CN113806109A - Cabin system for realizing SOA (service oriented architecture) based on ROS2 and operation method thereof - Google Patents
Cabin system for realizing SOA (service oriented architecture) based on ROS2 and operation method thereof Download PDFInfo
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Abstract
The invention provides a cabin system for realizing SOA architecture based on ROS2 and an operation method thereof, wherein the cabin system comprises: a body domain and an entertainment domain; the vehicle body domain is based on a QNX operating system and comprises at least 1 ROS 2-based vehicle body domain node unit; the entertainment domain is based on an android operating system and comprises at least 1 ROS 2-based entertainment domain node unit; the vehicle body domain node unit and the entertainment domain node unit both comprise upper-layer application and service units based on ROS 2; data interaction is realized between upper-layer applications of the vehicle body domain and the entertainment domain and service units of the vehicle body domain and the entertainment domain based on a DDS communication mechanism of the ROS 2. The invention realizes the intelligent cabin system of the SOA architecture by using the ROS2 middleware in an open source mode, so that the system has better openness, is easier to transplant and modify, and can be seamlessly connected with an automatic driving domain.
Description
Technical Field
The invention relates to the field of intelligent cabins, in particular to a cabin system for realizing an SOA (service oriented architecture) based on ROS2 and an operation method thereof.
Background
With the rapid development of intelligent cabin technology, the interconnection and intercommunication between vehicles and the internet are increasingly emphasized. In the conventional automotive electronics architecture, a centralized gateway c/s (entertainment domain/service end) design mode mainly including CAN (Controller Area Network) and LIN (Local Interconnect protocol) is becoming a bottleneck of data interconnection and sharing.
Under the background, the Service Oriented Architecture (SOA) design scheme widely used by the internet IT industry has entered the field of automotive electronics. The SOA design mode is convenient for realizing the bidirectional communication between vehicle information and the cloud and the sharing of various application data among different operating system platforms, can effectively reduce the complexity rise problem caused by software architecture upgrading, and can also be convenient for remote diagnosis management and other functions.
Currently, in the field of AUTomotive electronics, an adaptive AUTomotive Open System Architecture (AUTomotive Open System Architecture) tool chain integrated with the Service Oriented Architecture (SOA) idea is mainly used for designing intelligent cabin software. However, the following disadvantages exist in developing intelligent cockpit software using an adaptive AUTOSAR toolchain:
1) the adaptive AUTOSAR is implemented in a closed source manner and can only be generated by tools, so migration in RTOS systems (real-time operating systems) and other non-posix platforms is difficult.
2) The excessive dependence on tool chains of specified vendors to generate codes is a great challenge to the SOA opening and the third party compatibility development. It is difficult to add or modify interface portions without the tools of a given vendor.
3) The connection with the autopilot platform is not smooth. At present, most of automatic driving platforms are processed by an ROS2(Robot Operating System) System, and for application software developed based on an adaptive AUTOSAR protocol, conversion is needed, so that the processing efficiency is reduced.
Disclosure of Invention
One of the objectives of the present invention is to overcome at least one of the deficiencies in the prior art, and to provide a cabin system and an operation method thereof based on ROS2 to implement SOA architecture.
The technical scheme provided by the invention is as follows:
a cabin system implementing an SOA architecture based on ROS2, comprising: a body domain and an entertainment domain; the body domain is based on a QNX operating system and comprises at least 1 ROS 2-based body domain node unit; the entertainment domain is based on an android operating system and comprises at least 1 ROS 2-based entertainment domain node unit; both the body domain node unit and the entertainment domain node unit contain upper level application and service units based on ROS 2.
Further, the upper layer application communicates with the service unit in a request mode and/or a subscription mode.
Further, the upper layer application communicates with the service unit in a request mode, including: and the upper layer application sends a request message to the service unit, and the service unit immediately responds to the request message.
Further, the upper layer application communicates with the service unit in a subscription mode, including: and the upper layer application subscribes to the message of the service unit.
Further, when a service unit joins or leaves the intelligent cabin system, other service units or upper-layer applications in the intelligent cabin system are made to sense the state of the service unit through a multicast communication mode.
Further, the vehicle body domain node unit comprises a C language-based ROS2 plug-in runtime library and a DDS implementation, and the entertainment domain node unit comprises a Java language-based ROS2 plug-in runtime library and a DDS implementation.
The invention also provides an operation method of the cabin system based on the ROS2 to realize the SOA architecture, which is applied to the cabin system based on the ROS2 to realize the SOA architecture, and the operation method comprises the following steps: the upper-layer applications of the body domain node unit and the entertainment domain node unit adopt a request mode and/or a subscription mode to communicate with the service units of the body domain node unit or the entertainment domain node unit.
Further, the upper layer application communicates with the service unit in a request mode, including: and the upper layer application sends a request message to the service unit, and the service unit immediately responds to the request message.
Further, the upper layer application communicates with the service unit in a subscription mode, and further includes: and the upper layer application subscribes to the message of the service unit.
Further, still include: when a service unit joins or leaves the intelligent cabin system, other service units or upper-layer applications in the intelligent cabin system are made to sense the state of the service unit in a multicast communication mode.
The cabin system for realizing the SOA architecture based on the ROS2 and the application method thereof provided by the invention can at least bring the following beneficial effects: the intelligent cabin system of the SOA architecture is realized by using the ROS2 middleware in an open source mode, so that the system is better in openness and easier to transplant and modify, and can be seamlessly connected with an automatic driving system.
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The above features, technical features, advantages and implementation of a cabin system implementing an SOA architecture based on the ROS2 will be further explained in the following description of preferred embodiments in a clearly understandable manner, in conjunction with the drawings.
FIG. 1 is a schematic structural diagram of one embodiment of a cabin system implementing an SOA architecture based on ROS2 of the present invention;
FIG. 2 is a flow chart of one embodiment of a method of operating a cabin system implementing an SOA architecture based on ROS2 of the present invention;
FIG. 3 is a schematic of the structure of ROS 2;
FIG. 4 is a schematic structural diagram of another embodiment of the cabin system of the present invention implementing the SOA architecture based on the ROS 2;
FIG. 5 is a schematic diagram of data sharing between the upper layer application and the service unit in FIG. 4 in a subscription mode;
fig. 6 is a schematic diagram of data sharing and control between the upper layer application and the service unit in fig. 4 in a subscription mode and a request mode.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically depicted, or only one of them is labeled. In this document, "one" means not only "only one" but also a case of "more than one".
SOA (service oriented architecture) splits different functional units of an application (called services) and ties them together through well-defined interfaces and protocols between the services. The interface is defined in a neutral manner, independent of the hardware platform, operating system, and programming language in which the service is implemented. This allows services built into a wide variety of systems to interact in a uniform and versatile manner.
The SOA architecture mode is the mainstream direction in the current automotive electronics field. At present, an intelligent cockpit system is designed by mainly adopting a self-adaptive AUTOSAR tool chain integrated with SOA thought, but the AUTOSAR is realized in a closed source mode, the openness degree is not good, and the system is difficult to transplant and modify.
For this reason, the ROS2 is adopted by the application to realize the intelligent cabin system of the SOA architecture.
The ROS2 is a framework for robot programming, middleware that can be used to publish, subscribe, and transfer information between different processes, linking the operating system with the user-developed ROS2 applications. The application utilizes the characteristics of the ROS2 architecture, realizes data sharing of various applications among different operating system platforms in the intelligent cabin system, and also realizes information interaction between the intelligent cabin system and an automatic driving system and an Internet of vehicles cloud platform, thereby realizing the SOA architecture of the intelligent cabin system.
The ROS2 is based on an open source mode, so that the cabin system based on the ROS2 for realizing the SOA architecture is convenient to transplant and modify. At present, the automatic driving domain is developed based on ROS2, so that the intelligent cabin system can be seamlessly connected with the automatic driving system.
One embodiment of the present invention, as shown in fig. 1, is a cabin system 10 for implementing an SOA architecture based on ROS2, comprising:
a body domain 100 and an entertainment domain 200.
The body domain 100 comprises at least 1 ROS2 based body domain node unit 110, the entertainment domain 200 comprises at least 1 ROS2 based entertainment domain node unit 210, and both the body domain node unit 110 and the entertainment domain node unit 210 comprise ROS2 based upper level application and service units.
Specifically, the intelligent cabin system is divided according to the logic function of the intelligent cabin system, and the intelligent cabin system can be at least divided into a vehicle body domain and an entertainment domain. The functions of the body area include: acquiring state data of each device on the vehicle body through the can bus, controlling the state of each device on the vehicle body and the like; the functions of the entertainment domain include: log/diagnostic services, music/movie playback, etc.
The body domain and the entertainment domain can adopt the same or different operating systems, and the operating systems can adopt linux, rtos, qnx, android, loop (a main loop small system applied in the field of MCU programming) and the like.
Since the vehicle body domain has higher real-time requirements relative to the entertainment domain, the vehicle body domain prefers a real-time operating system, such as a QNX operating system; the entertainment domain can adopt an android operating system with better universality.
The body domain may contain a plurality of ROS 2-based body domain node units, each ROS 2-based body domain node unit may in turn include a plurality of upper-level application and service units of the ROS 2-based body domain.
The entertainment domain may contain a plurality of ROS2 based entertainment domain node units, each ROS2 based entertainment domain node unit may in turn comprise a plurality of ROS2 based upper level application and service units of the entertainment domain.
The ROS2 is convenient to transplant based on an open source mode; the ROS2 uses a non-centralized communication technology, and avoids the situation that the whole network is possibly paralyzed due to the centralized service in the past.
The internal structure of ROS2 is shown in FIG. 3.
The system supported by the ROS2 comprises linux, rtos and qnx operating systems, and even bare computers without operating systems, such as single-chip microcomputers and the like.
The communication mechanism of the ROS2 is based on DDS (Data Distribution Service), and meanwhile, an Abstract DDS layer is provided inside the ROS2, and with this Abstract layer, a user may not pay attention to the implementation of the underlying DDS, so that the ROS2 may be compatible with any open-source DDS implementation or commercial DDS versions developed by other providers.
The ROS2 uses an automatic discovery mechanism to inform each ROS2 node in the system in a broadcast mode, and therefore the networking process is simplified.
The node of the ROS2 corresponds to a server that provides data or a client that consumes data in each application.
In this embodiment, each upper layer application or service unit in the vehicle body domain node unit and the entertainment domain node unit is an ROS2 node. And loading the ROS2 middleware of the vehicle body domain and the entertainment domain after the system is started, and establishing ROS2 nodes of each domain.
The DDS communication mechanism based on the ROS2 among the ROS2 nodes realizes data interaction, and specifically comprises the following steps:
1) and the established upper-layer application and the service unit perform message interaction in a subscription mode and/or a request mode.
The upper layer application adopts a subscription mode to communicate with the service unit, and comprises the following steps:
the upper layer application subscribes to the message of the service unit; when the service unit publishes the message, the upper layer application subscribed to the message receives the message at the same time. The subscription mode is based on Fast-RTPS protocol and is realized by adopting a publish-subscribe mode.
The subscription mode has limited real-time performance, and can adopt the request mode to carry out message interaction aiming at the requirement of strong real-time performance.
The upper layer application adopts a request mode to communicate with the service unit, and comprises the following steps:
the upper layer application sends a request message to the service unit, and the service unit immediately responds to the request message after receiving the request message.
For example, an upper layer application needs to immediately acquire the status information of a certain service unit, and may adopt the request mode. The request mode provides a request-response approach to meet some of the real-time needs of the system.
2) When a ROS2 node newly joins or leaves the intelligent cabin system, other ROS2 nodes in the intelligent cabin system are made to sense the state of the ROS2 node through a multicast communication mode. For example, when a service unit joins the system, a notification message is sent to let other service units or upper applications in the system sense the joining of the service unit.
Further, the vehicle body domain node units can adopt a C language-based ROS2 plug-in runtime library and a DDS to realize the functions of the ROS2 middleware of the vehicle body domain, and the entertainment domain node units can adopt a Java language-based ROS2 plug-in runtime library and a DDS to realize the functions of the ROS2 middleware of the entertainment domain.
According to the embodiment, the intelligent cabin system of the SOA architecture is realized by using the ROS2 middleware in an open source mode, so that the system is better in openness and easier to transplant and modify, and can be seamlessly connected with an automatic driving domain.
In another embodiment of the present invention, as shown in fig. 2, an operation method of a cabin system implementing an SOA architecture based on ROS2 is applied to the aforementioned cabin system implementing an SOA architecture based on ROS2, and the operation method includes:
and S100, realizing data interaction among the upper-layer application of the vehicle body domain node unit, the upper-layer application of the entertainment domain node unit, the service unit of the vehicle body domain node unit and the service unit of the entertainment domain node unit based on a DDS communication mechanism of ROS 2.
The step S100 includes:
step S110 is to let other service units or upper applications in the intelligent cabin system sense the state of a service unit through multicast communication when the service unit joins or leaves the intelligent cabin system.
Step S120, the upper layer applications of the body domain node unit and the entertainment domain node unit communicate with the service units of the body domain node unit or the entertainment domain node unit in a request mode and/or a subscription mode.
The upper layer application adopts a subscription mode to communicate with the service unit, and comprises the following steps:
the upper layer application subscribes to the message of the service unit; when the service unit publishes the message, the upper layer application subscribed to the message receives the message at the same time. The subscription mode is based on Fast-RTPS protocol and is realized by adopting a publish-subscribe mode.
The subscription mode has limited real-time performance, and can adopt the request mode to carry out message interaction aiming at the requirement of strong real-time performance.
The upper layer application adopts a request mode to communicate with the service unit, and comprises the following steps:
the upper layer application sends a request message to the service unit, and the service unit immediately responds to the request message after receiving the request message.
According to the embodiment, the intelligent cabin system of the SOA architecture is realized by using the ROS2 middleware in an open source mode, so that the system is better in openness and easier to transplant and modify, and can be seamlessly connected with an automatic driving domain.
It should be noted that the embodiment of the operating method of the cabin system implementing the SOA architecture based on the ROS2 provided by the present invention and the embodiment of the cabin system implementing the SOA architecture based on the ROS2 provided by the present invention are all based on the same inventive concept, and can achieve the same technical effects. Thus, other details of the embodiment of the operating method of the cabin system implementing the SOA architecture based on the ROS2 can be found in the description of the foregoing embodiment of the intelligent cabin system.
The invention also provides a specific application scenario embodiment, and the cabin system for realizing the SOA architecture based on the ROS2 and the operation method thereof are applied to intelligent cabin design of the intelligent automobile.
The intelligent automobile consists of three parts, namely an internet of vehicles, an intelligent cabin and an automatic driving part, wherein the automobile cabin is a driving and riding space in the automobile. The intelligent cabin is a vehicle-mounted product equipped with intellectualization and networking, so that intelligent interaction can be carried out with people, roads and vehicles.
As shown in fig. 4, the intelligent cabin system is connected with the internet of vehicles cloud platform through a wide area network, and is connected with the in-vehicle automatic driving system developed based on the ROS2 platform through a local area network.
As shown in fig. 4, the intelligent cabin system has the following structure:
1. the whole system is based on a QNX virtual machine operating system, and the QNX virtual machine operating system is a novel operating system formed by the QNX operating system and microkernel scheduling. The intelligent cabin system comprises a vehicle body domain and an entertainment domain. Left body area, using QNX operating system; the right side is the entertainment domain, uses Android operating system. The vehicle body domain comprises a node unit A based on ROS2, and the node unit A sequentially comprises a QNX operating system, a c-language ROS2 plug-in operation library and DDS implementation, a ROS 2-based vehicle body domain service unit and ROS 2-based vehicle body domain upper-layer application from bottom to top. The entertainment domain comprises a node unit B based on ROS2, and the node unit B sequentially comprises an Android operating system, a java-based ROS2 plug-in runtime library and DDS implementation, an ROS 2-based entertainment domain service unit and ROS 2-based entertainment domain upper-layer application from bottom to top.
2. The node unit A comprises a plurality of ROS 2-based vehicle body domain upper-layer application and vehicle sound domain service units, a C-language ROS2 plug-in runtime library and a C-language DDS implementation. Fig. 4 illustrates only 1, but not limited to 1 car body area upper layer application and 1 car sound area service unit.
3. The node unit B comprises a plurality of ROS 2-based entertainment domain upper-layer application and entertainment domain service units, a java language ROS2 plug-in runtime library and a Jni interface DDS implementation. The entertainment domain service unit comprises service units such as logs, music, movies and the like. Fig. 4 illustrates only 1, but not limited to 1 entertainment domain upper layer application, 1 entertainment domain service unit.
Qnx host side node element description:
the communication network uses ethernet communication and UDP communication as the lowest layer communication, and multicast and unicast communication are used.
When a ROS2 body domain service unit is added, the node units of other applications can sense that a certain service unit is added into the network currently through the multicast communication interface. When the service unit leaves the network, a notification message is also sent. This enables the discovery process of the service unit.
The plug-ins in 2 and 3 exist in a function library manner, and include a DDS implementation, a DDS abstraction layer (Abstract DDS layer), and a Client library included in the internal structure of the ROS 2.
And the DDS is realized based on a Fast-RTPS protocol, and socket operation, protocol packet packaging and analysis are realized by using a udp communication mode and exist in a libfasttps.
Abstract DDS layer, which is present for compatibility with a plurality of different DDS implementing parts, is used for interface adaptation, and is present in the form of librmwabstract.
The Client library is created and destroyed by the node of the ROS 2. The nodes include subscription, publishing, request, call and callback of the response interface, and exist in the form of librmclient.
The upper application and the service unit are programs with specific process spaces, and the client library loaded with ROS2 after starting (pushing cascade calls other two library files).
The car body service unit is a producer, which uses the running library of the ROS2 to publish service contents to the outside, for example, to obtain status data of the car body through the can bus, and send unicast udp message to the application subscribed with the service contents at regular time or when there is a change, where the application includes both the application at qnx host end and the application at android guest end.
Qnx, the application based on the ROS2 belongs to a consumer, and may subscribe to messages of one or more service units, or request an instant response of a certain service unit.
Android guest side node element description
The java-based ros2 plugin unit on the guest side needs to add a jni call library and a java call library file on the basis of the library file.
The jni call library is the content of a java direct load call packaged by ROS2 client library in qnx host, and exists in the form of libjnirmwclient.
The Java calling library generates a jar package file which exists in an rmwclient jar form, and the jar package provides actual ROS2 client interface calling for upper-layer android application.
In the above section, all related ROS2 runtime libraries are completely incorporated into the android studio tool and combined with the development environment of ndk, and are compiled, and finally, an rmwclient jar file which can be directly used by upper-layer applications is obtained.
The application and service units are programs with process spaces, and are started through rmwclient. jar loads libjnirmwclient.
Log (log) service units, DVR (Digital Video Recorder) service units, diagnostic service units, etc. are producers, which publish service content to the outside using the runtime library of the ROS 2; the application is a consumer and obtains data for such content.
The plurality of applications can simultaneously subscribe the data of a certain service unit and can also request the instant response of a certain service unit.
The application based on the ROS2 in Android is also a consumer, and can subscribe to one or more service unit messages and also request an instant response of a certain service unit.
As shown in fig. 5 and fig. 6, in the embodiment of the present invention, the SOA message implementation of the intelligent cabin system includes two modes:
(ii) subscription mode
Three nodes are shown in fig. 5: the system comprises a ROS 2-based vehicle body domain service unit, a ROS 2-based vehicle body domain upper-layer application and an ROS 2-based entertainment domain upper-layer application.
The message format of the vehicle body area service unit is shown in the left side of fig. 5, after the vehicle body area service unit registers the ROS2 node, the data of the current ignition state, speed, rotation speed, steering wheel angle, oil quantity and the like of the vehicle are obtained through the can bus, and the data are packaged in a message body and issued.
It is assumed that the ROS 2-based upper-layer application of the body domain and the ROS 2-based upper-layer application of the entertainment domain both subscribe to the messages provided by this body domain service unit, so that they can receive the above messages at the same time. When the state changes, the state is correspondingly displayed in the application interfaces of the mobile terminal.
A typical representation of a top-level application of the body area based on ROS2 is a meter, where if the speed changes in real time, the indication or digital display part in the meter changes accordingly.
ROS nodes can directly communicate by adopting a mode of issuing/subscribing messages through a Fast Real-time issuing-subscribing protocol Fast-RTPS (Fast Real-time Publish/Subscribe protocol), and intermediate nodes are not required to forward data.
Request mode
Three nodes are shown in fig. 6: the system comprises an ROS 2-based air conditioning service unit, an ROS 2-based upper layer application of a vehicle body domain, and an ROS 2-based upper layer application of an entertainment domain. The air-conditioning service unit is a specific example of a body area service unit.
Fig. 6 shows that both a subscription message and a request reply message are provided in one node.
The air conditioner service unit provides subscription information including air conditioner temperature, air conditioner wind power, automatic mode, switch state and air outlet state content, and provides a request interface including temperature regulation, wind power regulation, automatic mode switch, switch and air outlet regulation.
The adjustment of the air conditioner can be adjusted through a physical key or an air conditioner control panel application interface. Regardless of the operation mode, after the message data is changed, the application subscribed with the air conditioner state message on the right side receives the changed data, and updates the data display on the application interface.
When the air conditioner is controlled by the android hollow-core control panel application, the ROS2 is used for requesting the interface of the mode, and the purpose of controlling the service unit of the air conditioner is achieved.
When the upper layer application has a requirement, the request mode interface can be used for actively sending a request to the service unit and waiting for the response of the other side. The request mode interface can be used not only for controlling a service unit, but also for immediately obtaining relevant information from a service unit to meet the real-time requirement.
In the embodiment of the invention, an SOA design mode is realized by using ROS2 in an open source mode in an intelligent cabin system and a DDS communication mechanism based on ROS2, so that the software of the intelligent cabin has better openness and can be transplanted and operated in any system, including linux/qnx/rtos/bare computers without systems; the intelligent cabin system based on the ROS2 can be seamlessly connected with the automatic driving system based on the ROS2, and sharing and control among multiple systems can be almost regarded as a whole, so that the combination of the multiple systems is completely realized; the data sharing and control among a plurality of domains or nodes of one domain are realized through the subscription mode and the request mode, a uniform interface and a channel are provided, and the requirement of keeping the consistency of the interface after the application is newly added is facilitated.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A cabin system implementing an SOA architecture based on ROS2, comprising:
a body domain and an entertainment domain;
the body domain is based on a QNX operating system and comprises at least 1 ROS 2-based body domain node unit;
the entertainment domain is based on an android operating system and comprises at least 1 ROS 2-based entertainment domain node unit;
both the body domain node unit and the entertainment domain node unit contain upper level application and service units based on ROS 2.
2. The cabin system of claim 1, implementing an SOA architecture based on ROS2, wherein:
and the upper layer application communicates with the service unit in a request mode and/or a subscription mode.
3. The cabin system of claim 2, implementing an SOA architecture based on the ROS2, wherein the upper layer application communicates with the service unit in a request mode comprising:
and the upper layer application sends a request message to the service unit, and the service unit immediately responds to the request message.
4. The ROS 2-based cockpit system of claim 2, wherein said upper layer application communicates with said service unit in a subscription mode comprising:
and the upper layer application subscribes to the message of the service unit.
5. The cabin system of claim 1, implementing an SOA architecture based on ROS2, wherein:
when a service unit joins or leaves the intelligent cabin system, other service units or upper-layer applications in the intelligent cabin system are made to sense the state of the service unit in a multicast communication mode.
6. The cabin system of claim 1, implementing an SOA architecture based on ROS2, wherein:
the vehicle body domain node unit comprises a C language-based ROS2 plug-in operation library and a DDS implementation, and the entertainment domain node unit comprises a Java language-based ROS2 plug-in operation library and a DDS implementation.
7. An operation method of a cabin system based on ROS2 and realizing SOA architecture is applied to the cabin system based on ROS2 and realizing SOA architecture in claim 1, and the operation method comprises the following steps:
the upper-layer applications of the body domain node unit and the entertainment domain node unit adopt a request mode and/or a subscription mode to communicate with the service units of the body domain node unit or the entertainment domain node unit.
8. The method of claim 7, wherein the upper layer application communicates with the service unit in a request mode, comprising:
and the upper layer application sends a request message to the service unit, and the service unit immediately responds to the request message.
9. The method according to claim 7, wherein the upper layer application communicates with the service unit in a subscription mode, and comprises:
and the upper layer application subscribes to the message of the service unit.
10. The method of operation of claim 7, further comprising:
when a service unit joins or leaves the intelligent cabin system, other service units or upper-layer applications in the intelligent cabin system are made to sense the state of the service unit in a multicast communication mode.
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