CN111221659A - Subscription performance tracking system of multi-robot operating system environment - Google Patents
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Abstract
The invention discloses a subscription performance tracking system of a multi-robot operating system environment, which is used for solving the problem that the prior art cannot effectively track subscription performance among multiple ROS from a system layer. In the embodiment of the application, in the process of issuing the message by the issuing node and acquiring the message by the subscribing node, the node and the called middleware API both record the identification of the created span in the tracking context, so that a complete tracking chain can be formed, the processing duration of each node and each middleware span is recorded, and a data basis can be provided for performance analysis.
Description
Technical Field
The invention relates to the field of robots, in particular to a subscription performance tracking system of a multi-Robot Operating System (ROS) environment.
Background
In the prior art, many areas of artificial intelligence have been developed based on ROS. The ROS is a distributed multi-Node (Node) communication system, and message communication is realized among nodes in a subscription mode. In a single ROS operating environment, by diagnosing the abnormity in message transmission and operation and processing the abnormity, the subscription performance can be effectively tracked, analyzed and solved. However, in a multi-ROS operating environment, each ROS operating environment includes multiple nodes, and multiple nodes in different operating environments may subscribe to messages published by nodes in another operating environment. Therefore, a plurality of nodes (nodes) in a plurality of ROS operating environments all participate in the transmission and operation of messages, and when a certain Node is abnormal, the nodes cannot be effectively tracked, positioned and analyzed from the system level.
Disclosure of Invention
In view of this, the present invention provides a subscription performance tracking system in a multi-ROS environment, so as to solve the problem that the prior art cannot effectively track the subscription performance between multiple ROS from a system layer.
According to one aspect of the application, a subscription performance tracking system of a multi-ROS environment is provided, which comprises a publishing side and a subscribing side which are positioned in different ROS environments, a tracking creation Application Program Interface (API) and a tracking statistics API; wherein the content of the first and second substances,
on the issuing side: the publishing node is used for calling a trace creation API to create a root Span and a trace context before publishing the message, and starting the root Span, wherein the trace context comprises: tracking identification and identification of root span; passing the trace context to a called middleware API; after the message publishing processing is finished, finishing the root span and recording the running time of the root span;
the middleware API is used for responding to the upper layer call, calling the tracking creation API to create the sub-span according to the acquired tracking context before processing corresponding to the call, adding the identification of the created sub-span in the acquired tracking context, and starting the sub-span; under the condition that the middleware API is nested to call the next-layer middleware API, transmitting the modified tracking context to the called next-layer middleware API; under the condition that the middleware API is the last layer of middleware API of nested calling, transmitting the modified tracking context to a serialization module; after the processing of the API of the middleware is finished, ending the sub-span and recording the running time of the sub-span;
the serialization module is used for carrying out serialization processing on the received tracking context and sending the serialized tracking context to the serialization module of the subscription side;
on the subscription side: the serialization module is used for deserializing the received tracking context and transmitting the deserialized tracking context to a middleware API to be called of the subscription node;
the middleware API is used for responding to the upper layer call, calling the tracking creation API to create the sub-span according to the received tracking context before processing corresponding to the call, adding the identification of the created sub-span in the tracking context, and starting the sub-span; under the condition that the middleware API is nested to call the next-layer middleware API, transmitting the modified tracking context to the called next-layer middleware API; after the API processing is finished, ending the sub-span and recording the running time of the sub-span;
and the tracking statistics API reads the tracking context and the span running time in each node and each middleware API, and performs tracking analysis on the read data.
In the process of issuing the message by the issuing node and acquiring the message by the subscribing node, each node and the called middleware API record the identifier of the created span in the tracking context, so that a complete tracking chain can be formed, the processing duration of each node and each middleware span is recorded, and a data basis can be provided for performance analysis. Therefore, the technical scheme provided by the embodiment of the application can solve the problem that the subscription performance between multiple ROS cannot be effectively tracked from the system layer in the prior art.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a block diagram of a subscription performance tracking system for a multi-ROS environment according to an embodiment of the present application;
FIG. 2 is a flow chart of a process for performance tracking by the publishing node of FIG. 1;
FIG. 3 is a flowchart of the process for performance tracking by the middleware API on the distribution side of FIG. 1;
FIG. 4 is a schematic diagram of a middleware API of the publishing node nested call of FIG. 1;
FIG. 5 is a schematic diagram of a middleware API nested for invocation by a subscribing node in FIG. 1;
FIG. 6 is a flowchart illustrating a process for performing performance tracking by the middleware API on the subscriber side in FIG. 1;
FIG. 7 is a diagram of an established tracking context in an exemplary embodiment;
FIG. 8 is a schematic diagram of a trace chain established in some embodiments;
fig. 9 is a schematic diagram of a trace chain established in further embodiments.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Aiming at the problem that the prior art cannot effectively track the message subscription among a plurality of ROS environments, the embodiment of the application provides a subscription performance tracking system of a plurality of ROS environments so as to solve the problem. In the technical scheme provided by the embodiment of the application, a publishing node on a publishing side creates a root span and a tracking context, writes an identifier of the root span in the tracking context, and transmits the tracking context to a called middleware API; after obtaining the trace context, the middleware API creates a subspan, writes the identification of the subspan in the trace context. And the serialization module at the publishing side serializes the tracking context and sends the serialized tracking context to the serialization module at the subscribing side. A serialization module at a subscription side transmits serialization to the received tracking context and then transmits the serialization to a middleware API to be called of a subscription node; and the middleware API of the subscription side responds to the call of the subscription node for acquiring the message, creates the subspan and writes the identification of the subspan in the tracking context. And moreover, all the nodes and all the middleware APIs record the running time of span after the processing is finished.
In the process of issuing the message by the issuing node and acquiring the message by the subscribing node, each node and the called middleware API record the identifier of the created span in the tracking context, so that a complete tracking chain can be formed, the processing duration of each node and each middleware span is recorded, and a data basis can be provided for performance analysis. Therefore, the technical scheme provided by the embodiment of the application can solve the problem that the subscription performance between multiple ROS cannot be effectively tracked from the system layer in the prior art.
The foregoing is the core idea of the present invention, and in order to make the technical solutions in the embodiments of the present invention better understood and make the above objects, features and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention are further described in detail with reference to the accompanying drawings.
Fig. 1 shows a subscription performance tracking system of a multi-ROS environment provided by an embodiment of the present application, which includes a tracking creation API 31 and a tracking statistics API 32 provided by a distribution tracking system 3, located at a publishing side 1, a subscribing side 2, where the publishing side 1 and the subscribing side 2 are respectively located in different ROS environments, for example, the publishing side is located in ROS-1, and the subscribing side is located in ROS-2. The publishing side 1 includes a publishing node 11, a middleware API 12 and a serialization module 13. The subscription side 2 comprises a middleware API 22 and a serialization module 23. In the present application, the operations of the subscribing node 21 are not tracked, and only the operations of the middleware API 22 called by the subscribing node 21 are tracked.
In the publishing side 1, a publishing Node (publishing Node)11 creates a Root span (Root span) and a tracking Context (Context), writes the identifier of the Root span in the tracking Context, and transmits the tracking Context to a called middleware API 12; the middleware API 12 creates a sub-span, writes the identity of the sub-span in the trace context. Thus, a trace chain of message distribution is established on the distribution side. And the publishing node 11 and the middleware API 12 both establish and start span before the start of processing, end span after the end of processing, record the running duration of span, and can record the running duration of processing. According to the tracing chain and span data of the publishing side, analysis basis can be provided for the publishing side performance of the tracing message subscription.
The serialization module 13 is used to send the tracking context to the subscription side 2.
The operation of the distribution side 1 will be described in detail below.
Fig. 2 is a flowchart illustrating a process of performing performance tracking by a publishing node on a publishing side, including:
specifically, the publishing node may transfer the trace context as a parameter to the middleware API in a function calling the middleware API;
and step 204, after the message publishing processing is finished, finishing the root span and recording the running time of the root span.
Typically, a publishing node nests and calls a plurality of middleware APIs when performing message publishing processing. Fig. 3 is a flowchart illustrating a process of performing performance tracking by the middleware API on the publishing side, including:
the middleware API can transmit the tracking context as a parameter to the next-layer middleware API in a function for calling the nested next-layer middleware API;
and step 305, after the processing of the middleware API is finished, ending the sub-span and recording the running time of the sub-span.
On the publishing side, in the process of publishing a message, which is usually performed by a publishing node, the middleware API of the nested call includes a C + + client library (rclcpp), an ROS client library (rcl) and ROS middleware software (rmw), and fig. 4 shows a schematic diagram of the middleware API of the nested call of the publishing node. These middleware APIs perform different processes when performing the process shown in fig. 3. rclcpp will perform steps 301-303 and step 305 in response to the issuing node invoking message issuing processing. rcl will perform steps 301-303 and 305 in response to the invocation of rclcpp. rmw will execute steps 301-302 and steps 304-305 in response to the call of rcl.
Through the above process, each middleware API of the publishing node and the call creates span inside the node and inside the middleware API through the call trace creation API, and establishes a trace chain on the publishing side through passing the trace context.
Further, the serialization module 13 on the publishing side performs serialization processing on the received tracking context and sends the serialized tracking context to the serialization module 23 on the subscribing side.
On the subscription side, the serialization module 23 deserializes the received trace context, and transfers the deserialized trace context to the middleware API to be called by the subscription node.
Specifically, the serialization module 23 transfers the deserialized trace context to a callback function (callback), and the callback function transfers the trace context to the middleware API 22 to be called by the subscribing Node when notifying the subscribing Node (Subscriber Node) to acquire the subscribed message. Generally, in the prior art, a serialization module performs serialization processing on data and then sends the data to a deserialization module; and after the deserialization module performs deserialization processing on the data, the deserialization processing is transmitted back to an application node, such as a subscription node, through a middleware API. According to the processing procedure, the processing procedure of the subscribing node for acquiring the message cannot be tracked, namely, the processing condition of the middleware API in the process of executing the message acquisition processing by the subscribing node cannot be tracked. Therefore, in the present application, after the deserialization module 23 performs deserialization processing on the trace context, the trace context is transferred to the middleware API 22 to be called by the subscribing node through the callback function.
On the subscription side, usually, the subscription node will call the middleware API 22 in response to the notification of the callback function during the process of acquiring the published message, where the called middleware API 22 includes a plurality of nested middleware APIs, as shown in fig. 5, the nested called middleware APIs include a C + + client library (rclcpp), an ROS client library (rcl), and an ROS middleware software (rmw). In this application, the callback function passes the tracking context to the rclcpp to be called by the subscribing node.
In the subscription side 2, the subscribing node will respond to the notification of the callback function to acquire the message published by the publishing node. The middleware API 22, in response to the upper layer call, builds a sub-span, writing the identity of the sub-span to the tracking context. Thus, a tracing chain of message subscription is established on the subscription side. And the middleware API 22 establishes and starts span before executing corresponding processing in response to the call, ends span after the processing is finished, records the running time length of span, and can record the running time length of processing. According to the tracking chain and span data of the subscription side, analysis basis can be provided for the subscription side performance of the tracking message subscription.
Fig. 6 is a flowchart illustrating a process of performing performance tracking by the middleware API on the subscription side, including:
601, the middleware API is used for responding to the upper layer call, calling the tracking creation API to create the sub-span according to the received tracking context before processing corresponding to the call, adding the identification of the created sub-span in the tracking context, and starting the sub-span;
and step 604, after the processing of the API is finished, ending the sub-span and recording the running time of the sub-span.
Referring to fig. 5, a schematic diagram of a subscription node nesting call middleware API that performs different processes when performing the process shown in fig. 6 is shown. rclcpp will respond to the call of the subscribing node to perform message acquisition processing, and execute steps 601-603 and step 604. rcl will perform steps 601-603 and 604 in response to the invocation of rclcpp. rmw will perform steps 601-602 and step 604 in response to the call of rcl.
Through the above processing, each middleware API called by the subscription node on the subscription side internally creates a span, and establishes a tracking chain on the subscription side through passing a tracking context.
In an exemplary embodiment of the present application, FIG. 7 illustrates a tracking context for message subscription establishment between a publishing node and a subscribing node located in different ROS environments. In fig. 7, the publishing side includes a publishing node 71, middleware APIs (including rclcpp 72, rcl 73, rmw 74) for publishing node nested calls, and a serialization module 75, and the subscribing side includes a subscribing node 81, middleware APIs (including rclcpp82, rcl 83, rmw 84) for subscribing node nested calls, and a serialization module 85. On the subscription side in fig. 7, the communication process (1) from the serialization module 85 to rclcpp82, rcl 83, rmw84 in turn is a process of transferring the tracking context, and the communication process (2) from the subscription node 81 to rclcpp82, rcl 83, rmw84 in turn is a process of acquiring the subscribed message from the subscription node 81.
The trace context (context) established by the publishing node 71 includes: a Trace identification (Trace ID) and an identification of a Root span (Root span ID) established by the publishing node 71, such as Trace ID: t-1, Root Span ID: r-1. The middleware API on the issuing side establishes a subspan, and writes the identifier of the established subspan in the acquired tracking context, for example: the sub-span of rclcpp 72 is identified as c-1, the sub-span of rcl 73 is c-2, and the sub-span of rmw 74 is identified as c-3. On the subscription side, the middleware API builds a subspan and writes the identity of the built subspan in the obtained tracking context, for example: the sub-span of rclcpp82 is labeled c-4, the sub-span of rcl 83 is labeled c-5, and the sub-span of rmw84 is labeled c-6. Therefore, according to the technical scheme of the application, a tracking chain can be established in the whole process of message subscription.
In some embodiments, in the case where multiple subscribing nodes in multiple ROS environments subscribe to messages published by a publishing node, the subscribing side in each ROS environment establishes a tracking chain for the subscribing side. The tracing chain established by the publishing side and the tracing chains established by the plurality of subscribing sides form a tree-shaped tracing chain, which may include a tracing chain P of the publishing side and a tracing chain S-1, … …, S-n of the plurality of subscribing sides, as shown in fig. 8.
In some other embodiments, multiple subscribing nodes may exist in the same ROS system, and all of the multiple subscribing nodes call the same middleware API, that is, the callback function transfers the tracking context to the middleware API when notifying multiple subscribing nodes to acquire a message, and the middleware API to be called by the subscribing nodes (e.g., rclcpp) respectively establishes subspan corresponding to each subscribing node according to the call from at least one subscribing node to the message for acquiring a subscription; nesting called middleware APIs (such as rcl and rmw), acquiring the tracking context transferred by the API at the upper layer, and establishing a sub-span corresponding to each subscription node in at least one subscription node.
Based on the example shown in FIG. 8, as shown in FIG. 9, on the subscription side of S-2, i.e., in one ROS environment, there are multiple subscribing nodes subscribing to the message published by the publishing side P. rclcpp82 establishes corresponding subscription-side tracking chains S-2-1, … …, S-2-n for these multiple subscribing nodes, respectively.
Based on the above processing, the trace statistics API 32 in the distributed trace system reads the trace context and span running time length in each node and each middleware API in the multiple ROS systems, and performs trace analysis on the read data. Therefore, the working performance of each node and the middleware API in the message subscription process can be determined and evaluated, and the fault can be conveniently positioned, analyzed and repaired.
In some embodiments, the trace statistics API 32 may also send the read data to a cloud server or cloud storage.
In other embodiments, the trace statistics API 32 may further include a proxy API 321 and a cloud API 322. The agent API 321 is configured to read the tracking context and the span running time in each node and each middleware API, and send the read data to the cloud API 322; the cloud API 322 is used for performing trace analysis on the received trace context and span runtime.
In the process of issuing the message by the issuing node and acquiring the message by the subscribing node, each node and the called middleware API record the identifier of the created span in the tracking context, so that a complete tracking chain can be formed, the processing duration of each node and each middleware span is recorded, and a data basis can be provided for performance analysis. Therefore, the technical scheme provided by the embodiment of the application can solve the problem that the subscription performance between multiple ROS cannot be effectively tracked from the system layer in the prior art.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. A subscription performance tracking system of a multi-robot operating system ROS environment is characterized by comprising a publishing side and a subscribing side which are positioned in different ROS environments, a tracking creation application program interface API and a tracking statistics API; wherein the content of the first and second substances,
on the issuing side: the publishing node is used for calling a trace creation API to create a root Span and a trace context before publishing the message, and starting the root Span, wherein the trace context comprises: tracking identification and identification of root span; passing the trace context to a called middleware API; after the message publishing processing is finished, finishing the root span and recording the running time of the root span;
the middleware API is used for responding to the upper layer call, calling the tracking creation API to create the sub-span according to the acquired tracking context before processing corresponding to the call, adding the identification of the created sub-span in the acquired tracking context, and starting the sub-span; under the condition that the middleware API is nested to call the next-layer middleware API, transmitting the modified tracking context to the called next-layer middleware API; under the condition that the middleware API is the last layer of middleware API of nested calling, transmitting the modified tracking context to a serialization module; after the processing of the API of the middleware is finished, ending the sub-span and recording the running time of the sub-span;
the serialization module is used for carrying out serialization processing on the received tracking context and sending the serialized tracking context to the serialization module of the subscription side;
on the subscription side: the serialization module is used for deserializing the received tracking context and transmitting the deserialized tracking context to a middleware API to be called of the subscription node;
the middleware API is used for responding to the upper layer call, calling the tracking creation API to create the sub-span according to the received tracking context before processing corresponding to the call, adding the identification of the created sub-span in the tracking context, and starting the sub-span; under the condition that the middleware API is nested to call the next-layer middleware API, transmitting the modified tracking context to the called next-layer middleware API; after the API processing is finished, ending the sub-span and recording the running time of the sub-span;
and the tracking statistics API reads the tracking context and the span running time in each node and each middleware API, and performs tracking analysis on the read data.
2. The system according to claim 1, wherein the serialization module at the subscription side passes the deserialized trace context to a middleware API to be called by the subscription node, and includes:
and the serialization module at the subscription side transmits the deserialized tracking context to the callback function, and the callback function transmits the tracking context to a middleware API to be called by the subscription node when notifying the subscription node of acquiring the subscribed information.
3. The system of claim 1, wherein the subscription-side middleware API creates a subspan comprising:
a middleware API to be called by the subscription node respectively establishes a subspan corresponding to each subscription node according to the calling of the message for obtaining subscription from at least one subscription node;
nesting the called middleware API, acquiring the tracking context transmitted by the API of the previous layer, and establishing a subspan corresponding to each subscription node in at least one subscription node.
4. The system of claim 1, wherein the middleware APIs on the publish side and the subscribe side comprise, according to the order of the nested calls: c + + client library, ROS client library and ROS middleware software.
5. The system of claim 1, wherein the trace creation API and the trace statistics API are APIs provided by a distributed trace system.
6. The system of claim 1, wherein the trace statistics API is further configured to send the read data to a cloud.
7. The system of claim 1, wherein the trace statistics API comprises a proxy API and a cloud API;
the agent end API is used for reading tracking context and span running time in each node and each middleware API, and sending the read data to the cloud end API;
and the cloud API is used for tracking and analyzing the received tracking context and the span running time.
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