the ROS node by utilizing a message transmission mechanism of the ROS.
In one embodiment, as shown in fig. 2, before step S11, the method further includes:
and step S20, carrying out reduction calculation on the input parameters required by the simulation algorithm nodes according to the unified measurement unit of the simulation software model.
For example, if the unified measurement unit of the simulation software model is a certain number between 0 and 1, and the measurement ranges of the input parameters such as brake and accelerator are a certain number between 0 and 100, the reduction calculation of the input parameters such as brake and accelerator is performed in a manner of reducing from 0 to 100 to 0 to 1, namely dividing by 100.
In one embodiment, the simulation software model is a dynamics model, and step S11 includes:
and S21, converting kinetic input parameters required by the simulation algorithm nodes to obtain the input theme of the operating system, wherein the kinetic input parameters comprise at least one of brake, accelerator, gear and steering wheel angle.
For example, the simulation algorithm node may convert the parameter sets of brake, throttle, gear, and steering wheel angle into ROS input theme topicA. Is transferred to the kinetic model through ROS nodes. The kinetic model parses these ROS input topics to obtain kinetic input parameters. According to the dynamics input parameters, corresponding dynamics output parameters are obtained in a dynamics model. Taking a commercial dynamics model CarMaker as an example, the output parameter corresponding to a brake is brake_cm, the output parameter corresponding to an accelerator is button_cm, the output parameter corresponding to a gear is gear_cm, and the output parameter corresponding to a steering wheel angle is steerang_cm.
In one embodiment, step S12 includes:
and S22, transmitting the operating system input theme to the operating system nodes packaged on the basis of the dynamics model.
Step S23, the operation system input theme comprising the dynamics input parameters is sent to the dynamics model through the operation system node.
In one embodiment, in step S13, receiving an operating system output theme from the operating system node includes:
step S24, receiving the operation system output theme returned by the dynamics model aiming at the dynamics input parameters through an operation system node, wherein the operation system output theme comprises dynamics output parameters corresponding to the dynamics input parameters.
In the embodiment of the invention, the automatic driving simulation algorithm node can be connected with the dynamic model by utilizing the operating system node, and the dynamic parameters between the automatic driving simulation algorithm node and the dynamic model are transferred by the operating system node. For example, the autopilot simulation algorithm node can obtain the kinetic parameters needed to perform the autopilot simulation task from the dynamics model through the ROS node.
As shown in FIG. 3, embodiments of the present invention generally include simulation software models, such as dynamics models, operating system nodes, such as ROS nodes, and simulation algorithm nodes, such as autopilot simulation algorithm nodes.
In an application example, as shown in fig. 4, the access method of the simulation software model includes:
step S41, preconfiguring or operator setting up ROS theme (topic) required for simulation software models, such as dynamics models, including input theme (including brake, throttle, gear, steering wheel angle) and output theme. The simulation software model can obtain input parameters such as dynamics input parameters transmitted by external nodes such as simulation algorithm nodes through input topics.
And step S42, determining the dynamic parameters required by the dynamic model by the simulation algorithm node. Wherein, the parameters can be reduced and calculated according to a unified measurement unit given by a simulation software model.
In step S43, the simulation algorithm node converts the dynamic parameters into ROS topics required by the dynamic model, and broadcasts the topics according to the ROS communication protocol, such as TCP/IP, or a shared memory.
And step S44, the simulation algorithm node sends the converted ROS theme to the ROS node packaged on the basis of the dynamics model.
And S45, subscribing the ROS theme sent by the simulation algorithm node through the packaged ROS node by the dynamic model, and analyzing to obtain parameters in the ROS theme. And taking the returned results of the dynamic model, namely output parameters, according to the parameters, and packaging the output parameters into ROS subjects required by simulation algorithm nodes.
And step S46, the dynamic model sends the ROS theme to the simulation algorithm node through the ROS node. Thus, one message calculation and delivery is completed.
In step S47, the simulation algorithm node performs a simulation operation, for example, executing an autopilot simulation task, using the received output parameters including the ROS theme.
In the embodiment of the invention, a layer of access method related to the dynamic model is abstracted based on the unified simulation software model, the method generally designates the externally unified theme name of the simulation software model, such as inputting theme topicB and outputting theme topicB, all dynamic models need to write output parameters into messages corresponding to topicB when accessing the simulation software model, the simulation software model needs to fill parameters needed by the dynamic model into topicB to be sent out in a unified way, and the ROS message mechanism for sending and receiving related parameters is customized to be used for completing the problem about dynamic parameter transfer between the simulation software model and simulation algorithm nodes of users.
In addition, other parameters besides dynamic parameters, such as cameras, radars and the like, can be acquired by accessing corresponding simulation algorithm models through a uniform abstract interface.
Fig. 5 shows a block diagram of the structure of an access device for simulating a software model according to an embodiment of the present invention. As shown in fig. 5, the apparatus may include:
the conversion module 51 is configured to convert input parameters required by the simulation algorithm node to obtain an operating system input theme. In one example, the operating system of an embodiment of the present invention may include an on-board operating system with a real-time messaging mechanism, such as ROS.
And the sending module 52 is used for sending the operating system input theme to the simulation algorithm model through an operating system node.
The receiving module 53 is configured to receive an operating system output theme from the operating system node, where the operating system output theme includes an output parameter returned by the simulation algorithm model for an input parameter in the operating system input theme.
In one embodiment, as shown in fig. 6, the apparatus further comprises:
and the reduction calculation module 54 is configured to perform reduction calculation on the input parameters required by the simulation algorithm node according to the unified measurement unit of the simulation software model.
In one embodiment, the simulation software model is a dynamics model, and the conversion module 51 is further configured to convert dynamics input parameters required by the simulation algorithm node to obtain the input theme of the operating system, where the dynamics input parameters include at least one of a brake, a throttle, a gear, and a steering angle.
In one embodiment, the sending module 52 is further configured to send the operating system input theme to an operating system node encapsulated based on a dynamics model; sending, by the operating system node, the operating system input topics including the dynamics input parameters to the dynamics model.
In one embodiment, the receiving module 53 is further configured to receive, by an operating system node, the operating system output theme returned by the dynamics model for the dynamics input parameter, where the operating system output theme includes a dynamics output parameter corresponding to the dynamics input parameter.
The functions of each module in each device of the embodiments of the present invention may be referred to the corresponding descriptions in the above methods, and are not described herein again.
Fig. 7 shows a block diagram of the structure of an access device for simulating a software model according to an embodiment of the present invention. As shown in fig. 7, the apparatus includes: memory 910 and processor 920, memory 910 stores a computer program executable on processor 920. The processor 920 implements the transaction commit method in the above-described embodiments when executing the computer program. The number of the memories 910 and the processors 920 may be one or more.
The apparatus further comprises:
and the communication interface 930 is used for communicating with external equipment and carrying out data interaction transmission.
The memory 910 may include high-speed RAM memory or may further include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 910, the processor 920, and the communication interface 930 are implemented independently, the memory 910, the processor 920, and the communication interface 930 may be connected to each other and perform communication with each other through buses. The bus may be an industry standard architecture (ISA, industry Standard Architecture) bus, a peripheral component interconnect (PCI, peripheral Component) bus, or an extended industry standard architecture (EISA, extended Industry Standard Component) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 910, the processor 920, and the communication interface 930 are integrated on a chip, the memory 910, the processor 920, and the communication interface 930 may communicate with each other through internal interfaces.
An embodiment of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method as in any of the above embodiments.
Embodiments of the present invention provide a computer program product comprising a computer program/instruction which, when executed by a processor, implements a method as described in any of the above embodiments.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. An access method of a simulation software model is characterized by comprising the following steps:
converting input parameters required by the simulation algorithm nodes to obtain an input theme of an operating system;
transmitting the operating system input theme to a simulation algorithm model through an operating system node;
and receiving an operating system output theme from the operating system node, wherein the operating system output theme comprises output parameters returned by the simulation algorithm model aiming at input parameters in the operating system input theme.
2. The method as recited in claim 1, further comprising:
and carrying out reduction calculation on the input parameters required by the simulation algorithm nodes according to the unified measurement unit of the simulation software model.
3. The method according to claim 1, wherein the simulation software model is a dynamics model, and the step of converting input parameters required by the simulation algorithm nodes to obtain an operating system input theme includes:
and converting kinetic input parameters required by the simulation algorithm nodes to obtain the input theme of the operating system, wherein the kinetic input parameters comprise at least one of brake, accelerator, gear and steering wheel angle.
4. The method of claim 3, wherein transmitting the operating system input theme to a simulation algorithm model via an operating system node comprises:
transmitting the operating system input theme to an operating system node packaged based on a dynamics model;
sending, by the operating system node, the operating system input topics including the dynamics input parameters to the dynamics model.
5. The method of claim 4, wherein receiving an operating system output theme from the operating system node comprises:
and receiving the operation system output theme returned by the dynamics model aiming at the dynamics input parameters through an operation system node, wherein the operation system output theme comprises dynamics output parameters corresponding to the dynamics input parameters.
6. An access device for a simulation software model, comprising:
the conversion module is used for converting input parameters required by the simulation algorithm nodes to obtain an input theme of the operating system;
the transmission module is used for transmitting the input theme of the operating system to the simulation algorithm model through the operating system node;
the receiving module is used for receiving an operating system output theme from the operating system node, wherein the operating system output theme comprises output parameters returned by the simulation algorithm model aiming at input parameters in the operating system input theme.
7. The apparatus as recited in claim 6, further comprising:
and the protocol calculation module is used for carrying out reduction calculation on the input parameters required by the simulation algorithm nodes according to the unified measurement unit of the simulation software model.
8. The apparatus of claim 6, wherein the simulation software model is a dynamics model, and wherein the conversion module is further configured to convert dynamics input parameters required by the simulation algorithm node to the operating system input theme, wherein the dynamics input parameters include at least one of a brake, a throttle, a gear, and a steering wheel angle.
9. The apparatus of claim 8, wherein the means for transmitting is further configured to transmit the operating system input theme to an operating system node encapsulated based on a dynamics model; sending, by the operating system node, the operating system input topics including the dynamics input parameters to the dynamics model.
10. The apparatus of claim 9, wherein the receiving module is further configured to receive, via an operating system node, the operating system output theme returned by the dynamics model for the dynamics input parameter, the operating system output theme including a dynamics output parameter corresponding to the dynamics input parameter.
11. An access device for a simulation software model, comprising:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-5.
12. A computer readable storage medium storing a computer program, which when executed by a processor implements the method of any one of claims 1 to 5.
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