CN112911185B - Fault processing method and device for double-control equipment - Google Patents

Fault processing method and device for double-control equipment Download PDF

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Publication number
CN112911185B
CN112911185B CN202110063798.4A CN202110063798A CN112911185B CN 112911185 B CN112911185 B CN 112911185B CN 202110063798 A CN202110063798 A CN 202110063798A CN 112911185 B CN112911185 B CN 112911185B
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controller
video stream
hard disk
memory
main
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CN112911185A (en
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杨世增
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Zhejiang Dahua Technology Co Ltd
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Zhejiang Dahua Technology Co Ltd
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/76Television signal recording
    • H04N5/907Television signal recording using static stores, e.g. storage tubes or semiconductor memories
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/43Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
    • H04N21/433Content storage operation, e.g. storage operation in response to a pause request, caching operations
    • H04N21/4331Caching operations, e.g. of an advertisement for later insertion during playback
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/43Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
    • H04N21/433Content storage operation, e.g. storage operation in response to a pause request, caching operations
    • H04N21/4334Recording operations
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/43Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
    • H04N21/442Monitoring of processes or resources, e.g. detecting the failure of a recording device, monitoring the downstream bandwidth, the number of times a movie has been viewed, the storage space available from the internal hard disk
    • H04N21/4425Monitoring of client processing errors or hardware failure

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Databases & Information Systems (AREA)
  • Hardware Redundancy (AREA)

Abstract

The invention provides a method and a device for processing faults of double-control equipment, wherein the method comprises the following steps: when a first controller in a main controller state is detected to have a fault, a second controller in a control state of a slave controller is switched to be the main controller; the method comprises the steps that a first video stream which is cached in advance is stored in a hard disk in preference to a second video stream which is acquired in a preset time period, the problems that in the related technology, a main/standby switching process takes a certain time, part of video data can be lost, and therefore video data are incomplete can be solved, the video stream in the main/standby switching process is prerecorded by a controller, and the cached video stream is stored in the hard disk after switching is completed, so that the integrity of the video stream in the main/standby switching process is guaranteed.

Description

Fault processing method and device for double-control equipment
Technical Field
The invention relates to the field of double-control equipment, in particular to a method and a device for processing faults of the double-control equipment.
Background
The double-controller system is applied to occasions with high requirements on reliability, and the controller detects whether the main controller at the opposite end fails in real time to take over to become the main controller at any time, so that continuous and stable operation of services is guaranteed.
In the device with a primary-secondary dual controller, in the primary-secondary switching process, as the switching process consumes a certain time, part of video data is lost, and the video data is incomplete.
Aiming at the problem that partial video data can be lost to cause incomplete video data due to certain time consumption in the main/standby switching process in the related technology, no solution is provided.
Disclosure of Invention
The embodiment of the invention provides a method and a device for processing faults of double-control equipment, which are used for at least solving the problem that the main/standby switching process in the related technology consumes a certain time, and partial video data are lost to cause incomplete video data.
According to an embodiment of the present invention, a method for processing a failure of a dual control device is provided, including:
when a first controller in the state of a main controller is detected to have a fault, a second controller in the state of a controller is switched to the main controller;
storing the pre-buffered first video stream into a hard disk before storing the second video stream acquired at the predetermined time period into the hard disk.
Optionally, when it is detected that a first controller in the state of the master controller fails, before a second controller in the state of the slave controller is switched to the master controller, the method further includes:
acquiring the first video stream at the preset time period while the first controller acquires the first video stream at the preset time period and stores the first video stream in a hard disk;
and caching the first video stream into a memory.
Optionally, after the first video stream is cached in the memory, the method further includes:
and if the residual space of the memory is smaller than a preset threshold value, releasing the video stream cached before according to the time sequence of caching.
Optionally, when it is detected that a first controller in a state of a master controller fails, switching a second controller in a control state of a slave controller to the master controller includes:
when the first controller is detected to have a fault, triggering a switching instruction of the main-standby switching;
and controlling the second controller to be switched into a main controller according to the switching instruction.
Optionally, controlling the second controller to switch to the main controller according to the switching instruction includes:
and taking over the hard disk according to the switching instruction so as to switch the second controller into a main controller.
Optionally, before storing the second video stream acquired at the predetermined time period into the hard disk, after storing the pre-cached first video stream into the hard disk, the method further includes:
detecting the integrity of a third video stream stored in the hard disk before the first controller fails;
repairing the third video stream if the third video stream is incomplete.
According to another embodiment of the present invention, there is also provided an apparatus for handling failure of dual control devices, including:
the control module is used for switching a second controller with a control state of a slave controller into a master controller when detecting that a first controller with the state of the master controller breaks down;
the storage module is used for storing the pre-cached first video stream into the hard disk before the second video stream acquired in the preset time period is stored into the hard disk.
Optionally, the apparatus further comprises:
an obtaining module, configured to obtain the first video stream at the predetermined time period while the first controller obtains the first video stream at the predetermined time period and stores the first video stream in the hard disk;
and the cache module is used for caching the first video stream into a memory.
Optionally, the apparatus further comprises:
and the releasing module is used for releasing the video stream cached before according to the time sequence of the caching if the residual space of the memory is smaller than a preset threshold value.
Optionally, the control module comprises:
the trigger submodule is used for triggering a switching instruction of the main-standby switching when the first controller is detected to have a fault;
and the control submodule is used for controlling the second controller to be switched into the main controller according to the switching instruction.
Optionally, the control submodule is also used for
And taking over the hard disk according to the switching instruction so as to switch the second controller into a main controller.
Optionally, the apparatus further comprises:
the detection module is used for detecting the integrity of a third video stream stored before the first controller in the hard disk fails;
a repair module to repair the third video stream if the third video stream is incomplete.
According to a further embodiment of the present invention, a computer-readable storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, when a first controller in a main controller state is detected to have a fault, a second controller in a control state of a slave controller is switched to the main controller; the method comprises the steps of storing a pre-cached first video stream in a hard disk in preference to a second video stream acquired in a preset time period, so that the problems that in the related technology, a main/standby switching process consumes a certain time, partial video data can be lost, and the video data is incomplete can be solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of a mobile terminal according to a method for processing a failure of a dual control device in an embodiment of the present invention;
fig. 2 is a flowchart of a method for dual-control device fault handling according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a dual-control device storage system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of data integrity assurance for a dual-control device according to an embodiment of the present invention;
fig. 5 is a block diagram of a dual control device failure handling apparatus according to an embodiment of the present invention;
fig. 6 is a first block diagram of a failure handling apparatus for a dual-control device according to an alternative embodiment of the present invention;
fig. 7 is a block diagram ii of a failure processing apparatus of a dual-control device according to an alternative embodiment of the present invention;
fig. 8 is a block diagram three of a dual-control device failure processing apparatus according to an alternative embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the drawings and embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
The method provided by the first embodiment of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking a mobile terminal as an example, fig. 1 is a hardware structure block diagram of a mobile terminal of the dual control device fault processing method according to the embodiment of the present invention, as shown in fig. 1, the mobile terminal may include one or more processors 102 (only one is shown in fig. 1) (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, and optionally, the mobile terminal may further include a transmission device 106 for a communication function and an input/output device 108. It will be understood by those of ordinary skill in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of application software, such as a computer program corresponding to the dual control device fault handling method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In this embodiment, a method for handling a failure of a dual-control device operating in the mobile terminal or the network architecture is provided, and fig. 2 is a flowchart of the method for handling a failure of a dual-control device according to the embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, when detecting that a first controller with the state of a main controller fails, controlling a second controller with the state of a slave controller to be switched into the main controller;
the embodiment of the invention is applied to the double-control equipment, namely, the double-control equipment comprises two controllers which are mutually a main controller and a standby controller. Fig. 3 is a schematic diagram of a dual-control device storage system according to an embodiment of the present invention, and as shown in fig. 3, a device in a partial model of a Network Video Recorder (NVR) is a dual-control device, that is, two controllers are provided in one device and respectively defined as a first controller and a second controller, where the first controller is a main controller, the second controller is a sub-controller, and each controller has a respective CPU, a memory bank, and a SSD small-capacity storage medium, but shares all hard disk resources. At ordinary times, the main controller is in a working state, the backup controller is in a hot backup state, when the main controller has a hardware or software fault, the backup controller is rapidly switched to the main controller to take over all storage resources and video recording services, and the continuity of service operation is guaranteed, so that the fault resistance of the whole system is improved, and the process is called Failover.
In an embodiment of the present invention, the step S202 may specifically include:
when the first controller is detected to have a fault, triggering a switching instruction of the main-standby switching; and controlling the second controller to be switched to a main controller according to the switching instruction, specifically, taking over the hard disk according to the switching instruction so as to switch the second controller to the main controller.
Step S204, before the second video stream acquired in a preset time period is stored in the hard disk, the pre-cached first video stream is stored in the hard disk.
Through the steps S202 to S204, when it is detected that the first controller in the state of the master controller fails, the second controller in the state of the slave controller is switched to the master controller; the method comprises the steps that a pre-cached first video stream is stored in a hard disk in preference to a second video stream acquired in a preset time period, the problems that in the related technology, a main/standby switching process consumes a certain time, partial video data can be lost, and therefore video data are incomplete can be solved, the controller pre-records the video stream in the main/standby switching process, stores the cached video stream in the hard disk after the switching is completed, ensures the integrity of the video stream in the main/standby switching process, and obtains the video stream redundantly through a dual controller, so that the controller is more effectively utilized, the switching process is carried out without \37856, and the data safety of a user is ensured.
In an optional embodiment, when a failure of a first controller in a state of a master controller is detected and before a second controller in a control state of a slave controller is switched to the master controller, the first controller acquires the first video stream at the predetermined time period, stores the first video stream in a hard disk, and acquires the first video stream at the predetermined time period; and caching the first video stream into a memory.
In another optional embodiment, after the first video stream is cached in the memory, if the remaining space in the memory is smaller than the preset threshold, the previously cached video streams are released according to the time sequence of the caching.
In another optional embodiment, before the second video stream acquired in the predetermined time period is stored in the hard disk, after the pre-cached first video stream is stored in the hard disk, integrity of a third video stream stored before the first controller in the hard disk fails is detected, and when the third video stream is incomplete, the third video stream is repaired, and the incomplete video stream is repaired, so that integrity of the video stream acquired before the main control device fails is ensured.
The diary function of the file system is to cope with the damage to the file system caused by abnormal power failure and disk pulling, the file system needs to record the management space and the metadata of the file for normal work, each time the user creates, updates and deletes the file, the file system is internally updated corresponding to one or more metadata, and the metadata are usually scattered in different disk sectors, so all the metadata related to the file operation cannot be updated at one time, but the updating and writing of a plurality of metadata are executed for a plurality of times, if part of the metadata related to the file operation is powered off in the updating process, or the hard disk where the file system is located is pulled out, the metadata of the file system are inconsistent, namely the file system is abnormal.
In order to solve the problem of metadata abnormality, a file system diary is introduced, the file system diary is similar to the database affairs, multiple times of metadata updating corresponding to file operation are taken as an affair diary and are firstly recorded in a file system diary area, then the corresponding metadata are updated, and after the metadata are ensured to be updated, the diary record in the diary area is cleared. If the metadata update related to the transaction diary is not completed and is interrupted due to power failure or hard disk pull-out, the following recovery process is executed in the stage of next device startup and file system mount:
checking a normal uninstalling mark of the file system, and if the file system is not normally uninstalled last time, executing a diary replay action;
the diary is replayed, namely a diary area of the file system is scanned, the transaction diary which is not submitted normally is replayed, the transaction diary comprises all metadata updating related to file operation, and after the diary is replayed, the metadata of the file system returns to a consistent state;
and the diary is replayed, and the file system is mounted normally.
In the embodiment of the invention, the real-time video stream is acquired from the front-end encoder through the network, and then the video stream is stored in the local hard disk in real time.
The Failover process is time-consuming, generally about 10-30 seconds, and the more the storage resources are, the longer the time is. Fig. 4 is a schematic diagram of data integrity guarantee of a dual-control device according to an embodiment of the present invention, and as shown in fig. 4, before a slave device is switched to a master device and a video recording service is taken over formally, a controller 2 always caches a real-time video stream for a period of time in a memory, and a controller prefetches a video stream for caching.
When the system works normally, the main controller obtains the real-time stream to store in the hard disk, and the controller also obtains the real-time stream to temporarily cache in the memory.
The duration of the video stream cached by the controller (i.e. the second controller) is related to the size of the memory and the size of the front-end access total code stream, when the space of the cache region is full, the video stream with the oldest release time is always released to vacate the memory space for storing a new video stream, so that the video stream with the latest fixed time length is always cached.
In the controller, most of the memory space can be used for caching prerecorded data, and the memory occupied by the cache is recycled when the memory space is to be switched into the main controller.
When the controller detects the failure of the main controller (namely the first controller), a Failover program is started, the hard disk storage resource is taken over, and the cached video stream data is written into the hard disk in priority to the newly pulled real-time stream.
Assuming that the memory size for pre-recording buffer in the controller is 2GB and the real-time stream total stream size is 512Mb/S, about 32 seconds of video stream data can be buffered.
According to the embodiment of the invention, the data loss caused by the non-video-recording service at the main/standby switching critical point can be counteracted through the pre-recording mechanism of the controller, so that the continuity of video stream data is strictly ensured. In the network video storage system with the dual controllers, the integrity of video stream data at the main/standby switching critical point is realized through a standby board pre-fetching stream cache mechanism, so that the reliability of the storage system is improved.
Example 2
According to another embodiment of the present invention, there is also provided an apparatus for processing a failure of a dual control device, and fig. 5 is a block diagram of the apparatus for processing a failure of a dual control device according to the embodiment of the present invention, as shown in fig. 5, including:
the control module 52 is configured to, when detecting that a first controller in a master controller fails, control a second controller in a slave controller to switch to the master controller;
a storage module 54, configured to store the pre-buffered first video stream in the hard disk before storing the second video stream acquired at the predetermined time period in the hard disk.
Fig. 6 is a first block diagram of an apparatus for handling failure of dual control devices according to an alternative embodiment of the present invention, as shown in fig. 6, the apparatus further includes:
an obtaining module 62, configured to obtain the first video stream at the predetermined time period while the first controller obtains the first video stream at the predetermined time period and stores the first video stream in a hard disk;
the buffer module 64 is configured to buffer the first video stream into a memory.
Optionally, the apparatus further comprises:
and the releasing module is used for releasing the video stream cached before according to the time sequence of the caching if the residual space of the memory is smaller than a preset threshold value.
Fig. 7 is a second block diagram of the dual control device fault processing apparatus according to an alternative embodiment of the present invention, as shown in fig. 7, the control module 52 includes:
a trigger submodule 72, configured to trigger a switching instruction of the main/standby switching when it is detected that the first controller fails;
and the control submodule 74 is used for controlling the second controller to be switched into a main controller according to the switching instruction.
Optionally, the control submodule 74 is also used for
And taking over the hard disk according to the switching instruction so as to switch the second controller into the main controller.
Fig. 8 is a block diagram three of an apparatus for handling a failure of a dual control device according to an alternative embodiment of the present invention, as shown in fig. 8, the apparatus further includes:
a detection module 82, configured to detect integrity of a third video stream stored before the first controller in the hard disk fails;
a repair module 84 for repairing the third video stream if the third video stream is incomplete.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Example 3
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the steps in any of the method embodiments described above when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, when a first controller in a main controller state is detected to have a fault, a second controller in a control state of a slave controller is switched to the main controller;
and S2, storing the pre-cached first video stream into the hard disk before storing the second video stream acquired in a preset time period into the hard disk.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Example 4
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, when a first controller in a main controller state is detected to have a fault, a second controller in a control state of a slave controller is switched to the main controller;
and S2, storing the pre-cached first video stream into the hard disk before storing the second video stream acquired in a preset time period into the hard disk.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized in a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a memory device and executed by a computing device, and in some cases, the steps shown or described may be executed out of order, or separately as individual integrated circuit modules, or multiple modules or steps thereof may be implemented as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims (9)

1. A method for processing faults of double control equipment is characterized by comprising the following steps:
when a first controller in a state of a main controller is detected to have a fault, a second controller in a control state of a backup controller is switched to the main controller, wherein the main controller is used for storing a real-time stream into a hard disk when the main controller works normally, and the backup controller is used for caching the real-time stream into a memory when the main controller works normally;
storing a pre-cached first video stream into a hard disk before storing a second video stream acquired in a predetermined time period into the hard disk;
detecting the integrity of a third video stream stored in the hard disk before the first controller fails;
repairing the third video stream if the third video stream is incomplete.
2. The method of claim 1, wherein prior to detecting a failure of a first controller having a status of primary controller and controlling a second controller having a status of secondary controller to switch to primary controller, the method further comprises:
acquiring the first video stream at the preset time period while the first controller acquires the first video stream at the preset time period and stores the first video stream in the hard disk;
and caching the first video stream into a memory.
3. The method of claim 2, wherein after buffering the first video stream into memory, the method further comprises:
and if the residual space of the memory is smaller than a preset threshold value, releasing the video stream cached before according to the time sequence of caching.
4. The method of claim 1, wherein upon detecting a failure of a first controller in a state of a master controller, controlling a second controller in a state of a slave controller to switch to the master controller comprises:
when the first controller is detected to have a fault, triggering a switching instruction of the main-standby switching;
and controlling the second controller to be switched into a main controller according to the switching instruction.
5. The method of claim 4, wherein controlling the second controller to switch to a master controller according to the switching instruction comprises:
and taking over the hard disk according to the switching instruction so as to switch the second controller into a main controller.
6. A failure processing device for a dual-control device is characterized by comprising:
the control module is used for switching a second controller with a control state of a controller to a main controller when detecting that a first controller with the state of the main controller breaks down, wherein the main controller is used for storing a real-time stream into a hard disk when the main controller works normally, and the controller is used for caching the real-time stream into a memory when the main controller works normally;
the storage module is used for storing a first video stream which is cached in advance into the hard disk before storing a second video stream which is acquired in a preset time period into the hard disk;
the detection module is used for detecting the integrity of a third video stream stored in the hard disk before the first controller fails;
a repair module to repair the third video stream if the third video stream is incomplete.
7. The apparatus of claim 6, further comprising:
an obtaining module, configured to obtain the first video stream at the predetermined time period while the first controller obtains the first video stream at the predetermined time period and stores the first video stream in the hard disk;
and the cache module is used for caching the first video stream into a memory.
8. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to carry out the method of any one of claims 1 to 5 when executed.
9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 5.
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