CN111726201A - AIRT-ROS virtual network card packet loss solution method - Google Patents
AIRT-ROS virtual network card packet loss solution method Download PDFInfo
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- CN111726201A CN111726201A CN202010542160.4A CN202010542160A CN111726201A CN 111726201 A CN111726201 A CN 111726201A CN 202010542160 A CN202010542160 A CN 202010542160A CN 111726201 A CN111726201 A CN 111726201A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0002—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission rate
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/20—Traffic policing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/30—Flow control; Congestion control in combination with information about buffer occupancy at either end or at transit nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/36—Flow control; Congestion control by determining packet size, e.g. maximum transfer unit [MTU]
Abstract
The invention discloses a solution for packet loss of an AIRT-ROS virtual network card, which comprises the following steps: when an application program sends a data packet to a virtual network card through an AIRT-ROS, when a receiving queue of the virtual network card exceeds a maximum transmission unit value, a flag bit is set and upper-layer application is informed to slow down the sending speed; when the virtual network card sends a data packet to an application program through the AIRT-ROS and a sending queue of the virtual network card exceeds a maximum transmission unit value, setting a flag bit and informing an upper layer application to slow down the sending speed; the invention has the advantages that: by setting the flag bit and informing the upper layer application or the remote application to adjust the sending speed, the problem of packet loss caused by inconsistent sending speeds of the upper layer application and the virtual network card is relieved.
Description
Technical Field
The invention relates to the field of packet loss of a virtual network card, in particular to a solution for packet loss of an AIRT-ROS virtual network card.
Background
At present, most cases of data packet loss of the virtual network card can be divided into the following categories: the host Connection type failure includes disconnection of a host from virtual Connection, the host cannot be directly connected through VIC (virtual internet Connection) or SSH (Secure Shell), and the virtual machine network after failover/failback is lost. Packet loss caused by kernel or drive type faults in the vSwitch switching process includes blocking of part of virtual machine networks or blocking of networks including all virtual machines and host management ports. The virtual network card packet loss scene may include: when the virtual network card fails, the upper layer application still normally sends a message without knowing the state of the virtual network card, so that packet loss is caused; after the host computer is in fault, the upper layer application defaults that the virtual network card is already sent, and whether the data packet is actually sent successfully or not cannot be detected; the transmission rate of the upper layer application message exceeds the transmission rate driven by the virtual network card, the virtual network card reports the packet loss of the operating system, the operating system informs the upper layer application that the packet loss exists, the upper layer application performs corresponding adjustment, and partial message loss is caused in the process of transmitting the packet loss message by the whole message chain.
By analyzing the above phenomena, the main reasons for the packet loss of the virtual network card are that the data packet is lost due to the failure of the virtual network card or the host, and the forwarding capability of the virtual network card cannot meet the rate of sending and receiving the data packet by the upper application program, which is essentially that the rates of sending and receiving the data packet by the virtual network card and the upper application program are asynchronous.
Disclosure of Invention
The invention aims to solve the technical problem that packet loss is caused by asynchronous data packet sending and receiving rates of a virtual network card and an upper application program in the prior art.
The invention solves the technical problems through the following technical scheme: a solution to packet loss of an AIRT-ROS virtual network card is provided, which comprises:
when an application program sends a data packet to a virtual network card through an AIRT-ROS (Artificial Intelligent Real Time-robot operating System), when a receiving queue of the virtual network card exceeds a maximum transmission unit value, a flag bit is set and upper-layer application is informed to slow down the sending speed; when the virtual network card sends a data packet to an application program through the AIRT-ROS and a sending queue of the virtual network card exceeds a maximum transmission unit value, a flag bit is set and upper-layer application is informed to slow down the sending speed.
Preferably, the AIRT-ROS is a multi-core dual operating system based on an AMP architecture, one of the operating systems is Linux, the other operating system is an RTERS real-time operating system, the AIRT-ROS includes a Linux kernel and an RTERS kernel, the Linux kernel includes a robot operating system, a first hypertext transfer protocol, a file transfer protocol, and a first local advanced programmable interrupt controller, the RTERS kernel includes a robot real-time operating system, a second hypertext transfer protocol, and a second local advanced programmable interrupt controller, the Linux kernel is connected to the RTERS kernel through an IPI interface, the robot operating system is virtually connected to the robot real-time operating system through a virtual switch, the first local advanced programmable interrupt controller is connected to a non-real-time device and a virtual network card through a first input/output advanced programmable interrupt controller, the second local advanced programmable interrupt controller is connected with the real-time equipment through a second input/output advanced programmable interrupt controller, and the virtual network card sends a data packet to the application program through the AIRT-ROS or receives the data packet sent by the application program through the AIRT-ROS.
Preferably, the driver of the virtual network card is divided into four layers, namely a network protocol interface layer, a network device interface layer, a network driver interface layer, and a device media layer, and the state of the receiving queue or the state of the sending queue of the virtual network card is judged in advance by setting a hook function in the network protocol interface layer and the network driver interface layer, so as to inform an upper application program to control the message transmission rate.
Compared with the prior art, the invention has the following advantages:
(1) in order to solve the problem of packet loss of the virtual network card, the invention provides an AIRT-ROS virtual network card packet loss solution, hook functions are set in a network protocol interface layer and a network drive interface layer, the state of a transmission queue or the state of a receiving queue is judged in advance, a flag bit is set, an upper layer application or a remote end application is informed to adjust the transmission speed, and the packet loss caused by the inconsistency of the transmission speeds of the upper layer application and the virtual network card is relieved.
(2) Providing a multi-core dual-operating system AIRT-ROS based on an AMP framework, wherein one operating system of the AIRT-ROS is Linux, the other operating system is an RTERS real-time operating system, and the Linux and the RTERS operating systems respectively execute a non-real-time process and a real-time process; responding to non-real-time equipment interruption and real-time equipment interruption respectively; supporting communication between a non-real-time process and a real-time process; lots of Linux drivers are integrated, and the workload of driving general external equipment is greatly reduced.
Drawings
Fig. 1 is an architecture diagram of a virtual network card of an AIRT-ROS virtual network card packet loss solution according to an embodiment of the present invention;
fig. 2 is a flowchart of a virtual network card receiving message driver segment of the method for solving the packet loss of the AIRT-ROS virtual network card according to the embodiment of the present invention;
fig. 3 is a flowchart of a protocol stack stage of receiving a message by a virtual network interface card of the solution for packet loss of the AIRT-ROS virtual network interface card according to the embodiment of the present invention;
fig. 4 is a flowchart of a virtual network card transmitting data packet of the AIRT-ROS virtual network card packet loss solution according to the embodiment of the present invention;
fig. 5 is an architecture diagram of AIRT-ROS according to an embodiment of the present invention, for solving a packet loss problem of an AIRT-ROS virtual network card.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
The solution to the packet loss of the AIRT-ROS virtual network card of the present invention includes a solution to the packet loss during the process of sending a data packet by the virtual network card and a solution to the packet loss during the process of receiving a data packet by the virtual network card, which are described in detail by examples below.
A solution to packet loss of an AIRT-ROS virtual network card is provided, which comprises:
when an application program sends a data packet to a virtual network card through an AIRT-ROS (Artificial Intelligent Real Time-robot operating System), when a receiving queue of the virtual network card exceeds a maximum transmission unit value, a flag bit is set and upper-layer application is informed to slow down the sending speed; specifically, as shown in fig. 1, the configuration diagram of the virtual network card is shown, the driver of the virtual network card is divided into four layers, that is, a network protocol interface layer, a network device interface layer, a network driver interface layer, and a device media layer, and by setting a hook function in the network protocol interface layer and the network driver interface layer, the state of the receive queue of the virtual network card is judged in advance, and an upper application program is notified to control the transmission message rate. According to the flow direction of the network message, a hook function is executed before the message is routed, the hook function is executed before the message is turned to another network interface, the hook function is executed before the message flows out, the hook function is executed after the message flowing into the local is routed, and the hook function is executed before the local message flows out, so that whether the receiving and sending rates of the virtual network card can meet the requirements of an upper-layer application program or not is judged in advance in the whole data transmission process. The hook function will return one of the following after processing: and continuing normal message processing, discarding the message, processing the message by the hook function, not continuing to transmit, enqueuing the message, generally handing the message to a user program, and calling the hook function again, so as to inform the AIRT-ROS of the processing result of the core code, so as to take corresponding action on the message.
The flow of the virtual network card receiving the data packet is divided into two stages, the first stage receives the message driver segment flow, and the second stage receives the message protocol stack stage flow. First, a procedure of receiving a message driver segment is described. As shown in fig. 2, for a flow chart of a virtual network card receiving message driver segment, when a data packet arrives, an interrupt service program is started, a receiving function, that is, AIRT _ rx (), is executed, a buffering data structure, that is, a skb structure, is generated by distribution, then a common message receiving function is called, the buffering data structure is placed in a cpu network data queue, soft interrupt is set, a hook function is called to determine whether a message rate exceeds a maximum transmission unit value, a flag bit is set, and cpu scheduling is waited.
The second stage receives the message protocol stack stage flow. As shown in fig. 3, as a protocol stack stage flow chart for receiving messages by a virtual network card, a scheduler processes all protocol messages according to a registered network message interrupt behavior, sends the messages to an IP layer for processing, executes an AIRT _ HOOK (IP _ rcv _ finish) HOOK function to judge the message rate after validity check, sets a flag bit, judges whether the messages are multicast messages according to routing, calls a multicast forwarding function if the messages are multicast, calls a unicast forwarding function if the messages are unicast, collects IP fragments according to IP message serial numbers, calls an IP _ local _ delivery _ finish HOOK function, reconstructs a buffer data structure, strips off an IP header, sends cpu processing, restarts receiving messages, and exits after receiving all messages.
When the virtual network card sends a data packet to an application program through the AIRT-ROS and a sending queue of the virtual network card exceeds a maximum transmission unit value, a flag bit is set and upper-layer application is informed to slow down the sending speed. As shown in fig. 1, the driver of the virtual network card is divided into four layers, i.e., a network protocol interface layer, a network device interface layer, a network driver interface layer, and a device media layer, and the state of the transmission queue of the virtual network card is determined in advance by setting a hook function in the network protocol interface layer and the network driver interface layer. The setting and executing process of the hook function are the same as above, and are not described herein again.
As shown in fig. 4, a flow chart of sending a data packet by a virtual network card is that a message sending interface is created first, then routing information is determined, a buffer area of a receiving and sending packet is rebuilt, that is, a buffer data structure is rebuilt, a new IP header is added to an original message header, an IP header is set according to a routing return result, a local out hook function is called to judge a message rate, a flag bit is set, a forwarding state of a current data packet is set, a subsequent step of sending the data packet is executed after a flag state is marked, a relation between the message and a Maximum Transmission Unit (MTU) is judged, if the buffer data structure is greater than or equal to the MTU, the data packet is fragmented, if the buffer data structure is smaller than the MTU, the message does not need to be fragmented, and finally a sending request enters a buffer queue.
The virtual network card of the present invention is applied to AIRT-ROS, and both the sending and receiving of the data packets by the virtual network card are established in AIRT-ROS, and the AIRT-ROS is described in detail below 5, as shown in fig. 5, which is an architecture diagram of AIRT-ROS, the AIRT-ROS is a multi-core dual Operating System based on an AMP architecture, one of the Operating systems is Linux, the other Operating System is RTERS Real-Time Operating System, the AIRT-ROS includes Linux kernel and RTERS kernel, the Linux kernel includes a Robot Operating System (ROS, Robot Operating System), a first hypertext Transfer Protocol (HTTP), a File Transfer Protocol (FTP, File Transfer Protocol), and a first Local Advanced Programmable Interrupt Controller (LAPIC, Local Advanced Programmable Interrupt Controller), and the RTERS kernel includes a Robot Real-Time Operating System (RT-ROS, Real-Time Operating System), The system comprises a first hypertext Transfer Protocol (HTTP) and a first Local Advanced Programmable Interrupt Controller (LAPIC), wherein the first Local Advanced Programmable Interrupt Controller is connected with the RTERS kernel through an IPI interface, the robot operating system is in Virtual connection with the robot real-time operating system through a Virtual Switch (vSwitch), the first Local Advanced Programmable Interrupt Controller is connected with a non-real-time device and a Virtual network card through a first input and output Advanced Programmable Interrupt Controller, the first Local Advanced Programmable Interrupt Controller is connected with the non-real-time device and the Virtual network card through a second input and output Advanced Programmable Interrupt Controller, the second Local Advanced Programmable Interrupt Controller is connected with the real-time device through a second input and output Advanced Programmable Interrupt Controller, and the Virtual network card sends a data packet to an application program through an AIRT-ROS or receives the data packet sent by the application program through the AIRT-ROS.
Through the technical scheme, the problem of virtual network card data packet loss can be solved by the AIRT-ROS virtual network card packet loss solving method, the data packet sending and the data packet receiving of the virtual network card are carried out on an AIRT-ROS system, and the system allows Linux and RTERS operating systems to respectively execute a non-real-time process and a real-time process; responding to non-real-time equipment interruption and real-time equipment interruption respectively; supporting communication between a non-real-time process and a real-time process; lots of Linux drivers are integrated, and the workload of driving general external equipment is greatly reduced. The AIRT-ROS can not influence the execution speed of RTERS to the real-time process under the condition that the load of the Linux system is very heavy. On the other hand, the AIRT-ROS is in communication connection with the Linux in the RTERS kernel, so that the robot control algorithm packaged in the ROS can be conveniently called in a real-time system, and the workload for developing the robot control algorithm is greatly reduced.
In a specific implementation manner of the embodiment of the present invention, when the virtual network card a sends a data packet to the target virtual network card X, the data packet is sent from the virtual network card a, and reaches the target virtual network card X through the device B, the device C, and the device D in sequence.
When the sending queue of the virtual network card a exceeds the maximum transmission unit value, the virtual network card a first sends a bandwidth query instruction to each forwarding node on the data packet transmission link, that is, the virtual network card a sends a bandwidth query instruction to the device B, and the device B returns the remaining bandwidth to the virtual network card a.
After receiving the residual bandwidth of the device B on the link, the virtual network card A judges whether the residual bandwidth of the device B on the link is larger than the data volume of the data packet to be sent, if so, the virtual network card A sends the data packet to the device B by using a standby link, and if not, a flag bit is set and upper-layer application is informed to slow down the sending speed. After receiving the data packet, the device B sends a bandwidth inquiry instruction to the device C, the device C returns the residual bandwidth of the data packet to the device B, after receiving the residual bandwidth of the device C on the link, the device B judges whether the residual bandwidth of the device C on the link is larger than the data volume of the data packet to be sent, if yes, the device B sends the data packet to the device C by using a standby link, and if not, a flag bit is set and the device B is informed to slow down the sending speed; after receiving the data packet, the device C sends a bandwidth inquiry instruction to the device D, the device D returns the residual bandwidth of the device D to the device C, after receiving the residual bandwidth of the device D on the link, the device C judges whether the residual bandwidth of the device D on the link is larger than the data volume of the data packet to be sent, if yes, the device C sends the data packet to the device D by using a standby link, and if not, a flag bit is set and the device C is informed to slow down the sending speed; after receiving the data packet, the device D sends a bandwidth inquiry instruction to the virtual network card X, the virtual network card X returns the residual bandwidth of the data packet to the device D, after receiving the residual bandwidth of the virtual network card X on the link, the device D judges whether the residual bandwidth of the virtual network card X on the link is larger than the data volume of the data packet to be sent, if so, the device D sends the data packet to the virtual network card X by using a standby link, and if not, a flag bit is set and the device D is informed to slow down the sending speed.
By applying the embodiment of the invention, when the residual bandwidth of each device on the data packet transmission link meets the requirement, the sending speed of the data packet is not slowed down; only when the residual bandwidth of each device does not meet the requirement, the sending speed of the data packet is slowed down, and the real-time property of the virtual network card for sending the data packet is ensured.
Further, when the data amount of the data packets in the sending queue of the virtual network card a reaches a preset number times of the maximum transmission unit, the virtual network card a first sends a bandwidth query instruction to the forwarding node on the data packet transmission link, and the preset number is less than 1. If the virtual network card A receives the residual bandwidth of the equipment positioned at the next level on the link, judging whether the residual bandwidth of the equipment on the link is larger than the data volume of the data packet to be sent, if the virtual network card A uses the standby link to send the data packet to the next level equipment, and if the virtual network card A does not use the standby link to send the data packet to the next level equipment, setting a flag bit and informing the upper application to slow down the sending speed.
For example, when the data amount of the data packet in the transmission queue reaches 0.8 times of the maximum transmission unit, the transmission speed of the data packet of the upper layer application is reduced to 12/s, and then the data packet is transmitted.
It should be emphasized that the case that the maximum transmission queue is full means that the transmission queue of the virtual network card exceeds the maximum transmission unit value.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. A method for solving packet loss of an AIRT-ROS virtual network card is characterized by comprising the following steps:
when an application program sends a data packet to a virtual network card through an AIRT-ROS, when a receiving queue of the virtual network card exceeds a maximum transmission unit value, a flag bit is set and upper-layer application is informed to slow down the sending speed; when the virtual network card sends a data packet to an application program through the AIRT-ROS and a sending queue of the virtual network card exceeds a maximum transmission unit value, a flag bit is set and upper-layer application is informed to slow down the sending speed.
2. The method for solving the AIRT-ROS virtual network card packet loss problem of claim 1, wherein the AIRT-ROS is a multi-core dual operating system based on AMP architecture, one operating system is Linux, the other operating system is RTERS real-time operating system, the AIRT-ROS comprises a Linux kernel and an RTERS kernel, the Linux kernel comprises a robot operating system, a first hypertext transfer protocol, a file transfer protocol and a first local advanced programmable interrupt controller, the RTERS kernel comprises a robot real-time operating system, a second hypertext transfer protocol and a second local advanced programmable interrupt controller, the Linux kernel is connected with the RTERS kernel through an IPI interface, the robot operating system is virtually connected with the robot real-time operating system through a virtual switch, and the first local advanced programmable interrupt controller is connected with a non-real-time device through a first input-output advanced programmable interrupt controller And the second local advanced programmable interrupt controller is connected with the real-time equipment through a second input/output advanced programmable interrupt controller, and the virtual network card sends a data packet to the application program through the AIRT-ROS or receives the data packet sent by the application program through the AIRT-ROS.
3. The method for solving the packet loss problem of the AIRT-ROS virtual network card of claim 1, wherein the driver of the virtual network card is divided into four layers, i.e. a network protocol interface layer, a network device interface layer, a network driver interface layer, and a device media layer, and by setting a hook function in the network protocol interface layer and the network driver interface layer, the state of the receiving queue or the state of the sending queue of the virtual network card is judged in advance, and an upper application program is notified to control the transmission message rate.
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