CN112492039B - Data distribution service method and device running in multiple cores - Google Patents
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Abstract
The application discloses a data distribution service method and device running in multiple cores, wherein the method comprises the following steps: acquiring a processing domain identifier of topic data; matching the processing domain identification with the identifications in the preset real-time domain and the non-real-time domain; if the processing domain identification is matched with the real-time domain identification, processing topic data by adopting the real-time domain; and if the processing domain identification is matched with the non-real-time domain identification, processing the topic data by using the non-real-time domain. The data distribution service method running in multiple cores in the embodiment of the application solves the technical problems that in the related technology, when the DDS is in a time-sharing system, some application scenes with high requirements on time delay cannot be met, and when the DDS runs in a real-time system, rich ecological environment cannot be obtained like the time-sharing system, and the user experience is greatly improved.
Description
Technical Field
The present application relates to the field of data processing technologies, and in particular, to a data distribution service method and apparatus operating in multiple cores.
Background
The DDS (Data Distribution Service) is a distributed communication specification issued by the OMG. In conventional usage, DDS is generally operated in a time-sharing system (linux, mac, window), or in a real-time system.
However, when the DDS operates in a time-sharing system, some application scenarios with high requirements on time delay, such as a robot arm and unmanned driving, cannot be met; when the DDS runs in a real-time system, rich ecological environment can not be obtained like a time-sharing system, and urgent solution is needed.
Content of application
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a data distribution service method operating in multiple cores, which solves the technical problems that, in the related art, a DDS cannot meet some application scenarios with high requirements on time delay when operating in a time-sharing system, and cannot obtain rich ecological environments like the time-sharing system when operating in a real-time system, and greatly improves user experience.
The second purpose of the invention is to provide a data distribution service device operating in multiple cores.
A third object of the invention is to propose an electronic device.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of the first aspect of the present application provides a data distribution service method running in multiple cores, including the following steps:
acquiring a processing domain identifier of topic data;
matching the processing domain identification with identifications in a preset real-time domain and a preset non-real-time domain; and
if the processing domain identification is matched with the real-time domain identification, processing the topic data by adopting the real-time domain;
and if the processing domain identification is matched with the non-real-time domain identification, processing the topic data by using the non-real-time domain.
In addition, the data distribution service method running in multiple cores according to the above embodiment of the present invention may further have the following additional technical features:
optionally, before obtaining the processing domain identifier of the topic data, the method further includes:
creating a real-time domain and a non-real-time domain, wherein the identification of the real-time domain comprises identification of real-time topic data, and the identification of the non-real-time domain comprises identification of non-real-time topic data, wherein the processing priority of the real-time domain is higher than that of the non-real-time domain.
Optionally, the data distribution service method running on multiple cores further includes:
judging whether the new topic data generated by the topic data has a cross-domain requirement or not;
and if the cross-domain requirement exists, switching the processed topic data to a real-time domain or a non-real-time domain.
Optionally, the data distribution service method running on multiple cores further includes:
receiving a cross-domain instruction of a user;
and switching the processed topic data to a real-time domain or a non-real-time domain according to the cross-domain instruction.
In order to achieve the above object, a second aspect of the present application provides a data distribution service apparatus operating in multiple cores, including:
the acquisition module is used for acquiring a processing domain identifier of the topic data;
the matching module is used for matching the processing domain identifier with identifiers in a preset real-time domain and a preset non-real-time domain; and
the processing module is used for processing the topic data by adopting the real-time domain when the processing domain identifier is matched with the real-time domain identifier; processing the topic data with the non-real time domain when the processing domain identification matches the non-real time domain identification.
Optionally, before acquiring the processing domain identifier of the topic data, the acquiring module further includes:
the real-time domain identification comprises real-time topic data identification, the non-real-time domain identification comprises non-real-time topic data identification, and the real-time domain processing priority is higher than the non-real-time domain processing priority.
Optionally, the data distribution service apparatus running in multiple cores further includes:
the judging module is used for judging whether the new topic data generated by the topic data has cross-domain requirements or not;
and the first switching module is used for switching the processed topic data to a real-time domain or a non-real-time domain when the cross-domain requirement exists.
Optionally, the data distribution service apparatus running in multiple cores further includes:
the receiving module is used for receiving a cross-domain instruction of a user;
and the second switching module is used for switching the processed topic data to a real-time domain or a non-real-time domain according to the cross-domain instruction.
To achieve the above object, an embodiment of a third aspect of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor and configured to perform the multi-core data distribution service method as described in the above embodiments.
In order to achieve the above object, a fourth aspect of the present application provides a computer-readable storage medium storing computer instructions for causing the computer to execute the data distribution service method running on multiple cores according to the foregoing embodiment.
Therefore, the processing domain identification of the topic data can be obtained, the processing domain identification is matched with the identification in the preset real-time domain and the non-real-time domain, the real-time domain is adopted to process the topic data when the processing domain identification is matched with the identification in the real-time domain, otherwise, the non-real-time domain is utilized to process the topic data after the real-time domain processes the data, the technical problems that some application scenes with higher requirements on time delay cannot be met when the DDS is in a time-sharing system in the related technology, and rich ecological environment cannot be obtained like the time-sharing system when the DDS runs in the real-time system are solved, so that the DDS can obtain real-time performance like the real-time system and rich ecological environment like the time-sharing system, and the user experience is greatly improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
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The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a data distribution service method operating in multiple cores according to an embodiment of the present application;
FIG. 2 is a schematic diagram of data communication of the DDS;
FIG. 3 is a schematic diagram of an Adeos based architecture according to one embodiment of the present application;
FIG. 4 is a diagram of an example of a framework for an application to create real-time domain entities and non-real-time domain entities according to one embodiment of the present application;
FIG. 5 is a flow diagram of a method for a data distribution service operating on multiple cores according to one embodiment of the present application;
FIG. 6 is a flow diagram of determining whether there is a cross-domain demand for new topic data generated from topic data according to one embodiment of the present application;
FIG. 7 is a flow diagram of switching processed topic data to a real time domain according to one embodiment of the present application;
FIG. 8 is a detailed flow diagram of transmitting cross-domain topics according to one embodiment of the present application;
FIG. 9 is a diagram illustrating an example of a data distribution service operating in multiple cores according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a data distribution service method and apparatus operating in multiple cores according to an embodiment of the present invention with reference to the accompanying drawings, and first, a data distribution service method operating in multiple cores according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Specifically, fig. 1 is a schematic flowchart of a data distribution service method running in multiple cores according to an embodiment of the present application.
As shown in fig. 1, the data distribution service method running in multiple cores includes the following steps:
in step S101, a processing domain identification of topic data is acquired.
It can be understood that, when the DDS API creates a domain, it needs to transfer a domain id, which is usually an integer type, and participants with the same domain id can implement intra-domain data communication, where the processing domain identifier is the transfer domain id. Optionally, in some embodiments, before obtaining the processing domain identifier of the topic data, the method further includes: and creating a real time domain and a non-real time domain, wherein the identification of the real time domain comprises the identification of real-time topic data, and the identification of the non-real time domain comprises the identification of non-real-time topic data, and the processing priority of the real time domain is higher than that of the non-real time domain.
It can be understood that, as shown in fig. 2, data communication of the DDS can be performed only within a domain, and only entities belonging to the same domain can discover each other through the matching topic, and thus exchange data between the publisher and the subscriber. The domain of the DDS has no concept of priority, but restricts communication from domain to domain. Therefore, the embodiments of the present application may combine the concept of adoes domains, as shown in fig. 3, fig. 3 is a schematic diagram of an adoos-based architecture, in an adoos-based system, each operating system runs in an independent domain (but not necessarily all domains implement the operating systems, and may also be software entities that perform other functions), each domain may have an independent address space and a software abstraction layer similar to processes, virtual memories, and the like, and these resources may also be shared by different domains, and adoos realizes inter-domain priority through an interrupt pipe mechanism.
The application program creates real-time domain entities and non-real-time domain entities (entities refer to participants, topics, publishers and subscribers), the real-time domain has higher priority, and the publish-subscribe thread in the real-time domain runs in the adoes domain with higher priority. The frame diagram is shown in FIG. 4: running in the real-time domain are high priority participants, all of which have a high priority topic. Such as sudden stops, starts, data sampling with high accuracy, etc. Topics for non-real-time domains are typically communication across machine networks, participant matching, etc.
In step S102, the processing domain identifier is matched with identifiers in the preset real-time domain and non-real-time domain.
In step S103, if the processing domain identifier matches the real-time domain identifier, the real-time domain is used to process the topic data, and if the processing domain identifier matches the non-real-time domain identifier, the non-real-time domain is used to process the topic data.
Specifically, in the embodiment of the present application, which id numbers are real-time domain ids and which are non-real-time domain ids, for example, 0 to 100 are real-time domains and greater than 100 are non-real-time domains, may be predefined, if the processing domain identifier id of the topic data acquired in step S101 is within 0 to 100, the real-time domain is used to process the topic data, and if the processing domain identifier id of the topic data acquired in step S101 is within a range greater than 100, the topic data is processed by the non-real-time domain after the real-time domain processes the data.
It should be noted that even if the real-time domains are the same, the communication in the domains cannot be realized due to different domain ids, and since the cross-domain system call of the real-time system in the adoos can reduce the real-time performance, the real-time interface is automatically called by the entity bottom layer of the real-time domain, so that the call of the non-real-time system interface is completely avoided.
For example, as shown in fig. 5, the data distribution service method operating in multiple cores includes the following steps:
s501, creating a participant and acquiring a processing domain identifier of topic data.
S502, system calling: whether to pass the real time domain id, if so, executing step S503, otherwise, executing step S504.
S503, calling the real-time domain system call (located in the name space).
And S504, calling a conventional system call.
And S505, ending.
Optionally, in some embodiments, the data distribution service method running on multiple cores further includes: judging whether the new topic data generated by the topic data has a cross-domain requirement or not; and if the cross-domain requirement exists, switching the processed topic data to a real-time domain or a non-real-time domain.
It can be understood that if some special topics are received in the non-real-time domain, new topic data may be generated after processing data of the topics, and the new topic data must be transmitted through the real-time domain; alternatively, if some special topics are received in the real-time domain, new topic data may be generated after processing the data of the topics, and the new topic data must be transmitted through the non-real-time domain. Therefore, the cross-domain requirement of the new topic data generated by the topic data can be determined. It should be noted that there are many ways to process the topic data, such as operations like feature recognition, and the like, and the method is not limited in this respect.
In addition, since the common mutual exclusion lock, condition variable and other interprocess communication technologies cannot be used between the adoos domains, the method provides an interface specially used for inter-domain communication. If the inter-domain communication interfaces are directly called, improper operation may cause switching between the real-time domain and the non-real-time domain, so that the embodiment of the application can hide inter-domain communication under a topic of calling and sending cross-domain, and can also use topics, receivers, publishers and domain concepts, the non-real-time domain can publish the real-time topic through a publish interface, the publisher can simulate dds interface for writing, communication in different domains can be realized, and switching from the non-real-time domain to the real-time domain is realized. For a user, the inter-domain communication process is not needed to be concerned, only the real-time topics are directly sent, and the conversion layer can be switched to the corresponding domain names through the sent topics.
For example, as shown in fig. 6, fig. 6 is a flowchart of determining whether there is a cross-domain requirement for new topic data generated from topic data according to an embodiment of the present application.
And S601, a non-real-time domain participant.
S602, receiving and processing the non-real-time topic.
S603, judging whether new topic data is generated, if so, executing step S604, otherwise, executing step S607.
S604, judging whether the data is real-time topic data, if so, executing the step S605, otherwise, executing the step S606.
And S605, releasing the real-time topic data.
And S606, publishing the non-real-time topic data.
And S607, ending.
Further, as shown in fig. 7, fig. 7 is a flowchart for switching the processed topic data to a real time domain according to an embodiment of the present application.
Specifically, the non-real-time domain participant may call a publish interface, then call a cross-domain communication sending interface, then call a cross-domain communication receiving interface, and finally send to the real-time domain participant by calling a sublishr subscription interface.
In summary, as shown in fig. 8, fig. 8 is a detailed flowchart of transmitting the cross-domain topic according to an embodiment of the present application.
And S801, non-real-time domain participants.
S802, receiving and processing the non-real-time topic.
S803, judging whether new topic data is generated, if so, executing step S804, otherwise, executing step S810.
And S804, judging whether the topic data is real-time topic data, if so, executing the step S805, otherwise, executing the step S809.
And S805, transmitting the cross-domain topic. .
And S806, real-time domain participants.
S807, receiving the cross-domain topic
And S808, publishing the real-time topic data.
And S809, publishing the non-real-time topic data.
And S810, ending.
Optionally, in some embodiments, the data distribution service method running on multiple cores further includes: receiving a cross-domain instruction of a user; and switching the processed topic data to a real-time domain or a non-real-time domain according to the cross-domain instruction.
That is to say, the embodiment of the present application may also switch the processed topic data to a real-time domain or a non-real-time domain according to a cross-domain instruction of a user, and a specific processing manner is consistent with the above, and details are not described here in order to avoid redundancy.
According to the data distribution service method running in the multiple cores, the processing domain identification of the topic data can be obtained, the processing domain identification is matched with the identification in the preset real-time domain and the identification in the non-real-time domain, when the processing domain identification is matched with the identification in the real-time domain, the real-time domain is adopted to process the topic data, otherwise, after the real-time domain processes the data, the non-real-time domain is used to process the topic data, and the technical problems that in the related technology, when the DDS is in a time sharing system, some application scenes with high requirements on time delay cannot be met, and when the DDS runs in the real-time system, rich ecological environment cannot be obtained like the time sharing system are solved, so that the DDS can obtain real-time performance like the real-time system, rich ecological environment like the time sharing system can be obtained, and user experience is greatly improved.
Next, a data distribution service apparatus operating in multiple cores according to an embodiment of the present application will be described with reference to the drawings.
Fig. 9 is a block diagram illustrating a data distribution service apparatus operating in multiple cores according to an embodiment of the present application.
As shown in fig. 9, the data distribution service apparatus 10 operating in a multi-core includes: an acquisition module 100, a matching module 200 and a processing module 300.
The obtaining module 100 is configured to obtain a processing domain identifier of topic data;
the matching module 200 is configured to match the processing domain identifier with identifiers in a preset real-time domain and a preset non-real-time domain; and
the processing module 300 is configured to process the topic data in the real-time domain when the processing domain identifier matches the real-time domain identifier; and processing topic data by using the non-real-time domain when the processing domain identification is matched with the non-real-time domain identification.
Optionally, before acquiring the processing domain identifier of the topic data, the acquiring module 100 further includes:
the real-time domain identification comprises real-time topic data identification, the non-real-time domain identification comprises non-real-time topic data identification, and the real-time domain processing priority is higher than the non-real-time domain processing priority.
Optionally, the data distribution service apparatus 10 operating in multiple cores further includes:
the judging module is used for judging whether the new topic data generated by the topic data has a cross-domain requirement or not;
and the first switching module is used for switching the processed topic data to a real-time domain or a non-real-time domain when a cross-domain requirement exists.
Optionally, the data distribution service apparatus 10 operating in multiple cores further includes:
the receiving module is used for receiving a cross-domain instruction of a user;
and the second switching module is used for switching the processed topic data to a real-time domain or a non-real-time domain according to the cross-domain instruction.
It should be noted that the foregoing explanation on the embodiment of the data distribution service method running in multiple cores is also applicable to the data distribution service apparatus running in multiple cores of this embodiment, and is not described herein again.
According to the data distribution service device running in the multiple cores, provided by the embodiment of the application, the processing domain identification of the topic data can be obtained, the processing domain identification is matched with the identification in the preset real-time domain and the non-real-time domain, when the processing domain identification is matched with the identification in the real-time domain, the real-time domain is adopted to process the topic data, otherwise, after the real-time domain processes the data, the non-real-time domain is utilized to process the topic data, so that the technical problems that in the related technology, when the DDS is in a time sharing system, some application scenes with higher requirements on time delay cannot be met, and when the DDS runs in the real-time system, rich ecological environment cannot be obtained like the time sharing system are solved, so that the DDS can obtain real-time performance like the real-time system, can also obtain rich ecological environment like the time sharing system, and greatly improve user experience.
Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
a memory 1201, a processor 1202, and a computer program stored on the memory 1201 and executable on the processor 1202.
The processor 1202 implements the data distribution service method operating in multiple cores provided in the above-described embodiment when executing the program.
Further, the electronic device further includes:
a communication interface 1203 for communication between the memory 1201 and the processor 1202.
A memory 1201 for storing computer programs executable on the processor 1202.
The memory 1201 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 1201, the processor 1202 and the communication interface 1203 are implemented independently, the communication interface 1203, the memory 1201 and the processor 1202 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 10, but that does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 1201, the processor 1202, and the communication interface 1203 are integrated on a chip, the memory 1201, the processor 1202, and the communication interface 1203 may complete mutual communication through an internal interface.
The present embodiment also provides a computer-readable storage medium on which a computer program is stored, wherein the program, when executed by a processor, implements the data distribution service method operating on multiple cores as described above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (8)
1. A data distribution service method operating in multiple cores, comprising the steps of:
acquiring a processing domain identifier of topic data;
matching the processing domain identification with identifications in a preset real-time domain and a preset non-real-time domain; and
if the processing domain identification is matched with the real-time domain identification, processing the topic data by adopting the real-time domain;
if the processing domain identification is matched with the non-real-time domain identification, processing the topic data by using the non-real-time domain;
judging whether the new topic data generated by the topic data has cross-domain requirements or not;
and if the cross-domain requirement exists, switching the processed topic data to a real-time domain or a non-real-time domain.
2. The method of claim 1, prior to obtaining a disposal domain identification for the topic data, further comprising:
creating a real-time domain and a non-real-time domain, wherein the identification of the real-time domain comprises identification of real-time topic data, and the identification of the non-real-time domain comprises identification of non-real-time topic data, wherein the processing priority of the real-time domain is higher than that of the non-real-time domain.
3. The method of claim 1, further comprising:
receiving a cross-domain instruction of a user;
and switching the processed topic data to a real-time domain or a non-real-time domain according to the cross-domain instruction.
4. A data distribution service apparatus operating on multiple cores, comprising:
the acquisition module is used for acquiring a processing domain identifier of the topic data;
the matching module is used for matching the processing domain identifier with identifiers in a preset real-time domain and a preset non-real-time domain; and
the processing module is used for processing the topic data by adopting the real time domain when the processing domain identifier is matched with the real time domain identifier; processing the topic data with the non-real time domain when the processing domain identification matches the non-real time domain identification;
the judging module is used for judging whether the new topic data generated by the topic data has a cross-domain requirement or not;
and the first switching module is used for switching the processed topic data to a real-time domain or a non-real-time domain when the cross-domain requirement exists.
5. The apparatus of claim 4, wherein prior to obtaining the processing domain identification of the topic data, the obtaining module further comprises:
the real-time domain identification comprises real-time topic data identification, the non-real-time domain identification comprises non-real-time topic data identification, and the real-time domain processing priority is higher than the non-real-time domain processing priority.
6. The apparatus of claim 4, further comprising:
the receiving module is used for receiving a cross-domain instruction of a user;
and the second switching module is used for switching the processed topic data to a real-time domain or a non-real-time domain according to the cross-domain instruction.
7. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the data distribution service method for multiple cores according to any one of claims 1 to 3.
8. A computer-readable storage medium on which a computer program is stored, the program being executed by a processor for implementing the data distribution service method for multiple cores according to any one of claims 1 to 3.
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| 基于DDS的SOA服务集成框架的研究;戴树唯;《中国优秀硕士论文全文数据库 信息科技辑》;20190515;5-6、13-14、18-19页 * |
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