CN112799965B - Virtual debugging system and method for automation equipment software - Google Patents
Virtual debugging system and method for automation equipment software Download PDFInfo
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- CN112799965B CN112799965B CN202110299933.5A CN202110299933A CN112799965B CN 112799965 B CN112799965 B CN 112799965B CN 202110299933 A CN202110299933 A CN 202110299933A CN 112799965 B CN112799965 B CN 112799965B
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
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- G06F11/36—Preventing errors by testing or debugging software
- G06F11/362—Software debugging
- G06F11/3644—Software debugging by instrumenting at runtime
Abstract
A virtual debugging system and a debugging method thereof for automation equipment software comprise the following steps: a module running on a virtual debug platform, comprising: a decomposition module for system decomposition of a hardware model of an automation equipment; the building module is used for building an equipment hardware model base based on a Modelica standard base; the calibration and verification module is used for calibrating and verifying an equipment hardware model base based on a Modelica standard base; the establishing module is used for establishing a virtual drive; the construction module is used for building a virtual debugging scene; the hardware model and the virtual drive of the automation equipment can be established to form a virtual debugging environment and support code debugging of control software, so that the code debugging efficiency is improved, and the debugging period is shortened.
Description
Technical Field
The invention relates to the technical field of virtual debugging, in particular to a virtual debugging system and a debugging method of automation equipment software, and particularly relates to a Modelica model-based virtual debugging system and a debugging method of the automation equipment software.
Background
Automated equipment is widely used in industry, agriculture, military, scientific research, transportation, commerce, medical, service, and home. The adoption of the automatic equipment not only can liberate people from heavy physical labor, partial mental labor and severe and dangerous working environments, but also can expand the functions of human organs, greatly improve the labor productivity and enhance the ability of people to know the world and transform the world. The existing automatic equipment in the industrial field comprises two parts, namely software and hardware, wherein the software is an automatic control platform, runs on a PC (personal computer), and is used for controlling the action logic of the equipment and receiving the state of a sensor; the hardware comprises a motion control card, an IO board, an actuator and a sensor. With the use scenes of the automation equipment becoming more complex and the requirements on the control software becoming higher and higher, the number of code lines of the software becomes more and more, more potential errors exist, accordingly, the debugging workload is greatly increased, and the lead time is made longer. The iteration period of the automatic equipment industry is very short, and developers have great delivery pressure.
At present, software debugging is mainly carried out on the basis of equipment hardware, namely after parts of the equipment are machined, manufactured and assembled and transported to a laboratory, the software and the hardware can be connected to start debugging. In the process from the design completion of the structure to the assembly of the parts, the time of several weeks exists, and if the time can be fully utilized, the software debugging can be carried out in advance, so that the time for connecting and debugging with actual equipment can be greatly reduced.
If off-line debugging is performed on software, the software is difficult to perform efficiently and correctly due to the absence of hardware equipment, complex scene of software logic implementation and lack of debugging environment.
If debugging is carried out based on hardware, a special site and special equipment are needed before equipment is put into a production line; in the process of putting equipment into use, if software is upgraded, a production line needs to be stopped for debugging, and a production plan is influenced. In the debugging process, if the software code has errors, the hardware equipment is caused to work abnormally, and the risk of equipment damage and even personnel injury can be caused.
Disclosure of Invention
In order to solve the problems, the invention provides a virtual debugging system of automation equipment software and a debugging method thereof, which can establish a hardware model and a virtual drive of the automation equipment, form a virtual debugging environment and support the code debugging of control software, thereby improving the code debugging efficiency and shortening the debugging period.
In order to overcome the defects in the prior art, the invention provides a virtual debugging system of automation equipment software and a solution of a debugging method thereof, which specifically comprise the following steps:
a virtual debugging system of automation equipment software, comprising:
a module running on a virtual debug platform, comprising:
a decomposition module for system decomposition of a hardware model of an automation equipment;
the building module is used for building an equipment hardware model base based on a Modelica standard base;
the verification module is used for verifying an equipment hardware model library based on a Modelica standard library;
the establishing module is used for establishing a virtual drive;
the construction module is used for building a virtual debugging scene;
the verification module is also used for decomposing the system of the hardware model of the automatic equipment, building an equipment hardware model base, carrying out simulation analysis based on given test conditions and testing the functions of the equipment hardware model base;
the establishing module is also used for simulating a driving program of the automatic equipment and a program of the motion control card, and the simulated driving program of the automatic equipment and the program of the motion control card are virtual driving, so that data interaction between software for controlling the automatic equipment and a model of an equipment hardware model library is realized;
the construction module is also used for utilizing an equipment hardware model library component model as virtual automation equipment hardware based on the specific automation equipment structure and then utilizing a virtual drive to achieve data interaction between software and a model of the automation equipment so as to complete construction of the whole virtual debugging scene.
The decomposition module is also used for extracting a basic hardware component based on data interaction between software of the automation equipment and hardware of the automation equipment, and abstracting functions of the basic hardware component, so that a hardware model of the automation equipment is subjected to system decomposition.
The building module is also used for building an equipment hardware model base according to the functional characteristics of each hardware assembly based on the system decomposition of the automatic equipment hardware model.
The virtual debugging platform is connected with the backup platform through a 4G module through a plurality of 4G gateways in a 4G network;
the 4G gateway comprises:
a receiving module for obtaining signaling;
a processing module, configured to identify code data of a virtual driver corresponding to the signaling, identify whether the code data of the virtual driver needs pass-through processing, and identify a virtual link for transmitting the signaling according to a transmission direction of the code data of the virtual driver when the code data of the virtual driver needs pass-through processing, where a transmission direction of information of the virtual link is the same as a transmission direction of the code data of the virtual driver;
a transfer module for transferring the signaling via the virtual link.
A debugging method of a virtual debugging system of automation equipment software comprises the following steps:
step 1: systematic decomposition of a hardware model of the automation equipment;
step 2: building an equipment hardware model base based on a Modelica standard base;
and step 3: verifying an equipment hardware model library based on a Modelica standard library;
and 4, step 4: establishing a virtual drive;
and 5: building a virtual debugging scene;
the method for verifying the equipment hardware model library based on the Modelica standard library comprises the following steps:
performing simulation analysis based on given test conditions according to the system decomposition of the hardware model of the automatic equipment in the step 1 and the establishment of the hardware model library of the equipment in the step 2, and testing the functions of the hardware model library of the equipment;
the method for establishing the virtual drive comprises the following steps:
simulating a driving program of the automatic equipment and a program of the motion control card, wherein the simulated driving program of the automatic equipment and the program of the motion control card are virtual driving, so that data interaction between software for controlling the automatic equipment and a model of an equipment hardware model library is realized;
the method for building the virtual debugging scene comprises the following steps:
based on the specific automatic equipment structure, the equipment hardware model library component model is used as the hardware of the virtual automatic equipment, and then the data interaction between the software and the model of the automatic equipment is achieved by using the virtual drive, so that the construction of the whole virtual debugging scene is completed.
The method for system decomposition of a hardware model of automation equipment comprises the following steps:
based on data interaction between software of the automation equipment and hardware of the automation equipment, basic hardware components are extracted, and functions of the hardware components are abstracted, so that a hardware model of the automation equipment is systematically decomposed.
The method for building the equipment hardware model library based on the Modelica standard library comprises the following steps:
and building an equipment hardware model base according to the functional characteristics of each hardware component based on the system decomposition of the automatic equipment hardware model.
The virtual debugging platform transmits the code data of the virtual drive to the backup platform through the 4G module and a plurality of 4G gateways in the 4G network;
the method for the virtual debugging platform to transmit the virtually driven code data to the backup platform through the 4G module and a plurality of 4G gateways in the 4G network comprises the following steps:
step A-1: the 4G gateway obtains a signaling;
step A-2: the 4G gateway determines code data of the virtual drive corresponding to the signaling;
step A-3: when the code data of the virtual drive needs to be processed by transparent transmission, the 4G gateway recognizes a virtual link which needs to be used for transmitting the signaling according to the transmission direction of the code data of the virtual drive, and transmits the signaling through the virtual link.
The invention has the beneficial effects that:
the invention provides a virtual hardware environment for software developers, and can intuitively debug and verify codes based on the virtual hardware environment, thereby improving the code quality.
The debugging can be carried out in advance before the hardware is manufactured and assembled, the defects of software codes are searched, and the field debugging time is reduced, so that the research and development period of products is shortened.
The occupied time of the equipment field is reduced, and the development cost is reduced.
Extreme test scenes can be set up in the virtual environment, so that the risk of actual hardware damage is avoided. The virtual environment may be used in multiple stages of the product lifecycle, such as when software is upgraded, new functions may be tested based on the virtual environment without halting the production line.
Drawings
Fig. 1 is a diagram of the actual topology of the automation equipment of an example of the invention.
FIG. 2 is an architecture diagram of the equipment hardware model base based on the Modelica standard base according to the invention.
FIG. 3 is a test scenario diagram illustrating the validation of the Modelica standard library-based equipment hardware model library according to an example of the present invention.
FIG. 4 is a schematic diagram of data interaction under the establishment of the virtual drive of the present invention.
Fig. 5 is a structural diagram of the virtual debugging scenario construction according to the example of the present invention.
Fig. 6 is a partial flowchart of the debugging method of the virtual debugging system of the automation equipment software according to the present invention.
Fig. 7 is a schematic structural diagram of an exemplary material path model of the present invention.
Fig. 8 is a schematic diagram of a servo motor model according to an example of the present invention.
Fig. 9 is a schematic structural diagram of a model stepper motor of an example of the present invention.
FIG. 10 is a schematic diagram of the structure of an exemplary test meter model of the present invention.
FIG. 11 is a schematic diagram of a position sensor model of an example of the invention.
Fig. 12 is a schematic structural view of a cylinder model of an example of the invention.
Detailed Description
The invention provides a virtual debugging system of automation equipment software and a debugging method thereof, namely, the functions and interfaces of equipment hardware are simulated in the software and are connected with the equipment software, thereby providing a virtual environment for debugging the equipment software and avoiding the defect that codes can be debugged only based on the hardware.
Modelica is a modeling language widely used in the industry at present, is an object-oriented, open-source, non-causal and multi-physical-field modeling language, and is suitable for establishing a dynamic model of a typical electromechanical product. The language can be used for conveniently constructing a model of equipment hardware and developing a communication interface to be connected with control software.
The invention will be further illustrated with reference to the following figures and examples.
As shown in fig. 1 to 12, a virtual debugging system of automation equipment software includes:
a module running on a virtual debug platform, comprising:
a decomposition module for system decomposition of a hardware model of an automation equipment;
the building module is used for building an equipment hardware model base based on a Modelica standard base;
the verification module is used for verifying an equipment hardware model library based on a Modelica standard library;
the establishing module is used for establishing a virtual drive;
and the construction module is used for building a virtual debugging scene. The virtual debugging platform can be a PC, a 3G mobile phone or a PDA.
The decomposition module is also used for extracting a basic hardware component based on data interaction between software of the automation equipment and hardware of the automation equipment, and abstracting functions of the basic hardware component, so that a hardware model of the automation equipment is subjected to system decomposition.
The building module is also used for building an equipment hardware model base according to the functional characteristics of each hardware assembly based on the system decomposition of the automatic equipment hardware model.
The verification module is also used for decomposing the system of the hardware model of the automatic equipment, building an equipment hardware model base, carrying out simulation analysis based on given test conditions and testing the functions of the equipment hardware model base.
The establishing module is also used for simulating a driver of the automatic equipment and a program of the motion control card, and the simulated driver of the automatic equipment and the program of the motion control card are virtual drivers, so that data interaction between software for controlling the automatic equipment and a model of an equipment hardware model library is realized.
The construction module is also used for utilizing an equipment hardware model library component model as virtual automation equipment hardware based on the specific automation equipment structure and then utilizing a virtual drive to achieve data interaction between software and a model of the automation equipment so as to complete construction of the whole virtual debugging scene.
A debugging method of a virtual debugging system of automation equipment software comprises the following steps:
step 1: systematic decomposition of a hardware model of the automation equipment;
for example, as shown in fig. 1, the software of the automation equipment is an automation control platform, which runs on a PC and is used for controlling the actions of the hardware of the automation equipment and receiving the sensor states. The driving program is located on the PC, is called by software of the automation equipment, and is used for driving the motion control card and the test instrument and reading state information of hardware of the related automation equipment. The hardware of the automation equipment comprises a motion control card, a stepping motor, a material channel, a cylinder, a servo motor, a position sensor and a test instrument, wherein the position sensor is connected with the motion control card, and the stepping motor and the servo motor are both connected with the motion control card.
Particularly, the belt conveyer that has the belt pulley traction that step motor drove in the material passageway, the belt keeps having the belt of interval for two, and the settlement position that keeps in the belt is provided with position sensor, and the position is preset under two belt intervals and is provided with the cylinder, the top of the piston rod of cylinder is provided with servo motor, and servo motor's output is connected with the revolving stage as rotary mechanism, the top of revolving stage is provided with test instrument.
It was found that a typical signal transmission process between the software of the automation equipment and the hardware of the automation equipment is:
1) when the position sensor senses that the materials arrive, signals sensing that the materials arrive are transmitted to software of the automatic equipment through the motion control card and a driving program;
2) then, software of the automatic equipment sends an instruction to stop the operation of the stepping motor through a driving program and a motion control card, and simultaneously sends an instruction to the motion control card to enable a piston rod of the air cylinder to jack up the material upwards;
3) when the piston of the cylinder reaches a set position, a feedback signal is transmitted to software of the automatic equipment through a motion control card and a driving program;
4) then the software of the automatic equipment sends an instruction to a motion control card to enable the output end of the servo motor to rotate by an angle, an encoder of the servo motor transmits the rotating speed and the rotating angle of the output end of the servo motor to the software of the automatic equipment, and when an angle signal meets the requirement of a preset rotating angle, the software of the automatic equipment sends an instruction to stop the operation of the servo motor through the motion control card;
5) and the software of the automatic equipment sends a signal through the driver to control the test instrument to test the material and sends the test result to the software of the automatic equipment through the driver.
Extracting a basic hardware component based on the data interaction between the software of the automation equipment and the hardware of the automation equipment, and abstracting the function of the hardware component, so as to carry out systematic decomposition on the hardware model of the automation equipment, wherein the method comprises the following steps:
stepping motor, material channel, position sensor, air cylinder and servo motor as hardware component
And a test meter;
step motor, its function includes: the conveyor belt for driving the material channel moves, the target speed signal of the stepping motor is input, and the actual speed of the stepping motor is output.
The material passageway, its function includes: the device is used for conveying materials to a working position in the automatic equipment, the input is the actual speed of the stepping motor, and the output is the position of the materials on the material channel.
A position sensor, the functions of which include: the device is used for sensing the position of the material and feeding back the state, the input is a material position signal, and the output is a state signal whether the material is sensed or not.
A cylinder, the functions of which include: the material jacking device is used for jacking materials, the input is an enabling signal, and the output is a state signal of whether the top end of a piston rod of the air cylinder reaches a set position.
Servo motor, its function includes: the servo motor is used for driving the rotation mechanism to move, inputting target angle and speed signals for the rotation of the servo motor, and outputting actual angle and speed of the servo motor.
A test meter, the functions of which include: the device is used for testing the materials and feeding back results, the input is a test enabling signal, and the output is a test result state and test time. The material can be a mobile phone screen, and the test instrument can be a level gauge. The test enable signal is used as an instruction to enable the test instrument to test the material.
Step 2: building an equipment hardware model base based on a Modelica standard base;
and building an equipment hardware model base according to the functional characteristics of each hardware component based on the system decomposition of the automatic equipment hardware model. The models in the equipment hardware model library serve as hardware models for the automation equipment.
As shown in fig. 2, the equipment hardware model library includes a material passage model, a servo motor model, a stepping motor model, a test instrument model, a position sensor model, and a cylinder model library.
Further, according to the system decomposition of the hardware model of the automation equipment in the step 1, the method for building the equipment hardware model library based on the Modelica standard library specifically comprises the following steps:
and the material channel is used for conveying the material to a working position in the automatic equipment. As shown in fig. 7, the method for building a material channel model based on a modeica standard library includes: opening a Modelica standard library through a Modelica language to select a material channel model, setting the input of the material channel model as the actual speed of a stepping motor, setting the output of the material channel model as a position sensor of a material position signal to sense the position of a material on a material channel, according to the specific requirements of the material channel of the automatic equipment, selecting corresponding integral module, material module position setting module and summation module from Modelica standard library, connecting the input of the material channel model with the integral module, connecting the integral module and the material module position setting module with the summation module, connecting the summation module with the output of the material channel model, so as to perform integral calculation on the actual speed of the stepping motor through the integral module, the distance of the conveyor belt movement is calculated and transmitted to the summation module; the material position setting module is used for setting the initial position of the material on the conveyor belt and transmitting the position signal to the summing module; and the summation module sums the moving distance of the conveyor belt and the initial position of the material on the conveyor belt to calculate and output a position signal of the material on the material channel. The material path model can be a block model in a Modelica standard library.
And the servo motor is used for driving the rotating mechanism to rotate. As shown in fig. 8, the method for building the servo motor model based on the Modelica standard library includes: opening a Modelica standard library through a Modelica language to select a servo motor model, setting the input of the servo motor model as a target angle and a speed signal of the rotation of a servo motor, setting the output of the servo motor model as an actual angle and speed of the servo motor, selecting a corresponding control module, an inversion module, an electromagnetic force calculation module and a rotor module from the Modelica standard library according to the specific requirements of the servo motor of the automatic equipment, and then connecting the input of the servo motor model with the control module, wherein the control module, the inversion module, the electromagnetic force calculation module and the rotor module are sequentially connected, and the rotor module is connected with the output of the servo motor model, so that the control module calculates and outputs a pulse signal based on the input of the servo motor model and transmits the pulse signal to the inversion module; the inversion module converts the pulse signal into an electric signal and transmits the electric signal to the electromagnetic force calculation module; the electromagnetic force calculation module calculates to obtain torque according to the electric signal and transmits the torque signal to the rotor module; the rotor module is combined with the parameters of the rotational inertia to calculate and output the actual angle and speed of the servo motor.
And the stepping motor is used for driving the conveyor belt of the material channel to move. As shown in fig. 9, the method for building a stepping motor model based on a Modelica standard library includes: opening a Modelica standard library through a Modelica language to select a stepping motor model, setting the input of the stepping motor model as a target speed signal of the stepping motor, setting the output of the stepping motor model as the actual speed of the stepping motor, selecting a corresponding control driving module, a coil module and a rotor module from the Modelica standard library according to the specific requirements of the stepping motor of the automation equipment, and then sequentially connecting the input of the stepping motor model with the control driving module, wherein the control driving module, the coil module and the rotor module are connected with one another, and the rotor module is connected with the output of the stepping motor model, so that the control driving module converts the target speed signal of the stepping motor into an electric signal and transmits the electric signal to the coil module; the coil module calculates the torque according to the electric signal and transmits the torque signal to the rotor module; and the rotor module calculates and outputs the actual speed of the stepping motor according to the torque.
And the test instrument is used for testing the material and feeding back a result. As shown in fig. 10, the method for building a test instrument model based on a Modelica standard library includes: opening a Modelica standard library through a Modelica language to select a test instrument model, setting the input of the test instrument model as a test enabling signal, setting the output of the test instrument model as a test result state and test time, selecting a corresponding test result generation module and a corresponding time calculation module from the Modelica standard library according to the specific requirements of the test instrument of the automation equipment, and then connecting the input of the test instrument model and the test result generation module, wherein the test result generation module is connected with the time calculation module, the test result generation module is also connected with the output of the test instrument model, and thus the test result generation module outputs a test result state based on a set test passing rate according to the test enabling signal and transmits the test result state to the time calculation module; the time calculation module outputs different test time based on the test result state.
And the position sensor is used for sensing the position of the material and feeding back the state. As shown in fig. 11, the method for building a position sensor model based on a modeica standard library includes: opening a Modelica standard library through a Modelica language to select a position sensor model, setting the input of the position sensor model as a material position signal, setting the output of the position sensor model as a state signal whether the material is sensed, selecting a corresponding position calculation module and a corresponding sensor position setting module from the Modelica standard library according to the specific requirements of the position sensor of the automation equipment, connecting the input of the position sensor model with the position calculation module, connecting the position calculation module with the sensor position setting module, and connecting the position calculation module with the sensor position setting module and the output of the position sensor model, so that the material position signal is transmitted to the position calculation module; the position calculation module judges whether the material is in the sensing range of the sensor or not based on the sensor position signal transmitted by the sensor position setting module, so that the state signal whether the material is sensed or not is output.
And the air cylinder is used for jacking the materials. As shown in fig. 12, the method for building the cylinder model based on the Modelica standard library includes: opening a Modelica standard library through a Modelica language to select an air cylinder model, setting the input of the air cylinder model as an enabling signal, setting the output of the air cylinder model as a state signal whether the top end of a piston rod of the air cylinder reaches a set position, and selecting a corresponding air pressure calculation module and an air cylinder position calculation module from the Modelica standard library according to the specific requirements of the air cylinder of the automatic equipment, wherein the input of the air cylinder model is connected with the air pressure calculation module, the output of the air cylinder model is connected with the air cylinder position calculation module, and the air pressure calculation module is connected with the air cylinder position calculation module, so that the air pressure calculation module outputs a force signal based on the set air pressure value and parameters according to the enabling signal; the piston position calculation module calculates the position of the piston movement based on the force signal, so as to output a state signal whether the top end of the piston rod of the air cylinder reaches a set position.
And step 3: verifying an equipment hardware model library based on a Modelica standard library;
since the accuracy of the hardware model of the automation equipment is very important, it is further required that the method for verifying the hardware model library of the equipment based on the Modelica standard library includes: and (3) carrying out simulation analysis based on given test conditions according to the system decomposition of the hardware model of the automatic equipment in the step (1) and the establishment of the hardware model library of the equipment in the step (2), and testing the functions of the hardware model library of the equipment.
As described above, as shown in fig. 3, the test scenario includes the stepping motor model, the material passage model, and the position sensor model, which are only an example of the verification of the stepping motor model, the material passage model, and the position sensor model. The stepping motor model is used for driving the belt pulley to rotate, the material channel model drives the material to move, and the sensor model is used for sensing whether the material in the material channel reaches a set position.
The test is carried out by setting a target speed signal of a stepping motor model, outputting an actual speed value of the stepping motor by the stepping motor model and transmitting the actual speed value to a material channel model, calculating the position of the material on a conveyor belt by the material channel model based on the rotating speed and outputting a position signal to a position sensor model, judging whether the material reaches a set position or not by the position sensor model based on the position signal and the installation position of the position sensor model, and outputting a state signal. If the material reaches the installation position of the displacement sensor, the state signal output by the position sensor model is 1; and if the output of the position sensor model is 0 under other conditions, the output result is in accordance with the preset functions of the stepping motor model, the material channel model and the position sensor model of the equipment hardware model, and the verification of the stepping motor model, the material channel model and the position sensor model of the equipment hardware model base based on the Modelica standard base is completed.
And 4, step 4: establishing a virtual drive;
after the actual hardware component is replaced by the equipment hardware model library, further, the method for establishing the virtual drive comprises the following steps: and simulating a driver of the automatic equipment and a program of the motion control card, wherein the simulated driver of the automatic equipment and the program of the motion control card are virtual drivers, so that data interaction between software for controlling the automatic equipment and a model of an equipment hardware model library is realized.
Fig. 4 shows a method for establishing a virtual driver, which uses software with automation equipment, a virtual driver and a shared memory, all of which are in the same computer. Function 1, function 2.. the function n represent a plurality of functions written in software of the automation device to implement different functions, and variable 1, variable 2.. the variable n represent a plurality of variables predefined in the shared memory. And each function in the software of the automation equipment calls an interface of the virtual drive, transmits a control instruction to the shared memory or reads a return result of the model of the equipment hardware model library from the shared memory, wherein n is a positive integer.
The virtual drive is written based on C/C + +, a function interface of the virtual drive is consistent with an actual drive program, the control instruction of the automatic equipment software is written into a shared memory relay and sent to the automatic equipment hardware model by creating the shared memory, and meanwhile, a feedback result of the equipment hardware model is read from the shared memory. Specifically, as shown in the above example, the software of the automation equipment transmits a target angle and speed signal of the rotation of the servo motor, a target speed signal of the stepping motor, a test enable signal of the test instrument, and an enable signal of the air cylinder to the virtual drive; meanwhile, the virtual drive transmits the actual angle and speed signals of the servo motor model, the actual speed signals of the stepping motor model, the test result and test time signals of the test instrument model, the sensing state signals of the position sensor model and the state signals of the air cylinder model to the automatic equipment software.
For example, the partial virtual driver example code shown below:
1) parameter definition, including the reference of a header file of an original drive program, the name of a shared memory, the length of the shared memory and the definition of variables in the shared memory;
// virtual driver example
# include "driver. h"// original driver's header file
#define BUF_SIZE 6000
charr writeSMHMName [ ] = "writeSMM";/name of shared memory written
// predefined semaphores in shared memory
struct data{
double var 1// variable 1 in shared memory
double var 2// variable 2 in shared memory
};
struct data dataWrite;
2) Creating a shared memory, and creating a file handle of the shared memory based on the defined name and memory length of the shared memory;
// creating shared memory
HANDLE hMapFile = OpenFileMapping(FILE_MAP_ALL_ACCESS, 0, writeSHMName);
if (hMapFile == NULL)
{
// creating shared File handle
hMapFile = CreateFileMapping(
INVALID _ HANDLE _ VALUE,// physical File HANDLE
NULL,// default security level
Page READWRITE,// readable and writable
0,// high order file size
BUF _ SIZE,// lower order File SIZE
writeSMName// shared memory name
);
}
char *pBufWrite = (char *)MapViewOfFile(
hMapFile,// shared memory handle
FILE _ MAP _ ALL _ ACCESS,// read/write permission
0,
0,
BUF_SIZE
);
3) And reconstructing the function of the driver based on the original driver header file. Taking a servo motor control function as an example, software of an automatic device calls a function ServoMotordrive and transmits the position and speed of the form parameters, and the function ServoMotordrive assigns the values of the form parameters to variables var1 and var2 and carries out memory copy operation, so that a control signal is written into a shared memory;
v/writing the Motor control signals to shared memory variables var1, var2 in virtual drives
void MotorDrive(float position,float MaxSpeed)
{
Var1 = positon// assigning the motor target position signal to the variable var1
Var2 = maxseed// assigning the motor maximum speed signal to the variable var2
Memcpy(pBufWrite, &dataWrite, sizeof(dataWrite));
}
And 5: and building a virtual debugging scene.
The method for building the virtual debugging scene further comprises the following steps: based on the specific automatic equipment structure, the equipment hardware model library component model is used as the hardware of the virtual automatic equipment, and then the data interaction between the software and the model of the automatic equipment is achieved by using the virtual drive, so that the construction of the whole virtual debugging scene is completed.
Wherein, the software of the automation equipment is used for controlling the operation of the automation equipment. The virtual driver is used for establishing interface mapping between the control software and a hardware model of the automation equipment to realize data interaction. And (3) completing the establishment of a digital model by the automatic equipment hardware model according to the type of the actual hardware component of the equipment and based on the actual topological structure of the equipment by utilizing the model library established in the step (2).
In the actual debugging scene, as shown in the above example, a part of the hardware model of the automation equipment comprises 2 stations and 2 sections of conveyor belts, each section of conveyor belt is provided with 1 position sensor, and the operation of the conveyor belt is controlled by the software of the automation equipment. When the virtual debugging scene is built, 1) software of the automatic equipment runs and outputs a control instruction;
2) signals of the control commands are input to the part of the hardware model of the automation equipment through the virtual drive;
3) the hardware model of the automation equipment receives the control instruction, the stepping motor model operates to start conveying work, and the material starts to move;
4) when the material runs to a specified position, the position sensor model senses that the material is in place and outputs a result signal;
5) a result signal output by the position sensor model is fed back to software of the automatic equipment through virtual driving;
6) the software of the automation equipment receives the feedback signal, confirms that the control instruction is finished, and stops control;
7) the software of the automation equipment waits for the next control operation to be carried out. And repeating the steps 1) to 7) until all the control operations are finished, and finishing the virtual debugging.
In addition, the constructed code data of the virtual driver is very important, but the code data of the virtual driver is often unsafe to be stored on the virtual debugging platform, so that the virtual debugging platform can transmit the code data of the virtual driver to the backup platform for storage, and the virtual debugging platform can transmit the code data of the virtual driver to the backup platform through the communication unit.
At present of the widespread use of 4G, a communication unit is generally a 4G module, and a virtual debugging platform is a virtual debugging platform in a 4G network, where the virtual debugging platform transfers virtually-driven code data to a backup platform through a plurality of 4G gateways in the 4G network through the 4G module, so that a requirement that signaling is transferred to each 4G gateway or some 4G gateways therein on a link where the virtually-driven code data is transferred occurs, like call setup, monitoring, removal, and data transfer required by a distributed application process to each 4G gateway on the link where the virtually-driven code data is transferred.
Currently, the backup platform, the virtual debug platform, and the 4G gateway information of the link, as well as the link bandwidth used by them, or the time interval within the bandwidth can be manually set to perform signaling transmission; however, the manual setting is time-consuming and labor-consuming, and often has errors, and when the code data transmission of the virtual drive changes, the transmission link of the signaling also needs to be manually exchanged, so that the feedback efficiency is low; currently, a flexible link standard can be used to find a link, and the 4G gateways send existing data of the 4G gateway to other adjacent 4G gateways in a group via a group sending mode, so as to obtain link conditions on each 4G gateway, and find link association to transmit signaling.
However, after the transfer of the virtually driven code data is suspended or changed, the link data needs to be refreshed again by the group sending method to generate new link data, so that delay exists, the overhead of the group sending is not small, and the executable link range is restricted; if the link range is not small, the flow of the back group sending information is large when the link changes, so that the signaling under the general condition can not be quickly transmitted, and the performance of the 4G network is not facilitated; if the bandwidth of the signaling bandwidth is ensured by the mode of restricting the group sending bandwidth, the group sending time for distinguishing the link status change is significantly delayed after the 4G network changes, and the performance of the 4G network is also reduced, so a process is needed to prevent the manual setting of the bandwidth link and the data group sending between the 4G gateways.
The virtual debugging platform is connected with the 4G module and transmits the code data of the virtual drive to the backup platform through the 4G module and a plurality of 4G gateways in the 4G network;
the method for the virtual debugging platform to transmit the virtually driven code data to the backup platform through the 4G module and a plurality of 4G gateways in the 4G network comprises the following steps:
step A-1: the 4G gateway obtains a signaling;
step A-2: the 4G gateway determines code data of the virtual drive corresponding to the signaling;
step A-3: when the code data of the virtual drive needs to be processed by transparent transmission, the 4G gateway recognizes a virtual link which needs to be used for transmitting the signaling according to the transmission direction of the code data of the virtual drive, and transmits the signaling through the virtual link, wherein the transmission direction of the information of the virtual link is the same as the transmission direction of the code data of the virtual drive.
In detail, after receiving the signaling transmitted by the first 4G gateway or the signaling entered by the operator, the 4G gateway can query whether the destination IP address of the signaling is the self 4G gateway, and if the destination IP address is the self 4G gateway, the signaling can be obtained; if the destination IP address is not the own 4G gateway, and the virtual driver code data corresponding to the signaling on the machine needs to be transmitted continuously with the corresponding virtual driver code data when the 4G gateway performs transparent transmission processing, the virtual link for transmitting the signaling can be determined according to the transmission direction of the virtual driver code data, and the signaling can be transmitted through the virtual link.
Upon transferring signaling via the virtual link, the signaling can be assembled into a signaling message including a destination IP address, a port number, and a data field, where the destination IP address is used to indicate an IP address of a destination of the transfer of the signaling, the port number is used to indicate what kind of signaling the data in the data field is, and the data field is used to indicate valid data of the signaling. Just as the kind of signalling can be these several: the data field is specifically used for indicating the call establishment instruction, the monitoring instruction, the dismantling instruction and the distributed application process instruction of the link.
If the destination IP address of the signaling is not the own 4G gateway and the virtual driver code data does not need to be processed by transparent transmission, the own 4G gateway can cancel the signaling and can reversely transmit a cancel command, so that the transmitter that initially transmits the signaling can perform subsequent processing after receiving the cancel notification message, as if the destination IP address of the corresponding virtual driver code data and the destination IP address in the signaling are not the same. Here, the above-mentioned signaling message may further include an IP address of a transfer party that transfers the signaling at the beginning, for indicating the IP address of the transfer party that transfers the signaling at the beginning. Here, the signaling message may not include the destination IP address, so that the forwarding of data can be performed directly by using the direction of code data transmission of the virtual driver, which means that the destination IP address of the signaling is the destination IP address corresponding to the code data transmission of the virtual driver, that is, the IP address of the virtual debugging platform; if the signaling message contains the destination IP address, the destination IP address of the signaling can be the destination IP address corresponding to the virtually-driven code data and can also be an optional 4G gateway through which the virtually-driven code data is transmitted.
The step a-2 of the 4G gateway determining the code data of the virtual driver corresponding to the signaling may include:
the 4G gateway recognizes the code data of the virtual drive corresponding to the signaling by means of the identification code of the code data of the virtual drive contained in the signaling message assembled by the signaling when the signaling is obtained, wherein the identification code of the code data of the virtual drive is used for representing the code data of the virtual drive corresponding to the signaling;
or the 4G gateway determines the code data of the virtual drive corresponding to the signaling by means of the virtual link of the first 4G gateway transmitting the signaling and the corresponding association between the code data of the virtual drive and the virtual link which are set in advance.
In detail, when the first 4G gateway transmits the signaling, the identification code of the code data of the virtual driver can be put in the signaling message for identifying the code data of the virtual driver corresponding to the signaling, so that the 4G gateway can identify the code data of the virtual driver corresponding to the signaling by virtue of the identification information contained in the signaling; in this application, the message of the above design may further include an identification code of the code data of the virtual driver, which is used to indicate the code data of the virtual driver corresponding to the signaling.
When the first 4G gateway transmits the signaling, the signaling can be transmitted in the virtual link corresponding to the code data of the virtual drive, and when the 4G gateway receives the signaling, the virtual link of the signaling can be transmitted by the first 4G gateway, and the code data of the virtual drive corresponding to the signaling is identified, wherein the corresponding association between the virtual link and the code data of the virtual drive can be preset in the 4G gateway, just as the corresponding association between the virtual link for transmitting the signaling and the code data of the virtual drive corresponding to the signaling can be directly preset.
The step a-3 of transmitting the local signaling via the virtual link to which the local signaling needs to be transmitted may include:
and assembling the signaling into a signaling message, and transmitting the signaling message through the virtual link for transmitting the signaling, wherein the signaling message not only comprises the port number outside the data field, but also comprises an identification code of the code data of the virtual drive, and the identification code is used for representing the code data of the virtual drive corresponding to the signaling.
How to identify the code data of the virtual drive, the 4G gateway can identify the virtual link for transmitting the signaling by means of the corresponding association between the code data of the virtual drive and the virtual link, and the last 4G gateway can identify the code data of the virtual drive corresponding to the signaling by means of the corresponding association; or, the 4G gateway can include the identification code of the code data of the virtual drive in the signaling message assembled by the signaling, so that the latter 4G gateway can identify the code data of the virtual drive corresponding to the signaling by the identification code of the code data of the virtual drive included in the signaling message.
The signaling is transmitted via the bandwidth of the 4G network.
If the 4G gateway receives the signaling, the signaling can be directly transmitted towards a subsequent virtual link corresponding to the code data of the virtual drive.
Therefore, after obtaining the signaling, the code data of the virtual driver corresponding to the signaling is identified, and when the code data of the virtual driver needs to be transparently transmitted, the virtual link which needs to transmit the signaling is identified by the transmission direction of the code data of the virtual driver, and the signaling is transmitted through the virtual link, wherein the transmission direction of the information of the virtual link is the same as the transmission direction of the code data of the virtual driver, so that the 4G gateway for transferring does not need to obtain point-to-point bandwidth link data, thereby preventing manual setting of the bandwidth link and preventing the data group transmission between the 4G gateways.
The communication unit is a 4G module, the virtual debugging platform is a virtual debugging platform in a 4G network, and the virtual debugging platform is connected with the backup platform through the 4G module through a plurality of 4G gateways in the 4G network;
the 4G gateway comprises:
a receiving module for obtaining signaling;
a processing module, configured to identify code data of a virtual driver corresponding to the signaling, identify whether the code data of the virtual driver needs pass-through processing, and identify a virtual link for transmitting the signaling according to a transmission direction of the code data of the virtual driver when the code data of the virtual driver needs pass-through processing, where a transmission direction of information of the virtual link is the same as a transmission direction of the code data of the virtual driver;
a transfer module for transferring the signaling via the virtual link.
The processing module is further used for assembling the signaling into a signaling message containing a destination IP address, a port number and a data field, wherein the destination IP address is used for indicating the destination IP address of the signaling, the port number is used for indicating the type of the signaling, and the data field is used for indicating effective data of the signaling;
the transfer module is further configured to transfer the signaling message assembled with the local signaling via the virtual link.
The processing module is further configured to identify, by means of an identification code of code data of a virtual driver included in a signaling message assembled by the signaling when the signaling is obtained, code data of the virtual driver corresponding to the signaling, where the identification code of the code data of the virtual driver is used to represent the code data of the virtual driver corresponding to the signaling; or the virtual link of the signaling is transmitted by the first 4G gateway and the corresponding association between the preset virtual link and the code data of the virtual drive is used for identifying the code data of the virtual drive corresponding to the signaling.
The processing module is further used for assembling the identification code of the code data of the virtual driver into the signaling message to be transmitted through the virtual link, and the signaling message is used for representing the code data of the virtual driver corresponding to the signaling.
The processing module is further configured to determine whether the 4G gateway is a destination IP address of the signaling, and when it is determined that the code data of the virtual driver needs to be transparently transmitted and the 4G gateway is not the destination IP address of the signaling, determine a virtual link that needs to transmit the signaling according to a transmission direction of the code data of the virtual driver.
When obtaining the signaling, the signaling message assembled by the signaling includes the IP address of the transmitting party which transmits the signaling at the beginning, and is used for representing the IP address of the transmitting party which transmits the signaling at the beginning of the signaling;
the processing module is further configured to determine whether the 4G gateway is a destination IP address of the signaling, and revoke the signaling when the code data of the virtual driver is determined not to be subjected to transparent transmission processing and the 4G gateway is not the destination IP address of the signaling;
the processing module is also used for reversely transmitting a cancelling instruction when the processing module cancels the signaling.
After obtaining the signaling, the code data of the virtual drive corresponding to the signaling is identified, and when the code data of the virtual drive needs to be transparently transmitted, the virtual link which needs to transmit the signaling is identified by the transmission direction of the code data of the virtual drive, and the signaling is transmitted through the virtual link, wherein the transmission direction of the information of the virtual link is the same as the transmission direction of the code data of the virtual drive, so that the 4G gateway for transferring does not need to obtain point-to-point bandwidth link data, the manual setting of the bandwidth link can be prevented, and the data group transmission between the 4G gateways can be prevented.
While the present invention has been described in terms of embodiments, it will be understood by those skilled in the art that the present disclosure is not limited to the embodiments described above, and that various changes, modifications and substitutions can be made without departing from the scope of the present invention.
Claims (6)
1. A virtual debugging system for automation equipment software, comprising:
a module running on a virtual debug platform, comprising:
a decomposition module for system decomposition of a hardware model of an automation equipment;
the building module is used for building an equipment hardware model base based on a Modelica standard base;
the verification module is used for verifying an equipment hardware model library based on a Modelica standard library;
the establishing module is used for establishing a virtual drive;
the construction module is used for building a virtual debugging scene;
the verification module is also used for decomposing the system of the hardware model of the automatic equipment, building an equipment hardware model base, carrying out simulation analysis based on given test conditions and testing the functions of the equipment hardware model base;
the establishing module is also used for simulating a driving program of the automatic equipment and a program of the motion control card, and the simulated driving program of the automatic equipment and the program of the motion control card are virtual driving, so that data interaction between software for controlling the automatic equipment and a model of an equipment hardware model library is realized;
the construction module is also used for utilizing an equipment hardware model library component model as virtual automation equipment hardware based on the specific automation equipment structure and then utilizing a virtual drive to achieve data interaction between software and a model of the automation equipment so as to complete construction of the whole virtual debugging scene;
the virtual debugging platform is connected with the backup platform through a 4G module through a plurality of 4G gateways in a 4G network;
the 4G gateway comprises:
a receiving module for obtaining signaling;
a processing module, configured to identify code data of a virtual driver corresponding to the signaling, identify whether the code data of the virtual driver needs pass-through processing, and identify a virtual link for transmitting the signaling according to a transmission direction of the code data of the virtual driver when the code data of the virtual driver needs pass-through processing, where a transmission direction of information of the virtual link is the same as a transmission direction of the code data of the virtual driver;
a transfer module for transferring the signaling via the virtual link.
2. The virtual debugging system of automation equipment software of claim 1, wherein the decomposition module is further configured to extract the underlying hardware component and abstract the function thereof based on data interaction between the software of the automation equipment and the hardware of the automation equipment, so as to perform system decomposition on the hardware model of the automation equipment.
3. The virtual debugging system of the automation equipment software according to claim 1, wherein the building module is further configured to build an equipment hardware model library according to the functional characteristics of each hardware component based on the systematic decomposition of the automation equipment hardware model.
4. A building method for a virtual debugging system of automation equipment software according to any of claims 1 to 3, characterized in that it comprises:
step 1: systematic decomposition of a hardware model of the automation equipment;
step 2: building an equipment hardware model base based on a Modelica standard base;
and step 3: verifying an equipment hardware model library based on a Modelica standard library;
and 4, step 4: establishing a virtual drive;
and 5: building a virtual debugging scene;
the method for verifying the equipment hardware model library based on the Modelica standard library comprises the following steps:
performing simulation analysis based on given test conditions according to the system decomposition of the hardware model of the automatic equipment in the step 1 and the establishment of the hardware model library of the equipment in the step 2, and testing the functions of the hardware model library of the equipment;
the method for establishing the virtual drive comprises the following steps:
simulating a driving program of the automatic equipment and a program of the motion control card, wherein the simulated driving program of the automatic equipment and the program of the motion control card are virtual driving, so that data interaction between software for controlling the automatic equipment and a model of an equipment hardware model library is realized;
the method for building the virtual debugging scene comprises the following steps:
based on the specific automatic equipment structure, the equipment hardware model library component model is used as the hardware of the virtual automatic equipment, and then the data interaction between the software and the model of the automatic equipment is achieved by using the virtual drive, so that the construction of the whole virtual debugging scene is completed.
5. The method for building a virtual debugging system of automation equipment software according to claim 4, characterized in that the method for system decomposition of hardware model of automation equipment comprises:
based on data interaction between software of the automation equipment and hardware of the automation equipment, basic hardware components are extracted, and functions of the hardware components are abstracted, so that a hardware model of the automation equipment is systematically decomposed.
6. The building method of the virtual debugging system of the automation equipment software according to claim 4, wherein the building method of the equipment hardware model library based on the Modelica standard library comprises the following steps:
and building an equipment hardware model base according to the functional characteristics of each hardware component based on the system decomposition of the automatic equipment hardware model.
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