CN112506654B - Distributed collaborative debugging method and system for industrial robot - Google Patents
Distributed collaborative debugging method and system for industrial robot Download PDFInfo
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- CN112506654B CN112506654B CN202011414825.XA CN202011414825A CN112506654B CN 112506654 B CN112506654 B CN 112506654B CN 202011414825 A CN202011414825 A CN 202011414825A CN 112506654 B CN112506654 B CN 112506654B
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- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
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- H—ELECTRICITY
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- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
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- H04L67/56—Provisioning of proxy services
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- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a distributed collaborative debugging method and system for an industrial robot, wherein the method comprises the following steps: the collaborative development node is interconnected with the industrial robot node; running a debugging agent on the collaborative development node, analyzing the symbol table information, sending a debugging command and a debugging task to an agent server, and obtaining feedback information; the collaborative debugging agent operated by the proxy server receives and distributes the debugging command from the collaborative development node, initiates a debugging process and returns the operation state of the target code on the industrial robot node; and removing the nodes which do not respond, and adjusting the priority of the rest nodes. The invention can solve the problems of suspension, collision and even interruption of debugging tasks caused by the problems of resource sharing and mutual exclusion, shield the differences of software and hardware platforms at the bottom layer of the industrial robot and the differences of debugging types, unify the styles and operation of debugging interfaces, realize cooperative debugging in a cooperation scene of the distributed multi-industrial robot, shorten the application development period and promote the product competitiveness of the robot industry in China.
Description
Technical Field
The invention belongs to the field of collaborative debugging of software development, and particularly relates to a distributed collaborative debugging method and system for an industrial robot.
Background
At present, the application scene of the distributed industrial robot is more and more complex, the software scale is larger and larger, and in one application scene, the condition that the industrial robots of a plurality of factories finish application tasks together exists, so that a plurality of collaborative development nodes are required to perform collaborative debugging on a plurality of industrial robots simultaneously during development and debugging. And concurrent debugging is carried out on multiple collaborative development nodes, and a collaborative development node robot application program needs to access shared or mutually exclusive resources of an industrial robot controller, so that problems of debugging task suspension, conflict and even interruption can be caused by the problem of resource sharing and mutual exclusion. Meanwhile, according to the application occasions of multiple industrial robots, unified debugging interface styles and operation steps are required to be designed, differences of bottom software and hardware platforms and debugging type differences are shielded, and a convenient and efficient collaborative debugging interface is provided for users. Therefore, research on a collaborative debugging method in a distributed multi-industry robot collaborative scene is needed, the application development period is shortened, and the product competitiveness of the robot industry in China is improved.
The existing debugging method can solve the problem of debugging a single industrial robot by a single development node, but the debugging model cannot solve the problem of concurrent debugging of multiple collaborative development nodes; the debugging agent can have certain perceptibility, such as access, request and the like of the collaborative nodes, but aiming at the concurrent debugging tasks of a plurality of collaborative development nodes, the data of different collaborative development nodes cannot be distinguished and processed, the shared resource access cannot be arbitrated, and meanwhile, the debugging agent cannot distinguish the related information between a plurality of industrial robot resources and the collaborative development nodes, so that the collaborative debugging agent needs to be constructed, ID, unique port number and setting authority are automatically allocated to each collaborative development node, dynamic adjustment is carried out according to the debugged target resources, and the concurrent debugging processing of the multi-collaborative nodes is realized, so that the collaborative debugging function of the industrial robot under the limited resources is realized.
Disclosure of Invention
The invention aims to provide a distributed collaborative debugging method for an industrial robot, which solves the problems of suspension, collision and even interruption of debugging tasks caused by resource sharing and mutual exclusion by designing a collaborative debugging agent, shields the differences of bottom software and hardware platforms and debugging type differences, unifies debugging interface styles and operation steps, realizes collaborative debugging in a distributed multi-industrial-robot collaboration scene, shortens the application development period, improves the product competitiveness of the robot industry in China, and improves the social and economic benefits.
The technical solution for realizing the purpose of the invention is as follows: an industrial robot distributed collaborative debugging method, the method comprising the steps of:
step 1, a collaborative development node and an industrial robot node are interconnected through a network, and a robot application program on the collaborative development node needs to access shared or mutually exclusive resources of an industrial robot controller;
step 2, each collaborative development node runs a debugging agent, analyzes the symbol table information, sends a debugging command to an agent server, initiates a debugging task and acquires debugging feedback information;
and 3, the collaborative debugging agent operated by the proxy server receives and distributes the debugging command from the collaborative development node in real time, initiates a debugging process and returns the operation state of the target code on the industrial robot node.
Further, the step 2 specifically includes:
step 201, the debugging agent analyzes the symbol table information, realizes variable viewing and function entry positioning;
step 202, a debugging agent monitors ports of collaborative development nodes and acquires IP, a debugging object and debugging level information of the access collaborative development nodes;
step 203, according to the debug level, in combination with the current debug resource status, an independent thread is allocated to the accessed collaborative development node, and debug permission and priority are set; the debugging authority refers to the debugging authority of the collaborative development node to the industrial robot node, and the priority comprises the priority of the collaborative development node and the priority of the industrial robot node debugged by the collaborative development node;
step 204, the collaborative development node sends a debugging command to the proxy server to connect the designated industrial robot node, initiate a debugging task and transmit file analysis information, namely symbol table information.
Further, the step 3 specifically includes:
step 301, if the debug command does not involve resource access, directly forwarding the debug command to an industrial robot node and waiting for an industrial robot processing result;
step 302, if the command relates to resource access, checking the attribute and the state of the resource, when the resource is exclusively used, the debug command performs preemption according to the priority, otherwise, queuing is performed; when the waiting time reaches a threshold value, processing according to a time slice mode, and giving prompt information to the collaborative development node;
step 303, for each debugging task of the collaborative development node, initiating an independent debugging process at the industrial robot node end by the collaborative debugging agent; the process initiated by the industrial robot node interacts with the collaborative development node debugging agent through an interaction protocol, and module authority checking, task binding, task dynamic migration and task synchronization strategies are provided to ensure consistency with target code execution during debugging;
and 304, when the processing of the industrial robot node end is finished, acquiring the result information of the industrial robot in real time and returning the result information to the corresponding collaborative development node.
Further, the method further comprises:
and 4, periodically monitoring the collaborative development nodes and the industrial robot nodes through a heartbeat and polling mechanism, removing the unresponsive collaborative development nodes and the industrial robot nodes from the network, and adjusting the priority of the rest nodes.
Further, the method further comprises:
and step 5, providing a collaborative debugging graphical interface plug-in to support an Eclipse framework.
An industrial robot distributed collaborative debugging system, the system comprising:
a first module, configured to implement: the collaborative development node and the industrial robot node are interconnected through a network, and a robot application program on the collaborative development node needs to access shared or mutually exclusive resources of the industrial robot controller;
a second module, configured to implement: each collaborative development node runs a debugging agent, analyzes the symbol table information, sends a debugging command to an agent server, initiates a debugging task and acquires debugging feedback information;
a third module, configured to implement: the collaborative debugging agent operated by the proxy server receives and distributes the debugging command from the collaborative development node in real time, initiates the debugging process and returns the operation state of the target code on the industrial robot node.
Further, the system further comprises:
a fourth module, configured to implement: and periodically monitoring the collaborative development nodes and the industrial robot nodes through a heartbeat and polling mechanism, removing the unresponsive collaborative development nodes and the industrial robot nodes from the network, and adjusting the priority of the rest nodes.
Further, the system further comprises:
a fifth module, configured to implement: and providing a collaborative debugging graphical interface plug-in to support an Eclipse framework.
Compared with the prior art, the invention has the remarkable advantages that: by designing the collaborative debugging agent, corresponding IP address, debugging target information and the like when the collaborative development node sends out the debugging request are recorded, the unique port number is allocated to the device, and attributes such as authority level, priority and the like are set; if no resource or task request conflict exists, sending a debugging request to a corresponding industrial robot in real time through a network, and returning a processing result of the industrial robot to a collaborative development node in real time; if a plurality of collaborative development nodes access the same industrial robot controller resource, the functions of task queuing, preemption and the like are realized according to the resource state, so that the problems of task suspension, conflict and even interruption caused by the problems of resource sharing and mutual exclusion are avoided, the difference of bottom software and hardware platforms and the difference of debugging types are shielded, and the collaborative debugging function under the collaborative scene of the distributed multi-industrial robot is realized.
The invention is described in further detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a distributed collaborative debugging architecture for an industrial robot of the present invention.
FIG. 2 is a flow chart of the distributed collaborative debugging method of an industrial robot of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thereby the processing time of the product is reduced, features defining "first", "second" may include at least one such feature, either explicitly or implicitly. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
In one embodiment, in conjunction with fig. 1, there is provided an industrial robot distributed collaborative debugging method, the method comprising the steps of:
step 1, a collaborative development node and an industrial robot node are interconnected through a network, and a robot application program on the collaborative development node needs to access shared or mutually exclusive resources of an industrial robot controller;
step 2, running a debugging agent on each collaborative development node, analyzing symbol table information, sending a debugging command to an agent server (a server for the debugging agent), initiating a debugging task and acquiring debugging feedback information;
and 3, the collaborative debugging agent operated by the proxy server receives and distributes the debugging command from the collaborative development node in real time, initiates a debugging process, and returns the operation state of the target code (the robot operation code, and whether the operation is normal or not) on the industrial robot node.
Further, in one embodiment, the collaborative development node and the industrial robot node are not less than two.
Further, in one embodiment, the step 2 specifically includes:
step 201, the debugging agent analyzes the symbol table information, realizes variable viewing and function entry positioning;
step 202, a debugging agent monitors ports of collaborative development nodes and acquires IP, a debugging object and debugging level information of the access collaborative development nodes;
step 203, according to the debug level, in combination with the current debug resource status, an independent thread is allocated to the accessed collaborative development node, and debug permission and priority are set; the debugging authority refers to the debugging authority of the collaborative development node to the industrial robot node, and the priority comprises the priority of the collaborative development node and the priority of the industrial robot node debugged by the collaborative development node;
step 204, the collaborative development node sends a debugging command to the proxy server to connect the designated industrial robot node, initiate a debugging task and transmit file analysis information, namely symbol table information.
Further, in one embodiment, step 2 further includes: and realizing sensing and accessing a new collaborative development node through environment sensing.
Further, in one embodiment, the step 3 specifically includes:
step 301, if the debug command does not involve resource access, directly forwarding the debug command to an industrial robot node and waiting for an industrial robot processing result;
step 302, if the command relates to resource access, checking the attribute and the state of the resource, when the resource is exclusively used, the debug command performs preemption according to the priority, otherwise, queuing is performed; when the waiting time reaches a threshold value, processing according to a time slice mode, and giving prompt information to the collaborative development node;
step 303, for each debugging task of the collaborative development node, initiating an independent debugging process at the industrial robot node end by the collaborative debugging agent; the process initiated by the industrial robot node interacts with the collaborative development node debugging agent through an interaction protocol, and module authority checking, task binding, task dynamic migration and task synchronization strategies are provided to ensure consistency with target code execution during debugging;
and 304, when the processing of the industrial robot node end is finished, acquiring the result information of the industrial robot in real time and returning the result information to the corresponding collaborative development node.
Further, in one of the embodiments, the method further comprises:
and 4, periodically monitoring the collaborative development nodes and the industrial robot nodes through a heartbeat and polling mechanism, timely removing the unresponsive collaborative development nodes and the industrial robot nodes from the network, and adjusting the priority of the rest nodes.
Further, in one of the embodiments, the method further comprises:
and step 5, providing a collaborative debugging graphical interface plug-in to support an Eclipse framework.
In one embodiment, an industrial robot distributed collaborative debugging system is provided, the system comprising:
a first module, configured to implement: the collaborative development node and the industrial robot node are interconnected through a network, and a robot application program on the collaborative development node needs to access shared or mutually exclusive resources of the industrial robot controller;
a second module, configured to implement: each collaborative development node runs a debugging agent, analyzes the symbol table information, sends a debugging command to an agent server, initiates a debugging task and acquires debugging feedback information;
a third module is provided for the first and second modules, is used for realizing the following steps: the collaborative debugging agent operated by the proxy server receives and distributes the debugging command from the collaborative development node in real time, initiates the debugging process and returns the operation state of the target code on the industrial robot node.
Further, in one embodiment, the second module is further configured to implement: and realizing sensing and accessing a new collaborative development node through environment sensing.
Further, in one embodiment, the system further comprises:
a fourth module, configured to implement: and periodically monitoring the collaborative development nodes and the industrial robot nodes through a heartbeat and polling mechanism, removing the unresponsive collaborative development nodes and the industrial robot nodes from the network, and adjusting the priority of the rest nodes.
Further, in one embodiment, the system further comprises:
a fifth module, configured to implement: and providing a collaborative debugging graphical interface plug-in to support an Eclipse framework.
Specific limitations regarding the distributed collaborative debugging system of an industrial robot may be found in the above limitations regarding the distributed collaborative debugging method of an industrial robot, and are not described herein. The above-described individual modules in the industrial robot distributed collaborative debugging system may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
As can be seen from the above description, the collaborative debugging method for the distributed industrial robot provided by the invention realizes collaborative debugging in a collaborative scene of the distributed industrial robot, solves the problems of debugging interruption, suspension and the like possibly caused by the collaborative debugging of the industrial robot under the condition of resource conflict, provides a visual graphic plug-in, shields the differences of software and hardware platforms at the bottom layer of the industrial robot and the debugging type differences, and has unified debugging interface style and operation steps, and the debugging is more convenient and efficient.
The foregoing has outlined and described the basic principles, features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An industrial robot distributed collaborative debugging method is characterized by comprising the following steps:
step 1, a collaborative development node and an industrial robot node are interconnected through a network, and a robot application program on the collaborative development node needs to access shared or mutually exclusive resources of an industrial robot controller;
step 2, each collaborative development node runs a debugging agent, analyzes the symbol table information, sends a debugging command to an agent server, initiates a debugging task and acquires debugging feedback information;
step 3, the cooperative debugging agent operated by the proxy server receives and distributes the debugging command from the cooperative development node in real time, initiates a debugging process and returns the operation state of the target code on the industrial robot node;
the collaborative development nodes and the industrial robot nodes are not less than two;
the step 2 specifically includes:
step 201, the debugging agent analyzes the symbol table information to realize variable viewing and function entry positioning;
step 202, a debugging agent monitors ports of collaborative development nodes and acquires IP, a debugging object and debugging level information of the access collaborative development nodes;
step 203, according to the debug level, in combination with the current debug resource status, an independent thread is allocated to the accessed collaborative development node, and debug permission and priority are set; the debugging authority refers to the debugging authority of the collaborative development node to the industrial robot node, and the priority comprises the priority of the collaborative development node and the priority of the industrial robot node debugged by the collaborative development node;
step 204, the collaborative development node sends a debug command to the proxy server to connect the designated industrial robot node, initiate a debug task, and transfer file analysis information, namely: symbol table information;
the step 3 specifically includes:
step 301, if the debug command does not involve resource access, directly forwarding the debug command to an industrial robot node and waiting for an industrial robot processing result;
step 302, if the command relates to resource access, checking the attribute and the state of the resource, when the resource is exclusively used, the debug command performs preemption according to the priority, otherwise, queuing is performed; when the waiting time reaches a threshold value, processing according to a time slice mode, and giving prompt information to the collaborative development node;
step 303, for each debugging task of the collaborative development node, initiating an independent debugging process at the industrial robot node end by the collaborative debugging agent; the process initiated by the industrial robot node interacts with the collaborative development node debugging agent through an interaction protocol, and module authority checking, task binding, task dynamic migration and task synchronization strategies are provided to ensure consistency with target code execution during debugging;
and 304, when the processing of the industrial robot node end is finished, acquiring the result information of the industrial robot in real time and returning the result information to the corresponding collaborative development node.
2. The distributed collaborative debugging method of an industrial robot of claim 1, further comprising in step 2: and realizing sensing and accessing a new collaborative development node through environment sensing.
3. The industrial robot distributed collaborative debugging method of claim 2, further comprising:
and 4, periodically monitoring the collaborative development nodes and the industrial robot nodes through a heartbeat and polling mechanism, removing the unresponsive collaborative development nodes and the industrial robot nodes from the network, and adjusting the priority of the rest nodes.
4. The industrial robot distributed collaborative debugging method of claim 3, further comprising:
and step 5, providing a collaborative debugging graphical interface plug-in to support an Eclipse framework.
5. An industrial robot distributed collaborative debugging system based on the method of any of claims 1-4, wherein the system comprises:
a first module, configured to implement: the collaborative development node and the industrial robot node are interconnected through a network, and a robot application program on the collaborative development node needs to access shared or mutually exclusive resources of the industrial robot controller;
a second module, configured to implement: each collaborative development node runs a debugging agent, analyzes the symbol table information, sends a debugging command to an agent server, initiates a debugging task and acquires debugging feedback information;
a third module, configured to implement: the collaborative debugging agent operated by the proxy server receives and distributes the debugging command from the collaborative development node in real time, initiates the debugging process and returns the operation state of the target code on the industrial robot node.
6. The industrial robot distributed collaborative debugging system of claim 5, further comprising:
a fourth module, configured to implement: and periodically monitoring the collaborative development nodes and the industrial robot nodes through a heartbeat and polling mechanism, removing the unresponsive collaborative development nodes and the industrial robot nodes from the network, and adjusting the priority of the rest nodes.
7. The industrial robot distributed collaborative debugging system of claim 6, further comprising:
a fifth module, configured to implement: and providing a collaborative debugging graphical interface plug-in to support an Eclipse framework.
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Address after: 222001 No.18 Shenghu Road, Lianyungang City, Jiangsu Province Applicant after: The 716th Research Institute of China Shipbuilding Corp. Address before: 222001 No.18 Shenghu Road, Lianyungang City, Jiangsu Province Applicant before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. |
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