CN113449425B - Execution mechanism verification method, electronic equipment and storage medium - Google Patents
Execution mechanism verification method, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses an execution mechanism verification method, an execution mechanism verification device, electronic equipment and a computer-readable storage medium. Wherein, the method comprises the following steps: when a verification request is received, sequentially loading simulation components of each execution mechanism combination; after the simulation component is loaded each time, performing first verification on an actuator combination node to be verified by an analysis layer of the electronic equipment based on the data matching of a logic layer of the electronic equipment and the simulation component to be verified, wherein the simulation component to be verified is the currently loaded simulation component, and the actuator combination node to be verified is an actuator combination node to which the simulation component to be verified belongs; performing second verification on the combined node of the executing mechanism to be verified by a physical adaptation layer of the electronic equipment based on the data validity of the logic layer; and if the to-be-verified execution mechanism combined node passes the first verification and the second verification, determining that the to-be-verified execution mechanism combined node passes the verification. According to the scheme, efficient verification of various execution mechanism combinations can be achieved.
Description
Technical Field
The present application relates to the field of testing technologies, and in particular, to an execution mechanism verification method, an execution mechanism verification apparatus, an electronic device, and a computer-readable storage medium.
Background
An actuator of an unmanned aerial vehicle refers to an element in the unmanned aerial vehicle that controls operations such as power and/or steering. Currently, in the production process of the unmanned device, in order to guarantee the usability of the unmanned device, the function of the actuator is often required to be developed and actually tested in the field to verify whether the actuator is usable. On one hand, due to the diversity of the types of the actuators and the diversity of manufacturers of the actuators, the protocol flows applicable to different actuators are different; on the other hand, when the code of the execution mechanism changes, the function of the execution mechanism which is already verified may be in an unsatisfactory condition again, and the function needs to be verified again, which again takes a lot of time. That is, the current verification process for the actuator is cumbersome and inefficient, and it is difficult to meet the needs of the manufacturer of the unmanned device.
Disclosure of Invention
The application provides an execution mechanism verification method, an execution mechanism verification device, an electronic device and a computer readable storage medium, which can realize efficient verification of various execution mechanism combinations.
In a first aspect, the present application provides an execution mechanism verification method, where the execution mechanism verification method is applied to an electronic device, where the electronic device includes an analysis layer, a logic layer, and a physical adaptation layer; the physical adaptation layer comprises at least one execution mechanism combination node, and the execution mechanism combination node comprises a simulation component of execution mechanism combination; the actuator verification method comprises the following steps:
when a verification request is received, sequentially loading simulation components of each execution mechanism combination;
after loading a simulation component each time, performing first verification on an actuator combination node to be verified by the analysis layer based on the data matching of the logic layer and the simulation component to be verified, wherein the simulation component to be verified is a currently loaded simulation component, and the actuator combination node to be verified is an actuator combination node to which the simulation component to be verified belongs;
performing second verification on the combined node of the execution mechanism to be verified by the physical adaptation layer based on the data validity of the logic layer;
and if the to-be-verified execution mechanism combined node passes the first verification and the second verification, determining that the to-be-verified execution mechanism combined node passes the verification.
In a second aspect, the present application provides an actuator verification apparatus, where the actuator verification apparatus is applied to an electronic device, where the electronic device includes an analysis layer, a logic layer, and a physical adaptation layer; the physical adaptation layer comprises at least one execution mechanism combination node, and the execution mechanism combination node comprises a simulation component of execution mechanism combination; the actuator verification device includes:
the loading module is used for sequentially loading the simulation components of each execution mechanism combination when a verification request is received;
the first verification module is used for performing first verification on an actuator combination node to be verified by the analysis layer based on the data matching of the logic layer and the simulation component to be verified after the simulation component is loaded each time, wherein the simulation component to be verified is a currently loaded simulation component, and the actuator combination node to be verified is an actuator combination node to which the simulation component to be verified belongs;
the second verification module is used for performing second verification on the combined node of the execution mechanism to be verified by the physical adaptation layer based on the data validity of the logic layer;
and the determining module is used for determining that the to-be-verified execution mechanism combined node passes the verification if the to-be-verified execution mechanism combined node passes the first verification and the second verification.
In a third aspect, the present application provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by one or more processors, performs the steps of the method of the first aspect as described above.
Compared with the prior art, the application has the beneficial effects that: an analysis layer, a logic layer and a physical adaptation layer are defined in the electronic device, and the physical adaptation layer comprises at least one actuator combination node which comprises an emulation component of an actuator combination. When the electronic equipment receives a verification request, sequentially loading simulation components of each execution mechanism combination, after each simulation component is loaded, performing first verification on a combination node of the execution mechanisms to be verified by the analysis layer based on the data matching of the logic layer and the simulation components to be verified, wherein the simulation components to be verified are currently loaded simulation components, the combination node of the execution mechanisms to be verified is an execution mechanism combination node to which the simulation components to be verified belong, and performing second verification on the combination node of the execution mechanisms to be verified by the physical adaptation layer based on the data validity of the logic layer. Through the process, the manufacturer of the unmanned equipment only needs to set the corresponding execution mechanism combination node based on the possible combination condition of the execution mechanisms of each kind of unmanned equipment, and can perform first verification based on data matching and second verification based on data validity for each execution mechanism combination node through the scheme of the application so as to ensure that each function of the execution mechanism combination is normal, thereby realizing efficient verification of various execution mechanism combinations. It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic diagram of a software architecture of an electronic device according to an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating an implementation of an actuator verification method according to an embodiment of the present disclosure;
FIG. 3 is an exemplary diagram of an automatic verification process provided by an embodiment of the present application;
FIG. 4 is a schematic structural diagram of an actuator verification device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution proposed in the present application, the following description will be given by way of specific examples.
The following describes an actuator verification method proposed in the embodiment of the present application. The execution mechanism verification method is applied to the electronic equipment. Referring to fig. 1, fig. 1 shows an example of a software architecture of the electronic device:
the software architecture of the electronic device comprises three layers which are respectively: an analysis layer, a logical layer, and a physical adaptation layer. Wherein, the layers are connected through a software interface. Specifically, the analysis layer establishes connections with the logical layer and the physical adaptation layer, respectively, and the logical layer also establishes connections with the physical adaptation layer. The physical adaptation layer includes at least one actuator assembly node (only 1 shown in fig. 1), and each actuator assembly node includes a simulation component of a corresponding actuator assembly.
In a typical application scenario, the unmanned device may be an unmanned ship, and the actuator includes a steering engine and a propeller, where the propeller is used to control power of the unmanned device, and a user of the steering engine controls steering of the unmanned device. It is understood that manufacturers of the unmanned aerial vehicles can manufacture various unmanned aerial vehicles, and the actuators used by different types of unmanned aerial vehicles may be different, for example, the unmanned aerial vehicle 1 uses the steering engine a1 and the propeller a 2; the unmanned aerial vehicle 2 employs a steering engine b1, a propeller b2, and the like. It can be understood that a steering engine and a propeller are combined together to form an actuator combination, that is, the steering engine a1 and the propeller a2 are an actuator combination, and the steering engine b1 and the propeller b2 are an actuator combination. Therefore, manufacturers can set corresponding actuator combination nodes according to the actuator combination adopted by each unmanned device which is required to be verified at present, for example, the actuator combination node corresponding to the actuator combination of the steering engine a1 and the propeller a2 can be set, and the actuator combination node comprises a simulation component written based on the steering engine a1 and the propeller a 2.
Specifically, the analysis layer may obtain various data fed back by the logic layer and the physical adaptation layer, and perform analysis based on the data; the logic layer can receive a command input by a user based on the calling of the upper application and transmit the command to the physical adaptation layer; the physical adaptation layer can trigger the simulation component in the execution mechanism combination node corresponding to the command to execute the command. For convenience of understanding, various operations that can be performed by each layer will be further described in the following method embodiments, and are not described herein.
Based on the software architecture of the electronic device, the following describes the execution mechanism verification method proposed in the embodiment of the present application. Referring to fig. 2, the method for verifying the execution mechanism includes:
In an embodiment of the present application, a user may input an authentication request to an electronic device to trigger initiation of an automatic authentication procedure. After the automatic verification process is started, the electronic equipment can sequentially load the simulation components combined by each execution mechanism; that is, after the simulation component is loaded, step 202 and 203 are executed to verify the execution mechanism combination node corresponding to the simulation component, and after the verification result is obtained, the next simulation component is loaded until the verification of the execution mechanism combination nodes corresponding to all the simulation components is completed.
In the embodiment of the present application, the verification process of an actuator combination node is described by taking the verification of the actuator combination node as an example. For convenience of description, the currently loaded simulation component may be referred to as a simulation component to be verified, and the execution mechanism combination node to which the simulation component to be verified belongs may be referred to as an execution mechanism combination node to be verified.
In some embodiments, each actuator combination node also includes the actual components (physical components) of the actuator combination. The manufacturer's staff can first perform field debugging on each actuator combination, and can understand the process as the actual application performed by the actual components of each actuator combination, so that the real state data, that is, the original state data, can be obtained. It can be understood that in the case of an actuator assembly comprising a steering engine and a propeller, the state data actually refers to the propeller data and the steering engine data, and can also be understood as power data and steering data. Of course, since the embodiments of the present application do not limit the actuators included in the actuator assembly, the actuator assembly may include more or less actuators, that is, the status data may include more or less types of data, and is not limited herein. Based on the acquired real state data, a worker can compile the physical adaptation layer, specifically, compile simulation components of each execution mechanism combination, so that the simulation components have a simulation function and a playback function.
In some embodiments, in order to perform the first verification on the combined node of the to-be-verified execution mechanism based on the data matching between the logic layer and the to-be-verified simulation component, the to-be-verified simulation component may play back the real state data, where the real state data is obtained by the actual component corresponding to the to-be-verified simulation component during actual application. Therefore, the analysis layer can detect the data matching of the logic layer and the simulation component to be verified based on the real state data, so as to realize the first verification of the combination node of the execution mechanism to be verified, specifically:
a1, the analysis layer receives the real status data sent by the simulation component to be verified, and records the data as the first data.
A2, the analysis layer receives the real state data sent by the simulation component to be verified via the logic layer and records the data as second data.
A3, the analysis layer detects whether the first data matches the second data.
A4, if the first data matches the second data, the analysis layer determining that the actuator combination node to be verified passes the first verification.
That is, after the simulation component to be verified obtains the real state data, the real state data is sent to the upper layer. The sending process may be considered to involve two links, one of which is to directly send the real state data to the analysis layer by the simulation component to be verified, that is, the analysis layer receives the real state data directly sent by the simulation component to be verified, and the real state data obtained by the analysis layer through the link may be recorded as the first data; the other is that the simulation component to be verified sends the real state data to the analysis layer through the logic layer, that is, the simulation component to be verified sends the real state data to the logic layer first, and then the logic layer sends the received real state data to the analysis layer. Theoretically, since the transmitted data are all the same real state data, although the transmitted links are different, the analysis layer should receive the same real state data; that is, theoretically, the first data and the second data should be identical. Based on this, the analysis layer can realize the verification based on the data matching by detecting whether the first data is matched with the second data (i.e. is consistent with the second data). When the first data is matched with the second data, the analysis layer can determine that the to-be-verified execution mechanism combined node passes the first verification. This process of first verification may be understood as verification from the bottom layer to the top layer.
In some embodiments, the simulation component to be verified is provided with a simulation function, that is, the simulation component to be verified can perform a simulation operation. Therefore, the analysis layer can detect the data matching of the logic layer and the simulation component to be verified based on the simulation operation of the simulation component to be verified, so as to realize the first verification of the combined node of the execution mechanism to be verified, specifically:
b1, after receiving the input command to be executed, the logic layer determines the expected state data based on the command to be executed, and records the expected state data as the third data.
B2, the logic layer sends the command to be executed to the simulation component to be verified.
B3, the simulation component to be verified performs simulation based on the command to be executed to obtain simulation status data, which is recorded as fourth data.
B4, the analysis layer detects whether the third data matches the fourth data.
B5, if the third data matches the fourth data, the analysis layer determines that the actuator combination node to be verified passes the first verification.
That is, the logic layer may receive a command to be executed, which is input by a user, based on the invocation of the upper layer application. Based on the command to be executed, the logic layer may calculate expected state data, that is, state data that should be presented when the actual component corresponding to the simulation component to be verified normally executes the command to be executed. For convenience of explanation, the expected state data may be referred to as third data. The logic layer also sends the command to be executed to the emulation component to be verified. Therefore, the simulation component to be verified can perform corresponding simulation operation based on the command to be executed, namely, simulation is performed on various operations performed when the actual component corresponding to the simulation component normally executes the command to be executed as much as possible, and therefore simulation state data can be obtained. For convenience of explanation, the simulation state data may be referred to as fourth data. Ideally, the third data should be consistent with the fourth data. Considering that the simulation operation may have a certain error, an allowable data error range may be provided here. And as long as the error of the third data and the fourth data is within the data error range, the third data and the fourth data can be considered to be matched, and the analysis layer can determine that the actuator combination node to be verified passes the first verification. This first verification process may be understood as verification from the upper layer to the lower layer.
It is understood that, in order to guarantee the data matching of the logic layer and the simulation component to be verified as much as possible, both the verification from the upper layer to the bottom layer and the verification from the bottom layer to the upper layer may be taken into consideration when performing the first verification.
And 203, performing second verification on the to-be-verified execution mechanism combined node by the physical adaptation layer based on the data validity of the logic layer.
In the embodiment of the present application, the data validity of the logical layer specifically refers to the validity of the command sent by the logical layer. Step 203 may specifically be:
c1, the logic layer sends the command to be executed to the simulation component to be verified after receiving the input command to be executed.
C2, the physical adaptation layer detects whether the command to be executed is valid.
C3, if the command to be executed is valid, the physical adaptation layer determines that the actuator combination node to be verified passes the second verification.
That is, when pushing a command input by a user to the bottom layer (i.e., the physical adaptation layer), the logical layer should ensure that the command is a valid command, i.e., the command is an executable command. This verification operation is specifically performed by the physical adaptation layer, possibly in combination with steps B1-B5 provided in step 202. That is, after step B2, the physical adaptation layer will first detect whether the received command to be executed is valid, and only if the command to be executed is valid, step B3 will be executed.
And 204, if the to-be-verified actuator combination node passes the first verification and the second verification, determining that the to-be-verified actuator combination node passes the verification.
In the embodiment of the application, the to-be-verified actuator combination node can determine that the to-be-verified actuator combination node really passes the verification only if the first verification and the second verification both pass. However, if any verification item of the combined node of the executive mechanism to be verified fails, the verification failure of the combined node of the executive mechanism to be verified can be determined.
In some embodiments, the electronic device actually verifies each actuator combination in turn. That is, only after the verification of the former actuator combination node is completed, the verification of the latter actuator combination node is started. In order to help the user better locate the actuator combination node which fails in verification, the automatic verification process can be immediately exited after the actuator combination node to be verified fails in verification, and a verification failure reminding message is output based on the actuator to be verified. Of course, after the verification of the actuator combination node to be verified fails, the actuator combination node to be verified may be recorded, and the verification of the next actuator combination node to be verified is directly started until all the actuator combination nodes are verified, and then the verification failure reminding message is output based on the recorded actuator combination nodes (i.e., the recorded actuator combination nodes that failed to be verified).
In some embodiments, if all the execution mechanism combination nodes of the physical adaptation layer pass the first verification and the second verification, it indicates that all the execution mechanism combination nodes of the current batch are successfully verified, and may output a verification success reminding message to remind a worker that repeated verification is not needed.
By way of example only, referring to FIG. 3, FIG. 3 illustrates an actual flow example of an automated verification process. The following is a brief explanation based on fig. 3:
firstly, after an automatic verification process is started, loading a simulation component (to-be-verified simulation component); then, acquiring real state data through the simulation function of the simulation component to be verified; the simulation component to be verified directly sends real state data (first data) to the analysis layer on one hand, and sends real state data (second data) to the analysis layer through the logic layer on the other hand, and the analysis layer detects whether the first data and the second data are matched; if not, the verification fails, and the automatic verification process exits; if the data is matched with the data, the logic layer can receive a command to be executed, which is sent by a user through an upper layer application, and expected state data (third data) is obtained according to the command; the logic layer sends the command to be executed to a physical adaptation layer, so that the physical adaptation layer detects whether the command to be executed is effective; if the verification is invalid, the verification fails, and the automatic verification process is exited; if the command is valid, the simulation component to be verified performs simulation based on the command to be executed to obtain simulation state data (fourth data); the analysis layer detects whether the third data and the fourth data are matched; if not, the verification fails, and the automatic verification process exits; if the simulation components are matched with the physical adaptation layer, the verification of the corresponding to-be-verified execution mechanism combination node of the to-be-verified simulation component is confirmed, and whether the simulation components of the physical adaptation layer are completely loaded or not can be continuously judged; if all the combined nodes are loaded, the automatic verification process is finished, and all the combined nodes of the execution mechanism are confirmed to pass verification; if the simulation components which are not loaded still exist, returning to the first step, and selecting one simulation component from the unloaded simulation components to be loaded.
Therefore, through the embodiment of the application, the unmanned equipment manufacturer only needs to set the corresponding execution mechanism combination node based on the possible combination condition of the execution mechanisms of each kind of unmanned equipment, and can perform the first verification based on the data matching and the second verification based on the data validity for each execution mechanism combination node through the scheme of the application so as to ensure that each function of the execution mechanism combination is normal, and the high-efficiency verification of various execution mechanism combinations can be realized.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Corresponding to the execution mechanism verification method provided above, the embodiment of the application further provides an execution mechanism verification device. The execution mechanism verification device is applied to electronic equipment and comprises an analysis layer, a logic layer and a physical adaptation layer; the physical adaptation layer comprises at least one execution mechanism combination node, and the execution mechanism combination node comprises a simulation component of execution mechanism combination. As shown in fig. 4, the actuator authentication device 400 includes:
a loading module 401, configured to sequentially load the simulation components of each actuator combination when receiving the verification request;
a first verification module 402, configured to perform first verification on an actuator combination node to be verified by the analysis layer based on data matching between the logic layer and a simulation component to be verified, where the simulation component to be verified is a currently loaded simulation component, and the actuator combination node to be verified is an actuator combination node to which the simulation component to be verified belongs;
a second verification module 403, configured to perform a second verification on the to-be-verified actuator combination node by the physical adaptation layer based on the data validity of the logical layer;
a determining module 404, configured to determine that the actuator combination node to be verified passes the verification if the actuator combination node to be verified passes the first verification and the second verification.
Optionally, the actuator combination node further includes an actual component of the actuator combination; the actuator verification device 400 further includes:
the playback module is used for playing back the simulation component to be verified to obtain real state data, wherein the real state data is obtained by actual components corresponding to the simulation component to be verified in actual application;
accordingly, the first verification module 402 is specifically configured to detect, by the analysis layer, data matching between the logic layer and the simulation component to be verified based on the state data, so as to implement the first verification on the combination node of the execution mechanism to be verified.
Optionally, the first verification module 402 includes:
a first data obtaining unit, configured to receive, by the analysis layer, the state data sent by the simulation component to be verified, and record the state data as first data;
a second data obtaining unit, configured to receive, by the analysis layer, the real state data sent by the simulation component to be verified through the logic layer, and record the received real state data as second data;
a first matching unit, configured to detect, by the analysis layer, whether the first data matches the second data;
and a first determining unit, configured to determine, by the analysis layer, that the to-be-verified actuator combination node passes the first verification if the first data matches the second data.
Optionally, the first verification module 402 includes:
a third data obtaining unit, configured to determine, by the logic layer, expected state data based on an input command to be executed after receiving the input command to be executed, and record the expected state data as third data;
a first command sending unit, configured to send, by the logic layer, the to-be-executed command to the to-be-verified simulation component;
a fourth data obtaining unit, configured to perform simulation on the to-be-verified simulation component based on the to-be-executed command to obtain simulation state data, which is recorded as fourth data;
a second matching unit configured to detect, by the analysis layer, whether the third data matches the fourth data;
and a second determining unit, configured to determine, by the analysis layer, that the actuator combination node to be verified passes the first verification if the third data matches the fourth data.
Optionally, the second verification module 403 includes:
the second command sending unit is used for sending the command to be executed to the simulation component to be verified after the logic layer receives the input command to be executed;
a detection unit, configured to detect, by the physical adaptation layer, whether the command to be executed is valid;
and a third determining unit, configured to determine, by the physical adaptation layer, that the to-be-verified actuator combination node passes the second verification if the to-be-executed command is valid.
Optionally, the actuator verification apparatus 400 further includes:
and the first reminding module is used for outputting a reminding message of verification failure based on the to-be-verified executing mechanism if the to-be-verified executing mechanism combined node fails the first verification and/or the second verification.
Optionally, the actuator verification apparatus 400 further includes:
and the second reminding module is used for outputting a reminding message of successful verification if all the execution mechanism combination nodes of the physical adaptation layer pass the first verification and the second verification.
Therefore, through the embodiment of the application, the unmanned equipment manufacturer only needs to set the corresponding execution mechanism combination node based on the possible combination condition of the execution mechanisms of each kind of unmanned equipment, and can perform the first verification based on the data matching and the second verification based on the data validity for each execution mechanism combination node through the scheme of the application so as to ensure that each function of the execution mechanism combination is normal, and the high-efficiency verification of various execution mechanism combinations can be realized.
Corresponding to the execution mechanism verification method provided above, an embodiment of the present application further provides an electronic device. The electronic equipment comprises an analysis layer, a logic layer and a physical adaptation layer on a software architecture; the physical adaptation layer comprises at least one execution mechanism combination node, and the execution mechanism combination node comprises a simulation component of an execution mechanism combination. Referring to fig. 5, an electronic device 5 in the embodiment of the present application includes: a memory 501, one or more processors 502 (only one shown in fig. 5), and a computer program stored on the memory 501 and executable on the processors. Wherein: the memory 501 is used for storing software programs and units, and the processor 502 executes various functional applications and diagnoses by running the software programs and units stored in the memory 501, so as to acquire resources corresponding to preset events. Specifically, the processor 502 realizes the following steps by running the above-mentioned computer program stored in the memory 501:
when a verification request is received, sequentially loading simulation components of each execution mechanism combination;
after loading a simulation component each time, performing first verification on an actuator combination node to be verified by the analysis layer based on the data matching of the logic layer and the simulation component to be verified, wherein the simulation component to be verified is a currently loaded simulation component, and the actuator combination node to be verified is an actuator combination node to which the simulation component to be verified belongs;
performing second verification on the combined node of the execution mechanism to be verified by the physical adaptation layer based on the data validity of the logic layer;
and if the combined node of the actuating mechanism to be verified passes the first verification and the second verification, determining that the combined node of the actuating mechanism to be verified passes the verification.
Assuming that the above is the first possible implementation manner, in a second possible implementation manner provided on the basis of the first possible implementation manner, the actuator combination node further includes actual components of the actuator combination; before the analyzing layer performs the first verification on the combination node of the execution mechanism to be verified based on the data matching between the logic layer and the simulation component to be verified, the execution mechanism verification method further includes:
the simulation component to be verified is played back to obtain real state data, wherein the real state data is obtained by actual application of an actual component corresponding to the simulation component to be verified;
correspondingly, the performing, by the analysis layer, a first verification on the combined node of the to-be-verified execution mechanism based on the data matching between the logic layer and the to-be-verified simulation component includes:
and the analysis layer detects the data matching of the logic layer and the simulation component to be verified based on the real state data, so as to realize the first verification of the combined node of the execution mechanism to be verified.
In a third possible implementation manner provided based on the second possible implementation manner, the performing the first verification on the to-be-verified actuator combination node by the analysis layer detecting data matching between the logic layer and the to-be-verified simulation component based on the real state data includes:
the analysis layer receives the real state data sent by the simulation component to be verified and records the data as first data;
the analysis layer receives the real state data sent by the simulation component to be verified through the logic layer and records the data as second data;
the analysis layer detects whether the first data and the second data are matched;
and if the first data is matched with the second data, the analysis layer determines that the combined node of the actuating mechanism to be verified passes the first verification.
In a fourth possible implementation manner provided based on the first possible implementation manner, the performing, by the analysis layer, a first verification on the to-be-verified actuator combination node based on the data matching between the logic layer and the to-be-verified simulation component includes:
after receiving an input command to be executed, the logic layer determines expected state data based on the command to be executed and records the expected state data as third data;
the logic layer sends the command to be executed to the simulation component to be verified;
the simulation component to be verified is simulated based on the command to be executed to obtain simulation state data which is recorded as fourth data;
the analysis layer detects whether the third data and the fourth data are matched;
and if the third data is matched with the fourth data, the analysis layer determines that the combined node of the actuating mechanism to be verified passes the first verification.
In a fifth possible implementation manner provided based on the first possible implementation manner, the performing, by the physical adaptation layer, a second verification on the to-be-verified actuator combination node based on the data validity of the logical layer includes:
after receiving an input command to be executed, the logic layer sends the command to be executed to the simulation component to be verified;
the physical adaptation layer detects whether the command to be executed is effective;
and if the command to be executed is valid, the physical adaptation layer determines that the combined node of the execution mechanism to be verified passes the second verification.
In a sixth possible implementation provided on the basis of the first possible implementation, the second possible implementation, the third possible implementation, the fourth possible implementation, or the fifth possible implementation, the processor 502 further implements the following steps when executing the computer program stored in the memory 501:
and if the combined node of the actuating mechanism to be verified fails the first verification and/or the second verification, outputting a verification failure reminding message based on the actuating mechanism to be verified.
In a seventh possible implementation form provided on the basis of the first possible implementation form, or the basis of the second possible implementation form, or the basis of the third possible implementation form, or the basis of the fourth possible implementation form, or the basis of the fifth possible implementation form, the processor 502 further implements the following steps when executing the computer program stored in the memory 501:
and if all the execution mechanism combination nodes of the physical adaptation layer pass the first verification and the second verification, outputting a verification success reminding message.
It should be understood that in the embodiments of the present Application, the Processor 502 may be a Central Processing Unit (CPU), and the Processor may be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Therefore, through the embodiment of the application, the unmanned equipment manufacturer only needs to set the corresponding execution mechanism combination node based on the possible combination condition of the execution mechanisms of each kind of unmanned equipment, and can perform the first verification based on the data matching and the second verification based on the data validity for each execution mechanism combination node through the scheme of the application so as to ensure that each function of the execution mechanism combination is normal, and the high-efficiency verification of various execution mechanism combinations can be realized.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of external device software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the above-described modules or units is only one logical functional division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the above-described computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer readable Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc. It should be noted that the computer readable storage medium may contain other contents which can be appropriately increased or decreased according to the requirements of the legislation and the patent practice in the jurisdiction, for example, in some jurisdictions, the computer readable storage medium does not include an electrical carrier signal and a telecommunication signal according to the legislation and the patent practice.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. An execution mechanism verification method is applied to electronic equipment, and the electronic equipment comprises an analysis layer, a logic layer and a physical adaptation layer; wherein the physical adaptation layer comprises at least one actuator combination node comprising an emulation component of an actuator combination; the actuator verification method comprises the following steps:
when a verification request is received, sequentially loading simulation components of each execution mechanism combination;
after loading the simulation component each time, performing first verification on an actuator combination node to be verified by the analysis layer based on the data matching of the logic layer and the simulation component to be verified, wherein the simulation component to be verified is the currently loaded simulation component, and the actuator combination node to be verified is the actuator combination node to which the simulation component to be verified belongs;
performing second verification on the to-be-verified execution mechanism combined node by the physical adaptation layer based on the data validity of the logic layer;
and if the to-be-verified execution mechanism combined node passes the first verification and the second verification, determining that the to-be-verified execution mechanism combined node passes the verification.
2. The actuator verification method of claim 1, wherein the actuator assembly node further comprises an actual component of an actuator assembly; before the analyzing layer performs the first verification on the combined node of the executing mechanism to be verified based on the data matching between the logic layer and the simulation component to be verified, the executing mechanism verifying method further comprises the following steps:
the simulation component to be verified is played back to obtain real state data, wherein the real state data is obtained when an actual component corresponding to the simulation component to be verified is actually applied;
correspondingly, the performing, by the analysis layer, a first verification on the combined node of the to-be-verified execution mechanism based on the data matching between the logic layer and the to-be-verified simulation component includes:
and the analysis layer detects the data matching of the logic layer and the simulation component to be verified based on the real state data, so as to realize the first verification of the combined node of the execution mechanism to be verified.
3. The actuator verification method according to claim 2, wherein the analysis layer detects data matching between the logic layer and the simulation component to be verified based on the real state data, and implements the first verification on the actuator combination node to be verified, including:
the analysis layer receives the real state data sent by the simulation component to be verified and records the real state data as first data;
the analysis layer receives the real state data sent by the simulation component to be verified through the logic layer and records the real state data as second data;
the analysis layer detects whether the first data and the second data are matched;
and if the first data is matched with the second data, the analysis layer determines that the to-be-verified execution mechanism combined node passes the first verification.
4. The method for verifying the execution mechanism according to claim 1, wherein the performing, by the analysis layer, the first verification on the combination node of the execution mechanism to be verified based on the data matching between the logic layer and the simulation component to be verified comprises:
after receiving an input command to be executed, the logic layer determines expected state data based on the command to be executed and records the expected state data as third data;
the logic layer sends the command to be executed to the simulation component to be verified;
the simulation component to be verified is simulated based on the command to be executed to obtain simulation state data which is recorded as fourth data;
the analysis layer detects whether the third data and the fourth data are matched;
and if the third data is matched with the fourth data, the analysis layer determines that the to-be-verified execution mechanism combined node passes the first verification.
5. The actuator verification method of claim 1, wherein the second verification of the actuator assembly node to be verified by the physical adaptation layer based on the data validity of the logical layer comprises:
after receiving an input command to be executed, the logic layer sends the command to be executed to the simulation component to be verified;
the physical adaptation layer detects whether the command to be executed is effective;
and if the command to be executed is valid, the physical adaptation layer determines that the combined node of the execution mechanism to be verified passes the second verification.
6. The actuator verification method according to any one of claims 1 to 5, further comprising:
and if the to-be-verified execution mechanism combined node fails the first verification and/or the second verification, outputting a verification failure reminding message based on the to-be-verified execution mechanism.
7. The actuator verification method according to any one of claims 1 to 5, further comprising:
and if all the execution mechanism combination nodes of the physical adaptation layer pass the first verification and the second verification, outputting a verification success reminding message.
8. An execution mechanism verification device is applied to electronic equipment, and the electronic equipment comprises an analysis layer, a logic layer and a physical adaptation layer; wherein the physical adaptation layer comprises at least one actuator combination node comprising an emulation component of an actuator combination; the actuator verification device includes:
the loading module is used for sequentially loading the simulation components of each execution mechanism combination when a verification request is received;
the first verification module is used for performing first verification on an actuator combination node to be verified by the analysis layer based on the data matching of the logic layer and the simulation component to be verified after the simulation component is loaded each time, wherein the simulation component to be verified is a currently loaded simulation component, and the actuator combination node to be verified is an actuator combination node to which the simulation component to be verified belongs;
the second verification module is used for performing second verification on the to-be-verified execution mechanism combined node by the physical adaptation layer based on the data validity of the logic layer;
and the determining module is used for determining that the to-be-verified execution mechanism combined node passes the verification if the to-be-verified execution mechanism combined node passes the first verification and the second verification.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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| US9298592B2 (en) * | 2013-03-14 | 2016-03-29 | International Business Machines Corporation | Testing a software interface for a streaming hardware device |
| KR101733308B1 (en) * | 2015-11-06 | 2017-05-24 | 한국항공우주연구원 | Simulation apparatus and method for a satellite |
| US20190155985A1 (en) * | 2017-11-22 | 2019-05-23 | Mentor Graphics Corporation | Communication protocols design verification through database systems for hardware-based emulation platforms |
| US11423186B2 (en) * | 2018-01-17 | 2022-08-23 | Crowdstrike, Inc. | Verified inter-module communications interface |
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