CN111385321A - Node response method and system and robot - Google Patents
Node response method and system and robot Download PDFInfo
- Publication number
- CN111385321A CN111385321A CN201811623356.5A CN201811623356A CN111385321A CN 111385321 A CN111385321 A CN 111385321A CN 201811623356 A CN201811623356 A CN 201811623356A CN 111385321 A CN111385321 A CN 111385321A
- Authority
- CN
- China
- Prior art keywords
- node response
- node
- response mode
- topic
- duration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/56—Provisioning of proxy services
- H04L67/567—Integrating service provisioning from a plurality of service providers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/56—Provisioning of proxy services
- H04L67/566—Grouping or aggregating service requests, e.g. for unified processing
Abstract
The invention is applicable to the technical field of robots, and provides a node response method, a node response system and a robot.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a node response method, a node response system and a robot.
Background
In a robot Operating ros (robot Operating system), each node usually performs message response by subscribing to a topic. The response time of each topic is not the same, some can process and return results quickly, but some require some time. Thus, when a node subscribes to multiple topics simultaneously, there is a problem: topic, which expects fast processing and feedback of the processing results, does not respond as fast as expected.
Disclosure of Invention
In view of this, embodiments of the present invention provide a node response method, a node response system, and a robot, so as to solve the problem that an existing robot operating system responds slowly when subscribing to multiple topics at the same time.
A first aspect of an embodiment of the present invention provides a node response method, including:
when the subscription information of the node subscription theme is monitored, acquiring the duration identification of the subscribed theme;
determining a node response mode of the theme according to the duration identification;
and executing corresponding node response processing according to the node response mode.
A second aspect of an embodiment of the present invention provides a node response system, including:
the time length identification acquisition unit is used for acquiring the time length identification of the subscribed topic when the subscription information of the node subscribed topic is monitored;
a node response mode determining unit, configured to determine a node response mode of the theme according to the duration identifier;
and the node response processing unit is used for executing corresponding node response processing according to the node response mode.
A third aspect of embodiments of the present invention provides a robot, including:
the node response method comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the steps of the node response method provided by the first aspect of the embodiment of the invention are realized when the computer program is executed by the processor.
Wherein the computer program comprises:
the time length identification acquisition unit is used for acquiring the time length identification of the subscribed topic when the subscription information of the node subscribed topic is monitored;
a node response mode determining unit, configured to determine a node response mode of the theme according to the duration identifier;
and the node response processing unit is used for executing corresponding node response processing according to the node response mode.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the node response method provided by the first aspect of the embodiments of the present invention.
Wherein the computer program comprises:
the time length identification acquisition unit is used for acquiring the time length identification of the subscribed topic when the subscription information of the node subscribed topic is monitored;
a node response mode determining unit, configured to determine a node response mode of the theme according to the duration identifier;
and the node response processing unit is used for executing corresponding node response processing according to the node response mode.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the method comprises the steps of acquiring a time length identification of a subscribed theme when monitoring subscription information of a node subscription theme, determining a node response mode of the theme according to the time length identification, executing corresponding node response processing according to the node response mode, and performing different node response modes on themes with different time length identifications, so that the node subscribed with a plurality of themes can perform quick response processing on the subscribed themes, the response efficiency of the node is improved, and people experience is better.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating an implementation of a node response method according to an embodiment of the present invention;
fig. 2 is a flowchart of a specific implementation of a method for processing a node response according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a node response system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a robot according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples. Referring to fig. 1, fig. 1 shows an implementation flow of a node response method provided in an embodiment of the present invention, which is detailed as follows:
in step S101, when the subscription information of the topic subscribed by the node is monitored, the duration identifier of the subscribed topic is obtained.
In the embodiment of the present invention, when a certain node in the robot operating system subscribes to topics topic1, topic2, …, and topicN, the robot operating system monitors subscription information related to topics subscribed by the node, where the subscription information includes, but is not limited to, names, numbers, and the like of topics subscribed by the node. After monitoring the subscription information of the node subscription theme, acquiring the duration identifier of the subscribed theme from the subscription information.
Here, the duration indicator includes a first duration indicator and a second duration indicator. Each topic calls a callback function to carry out message response, the processing time lengths required by the callback function are different, and when the processing time length is larger than a preset threshold value, a first time length identifier is given to the topic. Otherwise, giving the second duration identifier to the topic. That is, different topoics do not necessarily have the same time-length identity.
It is understood that the first and second ones of the first duration indicator and the second duration indicator are not meant to be exclusive, but are used to distinguish between two different duration indicators.
In step S102, a node response mode of the topic is determined according to the duration identifier.
In the embodiment of the invention, in order to improve the response efficiency of the node when processing a plurality of topoics simultaneously, the node response modes corresponding to different time length identifiers are different. When the time length identifier is two different time length identifiers, the corresponding node response modes are also two different node response modes, that is, the node response modes include a first node response mode and a second node response mode.
It is understood that the first and second node response modes are not meant to be specific, but are merely used to distinguish two different node response modes.
Optionally, step S102 specifically includes:
when the duration identifier of the subscribed topic is the first duration identifier, determining a first node response mode as a node response mode of the topic;
and when the duration identifier of the subscribed topic is the second duration identifier, determining the second node response mode as the node response mode of the topic.
In step S103, corresponding node response processing is executed according to the node response mode.
Optionally, the first node response mode includes a corresponding node response processing step, specifically refer to fig. 2, where fig. 2 shows a specific implementation flow of a method for processing a node response provided in an embodiment of the present invention, and details are as follows:
in step S201, the subscription information corresponding to the topic is packaged and sent to a pre-created queue.
In the embodiment of the invention, the subscription information corresponding to the subscribed topic is packaged and sent to the pre-created queue through the callback function callback _ tmp. Callback _ tmp here refers to packing topic into a pre-created queue.
Here, the queue is mainly used for storing the subscription information packed by the callback _ tmp, and if a plurality of subscription information packed by the callback _ tmp is stored, a sequence identifier may be added to the subscription information to enable the daemon thread to call the corresponding callback in sequence to perform corresponding node response processing.
After step S201, generating the pre-call notification information is also included. The node is notified by the pre-calling notification information that the subscription information of the next topic can be processed, that is, after the node packages and sends the subscription information corresponding to the topic with the time length being the first time length identifier to the pre-created queue, the node can start to process the subscription information of the next topic without waiting for the node to process the topic with longer processing time length, and because the callback _ tmp only packages the subscription information, the time consumption is very short, so that the response efficiency of the node is improved.
In step S202, when the queue receives the packaged subscription information, the daemon thread reads and identifies the packaged subscription information, and a callback function is called to perform node response processing to implement the subscription of the node to the topic.
In the embodiment of the present invention, when a queue receives packed subscription information, after monitoring the subscription information, a waiting thread that always monitors the information received by the queue reads and identifies the packed subscription information from the queue, and then calls a callback corresponding to topic in the subscription information to perform node response processing, for example, the callback corresponding to topic1 is callback 1.
In the embodiment of the invention, the subscription information of the topic with the processing time length which is more than the preset threshold value and is required for calling the callback function to respond the message is put into the queue through the callback _ tmp, and the callback corresponding to the topic is called to respond the node after the subscription information of the topic is read and identified through the daemon thread.
Optionally, the corresponding node response processing steps included in the second node response mode specifically include:
and directly calling a callback function to perform node response processing so as to realize the subscription of the node to the theme.
In the embodiment of the present invention, when the duration identifier of the topic is the second duration identifier, that is, the processing duration of the callback processing the topic is less than or equal to the preset threshold, since the processing duration is not very long, the callback can be directly called to perform node response processing, so as to implement the subscription of the node to the topic.
In the embodiment of the invention, when the subscription information of the node subscription theme is monitored, the time length identification of the subscribed theme is obtained, the node response mode of the theme is determined according to the time length identification, corresponding node response processing is executed according to the node response mode, and different node response modes are carried out on the themes with different time length identifications, so that the node subscribing a plurality of themes can carry out quick response processing on the subscribed themes, the response efficiency of the node is improved, and people experience is better.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be controlled by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 3 is a schematic diagram of a node response system according to an embodiment of the present invention, which corresponds to the node response method according to the foregoing embodiment, and only shows a part related to the embodiment of the present invention for convenience of description.
Referring to fig. 3, the system includes:
a duration identifier obtaining unit 31, configured to obtain a duration identifier of a subscribed topic when monitoring subscription information of a node subscription topic;
a node response mode determining unit 32, configured to determine a node response mode of the topic according to the duration identifier;
and a node response processing unit 33, configured to execute corresponding node response processing according to the node response mode.
Optionally, the duration identifier includes a first duration identifier and a second duration identifier, and the node response mode includes a first node response mode and a second node response mode.
Optionally, the node response mode determining unit 32 includes:
a first node response mode determining subunit, configured to determine, when the duration identifier of the subscribed topic is the first duration identifier, to use the first node response mode as the node response mode of the topic;
and the second node response mode determining subunit is used for determining that the second node response mode is used as the node response mode of the topic when the duration identifier of the subscribed topic is the second duration identifier.
Optionally, when the node response mode is the first node response mode, the node response processing unit 33 is specifically configured to:
packaging the subscription information corresponding to the theme and sending the subscription information to a pre-established queue;
and when the queue receives the packaged subscription information, reading and identifying the packaged subscription information through a daemon thread, and calling a callback function to perform node response processing so as to subscribe the topic by the node.
Optionally, when the node response mode is the first node response mode, the node response processing unit 33 is specifically configured to:
and directly calling a callback function to perform node response processing so as to realize the subscription of the node to the theme.
In the embodiment of the invention, when the subscription information of the node subscription theme is monitored, the time length identification of the subscribed theme is obtained, the node response mode of the theme is determined according to the time length identification, corresponding node response processing is executed according to the node response mode, and different node response modes are carried out on the themes with different time length identifications, so that the node subscribing a plurality of themes can carry out quick response processing on the subscribed themes, the response efficiency of the node is improved, and people experience is better.
Fig. 4 is a schematic diagram of a terminal according to an embodiment of the present invention. As shown in fig. 4, the robot 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in said memory 41 and executable on said processor 40. The processor 40, when executing the computer program 42, implements the steps in the various node response method embodiments described above, such as the steps 101 to 103 shown in fig. 1. Alternatively, the processor 40, when executing the computer program 42, implements the functions of the units in the system embodiments, such as the functions of the modules 31 to 33 shown in fig. 3.
Illustratively, the computer program 42 may be divided into one or more units, which are stored in the memory 41 and executed by the processor 40 to accomplish the present invention. The one or more units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 42 in the robot 4. For example, the computer program 42 may be divided into a duration identifier obtaining unit 31, a node response mode determining unit 32, and a node response processing unit 33, where the specific functions of each unit are as follows:
a duration identifier obtaining unit 31, configured to obtain a duration identifier of a subscribed topic when monitoring subscription information of a node subscription topic;
a node response mode determining unit 32, configured to determine a node response mode of the topic according to the duration identifier;
and a node response processing unit 33, configured to execute corresponding node response processing according to the node response mode.
Optionally, the duration identifier includes a first duration identifier and a second duration identifier, and the node response mode includes a first node response mode and a second node response mode.
Optionally, the node response mode determining unit 32 includes:
a first node response mode determining subunit, configured to determine, when the duration identifier of the subscribed topic is the first duration identifier, to use the first node response mode as the node response mode of the topic;
and the second node response mode determining subunit is used for determining that the second node response mode is used as the node response mode of the topic when the duration identifier of the subscribed topic is the second duration identifier.
Optionally, when the node response mode is the first node response mode, the node response processing unit 33 is specifically configured to:
packaging the subscription information corresponding to the theme and sending the subscription information to a pre-established queue;
and when the queue receives the packaged subscription information, reading and identifying the packaged subscription information through a daemon thread, and calling a callback function to perform node response processing so as to subscribe the topic by the node.
Optionally, when the node response mode is the first node response mode, the node response processing unit 33 is specifically configured to:
and directly calling a callback function to perform node response processing so as to realize the subscription of the node to the theme.
The robot 4 may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 4 is merely an example of a robot 4 and does not constitute a limitation of robot 4 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the terminal may also include input output devices, network access devices, buses, etc.
The Processor 40 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the robot 4, such as a hard disk or a memory of the robot 4. The memory 41 may also be an external storage device of the robot 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the robot 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the robot 4. The memory 41 is used for storing the computer program and other programs and data required by the terminal. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed system/robot and method may be implemented in other ways. For example, the system/robot embodiments described above are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or system capable of carrying said computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A node response method, the method comprising:
when the subscription information of the node subscription theme is monitored, acquiring the duration identification of the subscribed theme;
determining a node response mode of the theme according to the duration identification;
and executing corresponding node response processing according to the node response mode.
2. The method of claim 1, wherein the duration indicator comprises a first duration indicator and a second duration indicator, and the node response mode comprises a first node response mode and a second node response mode.
3. The method of claim 2, wherein said step of determining a node response mode for said topic based on said duration indicator comprises:
when the duration identifier of the subscribed topic is the first duration identifier, determining a first node response mode as a node response mode of the topic;
and when the duration identifier of the subscribed topic is the second duration identifier, determining the second node response mode as the node response mode of the topic.
4. The method according to claim 2 or 3, wherein, when the node response mode is the first node response mode, the step of performing the corresponding node response processing according to the node response mode specifically includes:
packaging the subscription information corresponding to the theme and sending the subscription information to a pre-established queue;
and when the queue receives the packaged subscription information, reading and identifying the packaged subscription information through a daemon thread, and calling a callback function to perform node response processing so as to subscribe the topic by the node.
5. The method according to claim 2 or 3, wherein, when the node response mode is a second node response mode, the step of performing the corresponding node response processing according to the node response mode specifically includes:
and directly calling a callback function to perform node response processing so as to realize the subscription of the node to the theme.
6. A node response system, the system comprising:
the time length identification acquisition unit is used for acquiring the time length identification of the subscribed topic when the subscription information of the node subscribed topic is monitored;
a node response mode determining unit, configured to determine a node response mode of the theme according to the duration identifier;
and the node response processing unit is used for executing corresponding node response processing according to the node response mode.
7. The system of claim 6, wherein the duration indicator comprises a first duration indicator and a second duration indicator, and the node response mode comprises a first node response mode and a second node response mode.
8. The system of claim 7, wherein the node response mode determining unit comprises:
a first node response mode determining subunit, configured to determine, when the duration identifier of the subscribed topic is the first duration identifier, to use the first node response mode as the node response mode of the topic;
and the second node response mode determining subunit is used for determining that the second node response mode is used as the node response mode of the topic when the duration identifier of the subscribed topic is the second duration identifier.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the node response method according to any of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the node response method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811623356.5A CN111385321B (en) | 2018-12-28 | 2018-12-28 | Node response method and system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811623356.5A CN111385321B (en) | 2018-12-28 | 2018-12-28 | Node response method and system and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111385321A true CN111385321A (en) | 2020-07-07 |
| CN111385321B CN111385321B (en) | 2023-03-24 |
Family
ID=71216328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811623356.5A Active CN111385321B (en) | 2018-12-28 | 2018-12-28 | Node response method and system and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111385321B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101251860A (en) * | 2008-03-10 | 2008-08-27 | 北京航空航天大学 | Web information publish administrating system and method |
| US7552446B1 (en) * | 2003-12-31 | 2009-06-23 | Emc Corporation | Methods and apparatus for a timer event service infrastructure |
| CN103024724A (en) * | 2011-09-22 | 2013-04-03 | 北大方正集团有限公司 | Information processing system and method, server and mobile terminal |
| CN104468339A (en) * | 2014-12-30 | 2015-03-25 | 合一网络技术(北京)有限公司 | Subscribing message managing method and system |
| US9401952B1 (en) * | 2013-03-13 | 2016-07-26 | Shortel, Inc. | Managing presence state |
| CN107197015A (en) * | 2017-05-23 | 2017-09-22 | 阿里巴巴集团控股有限公司 | A kind of message treatment method and device based on Message Queuing system |
| US20170277616A1 (en) * | 2016-03-25 | 2017-09-28 | Linkedin Corporation | Replay-suitable trace recording by service container |
| US20180074878A1 (en) * | 2016-09-14 | 2018-03-15 | Beijing Baidu Netcom Science And Technology Co., Ltd. | Method and apparatus for monitoring robot operating system |
| US20180097740A1 (en) * | 2016-10-03 | 2018-04-05 | Cisco Technology, Inc. | Estimating time duration of bandwidth availability |
| CN108500978A (en) * | 2018-03-08 | 2018-09-07 | 歌尔股份有限公司 | A kind of robot controller, method and robot |
| CN108667721A (en) * | 2018-05-16 | 2018-10-16 | 平安科技（深圳）有限公司 | Subscribe to report form generation method, device, computer equipment and storage medium |
| CN108927808A (en) * | 2018-08-15 | 2018-12-04 | 京东方科技集团股份有限公司 | A kind of communication means, authentication method and the device of ROS node |
-
2018
- 2018-12-28 CN CN201811623356.5A patent/CN111385321B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7552446B1 (en) * | 2003-12-31 | 2009-06-23 | Emc Corporation | Methods and apparatus for a timer event service infrastructure |
| CN101251860A (en) * | 2008-03-10 | 2008-08-27 | 北京航空航天大学 | Web information publish administrating system and method |
| CN103024724A (en) * | 2011-09-22 | 2013-04-03 | 北大方正集团有限公司 | Information processing system and method, server and mobile terminal |
| US9401952B1 (en) * | 2013-03-13 | 2016-07-26 | Shortel, Inc. | Managing presence state |
| CN104468339A (en) * | 2014-12-30 | 2015-03-25 | 合一网络技术(北京)有限公司 | Subscribing message managing method and system |
| US20170277616A1 (en) * | 2016-03-25 | 2017-09-28 | Linkedin Corporation | Replay-suitable trace recording by service container |
| US20180074878A1 (en) * | 2016-09-14 | 2018-03-15 | Beijing Baidu Netcom Science And Technology Co., Ltd. | Method and apparatus for monitoring robot operating system |
| US20180097740A1 (en) * | 2016-10-03 | 2018-04-05 | Cisco Technology, Inc. | Estimating time duration of bandwidth availability |
| CN107197015A (en) * | 2017-05-23 | 2017-09-22 | 阿里巴巴集团控股有限公司 | A kind of message treatment method and device based on Message Queuing system |
| CN108500978A (en) * | 2018-03-08 | 2018-09-07 | 歌尔股份有限公司 | A kind of robot controller, method and robot |
| CN108667721A (en) * | 2018-05-16 | 2018-10-16 | 平安科技（深圳）有限公司 | Subscribe to report form generation method, device, computer equipment and storage medium |
| CN108927808A (en) * | 2018-08-15 | 2018-12-04 | 京东方科技集团股份有限公司 | A kind of communication means, authentication method and the device of ROS node |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111385321B (en) | 2023-03-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107589990B (en) | Data communication method and system based on thread pool | |
| CN109391512A (en) | A kind of service issuing method, device and electronic equipment | |
| CN104917817A (en) | Client side and data communication method | |
| CN106874020B (en) | Method and device for starting plug-in | |
| CN111385321B (en) | Node response method and system and robot | |
| CN111376255B (en) | Robot data acquisition method and device and terminal equipment | |
| CN109165135B (en) | Data management method, computer readable storage medium and terminal equipment | |
| CN114816583B (en) | Flink-based data automatic processing method and device and electronic equipment | |
| CN111444017A (en) | Multimedia data processing method, device and system, electronic equipment and storage medium | |
| CN114518917B (en) | Algorithm module scheduling method, algorithm module scheduling device and readable storage medium | |
| CN116016653A (en) | Information pushing method and device of blockchain, electronic equipment and storage medium | |
| CN113849160B (en) | Dynamic migration method and device for compiling tasks, electronic equipment and storage medium | |
| CN114327259A (en) | Flash memory channel controller operation method, device, equipment and storage medium | |
| CN112084099B (en) | Method, device, equipment and storage medium for acquiring alarm state value based on host | |
| CN110740062B (en) | Breakpoint resume method and device | |
| CN114880013A (en) | Method and device for processing configuration information of business process | |
| CN109033189B (en) | Compression method and device of link structure log, server and readable storage medium | |
| US20150379548A1 (en) | Method and System for Data Processing | |
| CN112416534A (en) | Agent-based task management method and device | |
| CN113656106B (en) | Plug-in loading method, device, electronic equipment and computer readable storage medium | |
| CN112799738B (en) | Configuration file importing method, device and equipment | |
| CN110968370B (en) | Data processing method and device | |
| CN112965698B (en) | Automatic driving software architecture platform, construction method and construction device | |
| CN110968397B (en) | Analysis method and device for virtual machine capacity management | |
| CN110020268B (en) | Page returning method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |