CN114124957B - Distributed node interconnection method applied to robot - Google Patents
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Abstract
The invention provides a distributed node interconnection method applied to a robot in the technical field of computers, which comprises the following steps: s10, a client acquires a code and converts the code into a plurality of structured nodes; step S20, the client sends each node to the server; s30, the server side disassembles each node into a consumer and a plurality of producers, adds the consumer into a consumer pool, and adds the producer into a producer pool; step S40, the finder of the server side scans nodes, acquires producers carried by the scanned nodes, caches the producers in a resource pool, and injects the producers in the producer pool into the finder; s50, a dispatcher of the server side matches a corresponding producer from the resource pool and sends the producer to the client side based on the consumer in the consumer pool; and step S60, the client converts the received nodes related to the producer into objects, and the objects are interconnected with the corresponding nodes. The invention has the advantages that: the autonomy, flexibility and compatibility of node interconnection are greatly improved.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a distributed node interconnection method applied to a robot.
Background
With the rapid development of the internet of things, a large number of internet of things devices emerge, and in an edge internet of things environment represented by a service robot application scene, there are problems that the internet of things devices (nodes) frequently join and leave a network, the internet of things devices providing services are disconnected at any time, a large number of internet of things devices provide similar functions, and a DNS server and a service center are not provided. When distributed applications highly dependent on each other and similar to microservices are operated in the environment of the edge internet of things, no better method can solve the problems at present.
Moreover, the conventional internet of things equipment has the following disadvantages: 1. key operations such as establishment and disconnection of connection of the internet of things equipment, important data transceiving and the like require manual operation of a user, and the autonomy is poor, and frequent manual operation is required when the internet of things equipment frequently joins in and exits from a network, so that the user experience is greatly influenced; 2. the method does not support the real-time completion of the established task according to the free combination of the available Internet of things equipment in the network, has no intelligent node selection, replacement and other capabilities, and has poor flexibility, and the Internet of things equipment can be disconnected at any time and undoubtedly causes the interruption of the execution of the established task; 3. the method has the advantages of no cross-platform and cross-language capability, development close to the bottom layer, great difficulty, no friendliness to developers, difficulty in self-defining application according to specific requirements by non-professional users, and insufficient usability.
Therefore, how to provide a distributed node interconnection method applied to a robot to improve the autonomy, flexibility and compatibility of node interconnection becomes a technical problem to be solved urgently.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a distributed node interconnection method applied to a robot, so that the autonomy, flexibility and compatibility of node interconnection are improved.
The invention is realized by the following steps: a distributed node interconnection method applied to a robot comprises the following steps:
s10, a client acquires a code edited by a programming language, and converts the code into a plurality of structured nodes through an SDK (software development kit);
step S20, the client sends each node to the server through an interface;
s30, the server side disassembles each received node into a consumer and a plurality of producers, adds the consumer into a consumer pool, and adds the producers into a producer pool;
step S40, a finder of a server side scans nodes, acquires producers carried by the scanned nodes and caches the producers in a resource pool, and injects the producers in the producer pool into the finder for scanning by other nodes;
s50, a dispatcher of a server side matches a corresponding producer from the resource pool based on a consumer in a consumer pool, and sends the matched producer to a client side;
and S60, converting the received nodes related to the producer into objects by the client through the SDK, and interconnecting the corresponding nodes based on the objects.
Further, in the step S10, the node is composed of a deal requirement, a deal provision and a core function;
the deal requirement is used for describing resources needing to use other nodes; the deal provides resources for describing that the node can provide to other nodes, and the resources comprise resource types, resource addresses and additional information; the core function is a logic function for realizing the functions of the nodes;
the nodes are connected through a contract; the deal includes a boundary, a behavior, and a number of resources; the boundary is used for describing the condition for transferring the resource represented by the deal; the behavior is used for describing the operation which needs to be carried out by both nodes when the resource is transmitted; the number of resources is used to describe the number of resources that a node can provide or expect to obtain.
Further, in step S20, the interface integrates GRPC, HTTP, and ROS2 functions.
Further, in the step S30, the consumer is described by deal requirements, and each deal requirement is ranked based on a preset algorithm; the producer is described by a treaty offer.
Further, in step S40, the node scanning performed by the finder at the server through the network specifically includes:
the service end finder performs node scanning through Avahi, ROS2 or bluetooth.
Further, in step S40, the discoverer adopts a timing scanning and passive monitoring strategy, so as to ensure that all resource pools in the same network include producers of all other nodes.
Further, in step S40, the resource pool adopts a lazy start policy, that is, only when the resource pool is scheduled by the scheduler for the first time, the connection of the resource corresponding to the producer is established, and when the resource interval preset duration is not used or is actively released by the scheduler, the resource pool also releases the connection and supports the pre-locking of the resource;
the resource pool maintains the resource state of the resource corresponding to the producer; the resource states include availability, occupancy, and occupancy time.
Further, the step S60 further includes:
and the client feeds back the interconnection information to a resource pool of the server, the resource pool updates the resource state of the corresponding resource based on the interconnection information, and disconnects the corresponding resource and updates the resource state after the task execution of the node is completed.
The invention has the advantages that:
1. the server side utilizes the consumer pool, the producer pool, the resource pool, the finder and the scheduler to automatically scan and connect all the nodes, and the producers of the nodes are injected into the finder to scan other nodes, so that automatic interconnection of all the nodes under the condition of zero user intervention is realized, and the autonomy of node interconnection is greatly improved.
2. The node scanning is carried out at regular time through the discovery device, the producers carried by the scanned nodes are obtained and cached in the resource pool, the producers in the producer pool are injected into the discovery device to be scanned by other nodes, the resources can be matched quickly through the resource pool, or the providers of the same resource are switched, namely the resource pool and the dependence reverse mode are combined, the highly flexible resource scheduling is realized, and the flexibility of node interconnection is greatly improved.
3. The code is edited through the programming language, so that the program of the server can be conveniently operated on any operating system, the SDK supporting multiple languages is provided, and the compatibility of node interconnection is greatly improved.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a flowchart of a distributed node interconnection method applied to a robot according to the present invention.
Fig. 2 is a system architecture diagram of a distributed node interconnection method applied to a robot according to the present invention.
FIG. 3 is a schematic diagram of a resource state machine of the present invention.
Fig. 4 is a schematic diagram of a node of the present invention.
Fig. 5 is a schematic diagram of a nesting node of the present invention.
Detailed Description
The technical scheme in the embodiment of the application has the following general idea: the server side utilizes a consumer pool, a producer pool, a resource pool, a finder and a scheduler to automatically scan and connect all nodes so as to improve the autonomy of node interconnection; resources are quickly matched through a resource pool, or providers of the same resource are switched, namely the resource pool and a dependent inversion mode are combined, so that the flexibility of node interconnection is improved; codes are edited through a programming language, and an SDK supporting multiple languages is provided, so that the compatibility of node interconnection is improved.
Referring to fig. 1 to 5, a preferred embodiment of a distributed node interconnection method applied to a robot according to the present invention includes the following steps:
s10, a client acquires a code edited by a programming language, and converts the code into a plurality of structured nodes through an SDK (software development kit); the programming language is preferably Python, go or Java;
step S20, the client sends each node to the server through an interface, namely, the nodes are registered to the server, and one client can register any number of nodes;
s30, the server side disassembles the received nodes into a consumer and a plurality of producers, adds the consumer into a consumer pool, and adds the producer into a producer pool;
step S40, a finder of a server side scans nodes, acquires producers carried by the scanned nodes and caches the producers in a resource pool, and injects the producers in the producer pool into the finder for scanning by other nodes;
s50, a dispatcher of a server side matches a corresponding producer from the resource pool based on a consumer in a consumer pool, and sends the matched producer to a client side;
the nodes are scanned regularly through the discovery device, the producers carried by the scanned nodes are obtained and cached in the resource pool, the producers in the producer pool are injected into the discovery device to be scanned by other nodes, the resources can be matched quickly through the resource pool, or the providers of the same resource are switched, namely the resource pool and the dependence inversion mode are combined, highly flexible resource scheduling is achieved, and the flexibility of node interconnection is greatly improved.
Dependency reversal refers to a specific decoupling form (traditional dependency relationships are created on the high-level modules, and specific policy settings are applied on the low-level modules), so that the high-level modules do not depend on implementation details of the low-level modules, and the dependency relationships are reversed (reversed), so that the low-level modules are abstracted by the requirements of the high-level modules; the principle of relying on inversion dictates that: the high-level modules should not depend on the low-level modules, both should depend on the abstract interface, and the abstract interface should not depend on the concrete implementation, which should depend on the abstract interface.
And S60, converting the received nodes related to the producer into objects by the client through the SDK, and interconnecting the corresponding nodes based on the objects.
In order to realize the node model of the invention on the level of a single chip microcomputer and meet the principle of usability, the invention adopts a C/S framework. The server program is written by using Go language, runs on any operating system as a daemon process, and provides a GRPC interface for the client to call. The client exists as a class library and provides SDKs of various platforms, such as Python, go, java and the like.
The invention provides simple client grammar and multi-language SDK, which can write nodes across languages, encourages users to use a large amount of nodes, and constructs edge distributed application in a manner similar to microservice.
Microservices are a software architecture style that combines complex large applications in a modular fashion based on small functional blocks dedicated to a single responsibility and function, with each functional block communicating with each other using an API set independent of the language.
In the step S10, the node is composed of a deal requirement, a deal provision, and a core function;
the deal requirement is used for describing resources needing to use other nodes; the deal provides resources for describing that the node can provide to other nodes, and the resources comprise resource types, resource addresses and additional information; the core function is a logic function for realizing the node function;
the nodes are connected through a contract; the deal includes a boundary, a behavior, and a number of resources; the boundary is used for describing the condition for transferring the resource represented by the deal; the behavior is used for describing the operation of transmitting the resource which needs to be carried out by the nodes of both parties; the resource number is used to describe the number of resources that a node can provide or expect to obtain.
Each node corresponds to an internet of things device in an edge internet of things environment, wherein the edge internet of things environment refers to a minimized local area network environment which is temporarily built or is decentralized without complete internet infrastructure (a DNS server, a DHCP server, a central application server room and the like) and only provides full-duplex connection between devices.
In step S20, the interface integrates GRPC, HTTP, and ROS2 functions.
In the step S30, the consumers are described by deal requirements, and the deal requirements are ranked based on a preset algorithm; the producer is described by a treaty offer.
And sequencing each deal demand based on a preset algorithm, wherein the sequencing order is unique, and the aim is to avoid deadlock. For example, if a consumer a needs a deal demand a and a deal demand b, and the deal demand a is ranked before the deal demand b, any consumer corresponding to any computer and any node in the world, and if the deal demand a and the deal demand b are needed, the deal demand a must be ranked before the deal demand b, the scheduler will search for resources from the resource pool for each consumer according to the sequence by the optimized scheduling algorithm to match, and satisfy all consumers as much as possible.
In step S40, the node scanning performed by the finder at the server through the network specifically includes:
the finder at the service end scans nodes through Avahi, ROS2 or bluetooth.
In step S40, the discoverer adopts a timing scanning and passive monitoring strategy to ensure that all resource pools in the same network include producers of all other nodes.
In order to reduce network traffic, the discoverer is only responsible for scanning of nodes (determining whether a deal exists), and the deal state is refreshed only when the scheduler schedules resources, so the deal state is highly likely to be outdated, which results in that the originally available resources are not existed or occupied when scheduled by the scheduler, and also may result in unexpected interruption of resource connection due to leaving the network signal range, unexpected failure, and the like. When the resource connection is unexpectedly disconnected, if the same resources exist in the resource pool, the resources can be immediately supplemented to the client, the SDK reconnects the resources, and the user perceives the blockage called by only one resource, so that the details of resource replacement are shielded. If there is a scenario with frequent disconnection or high real-time requirement, it may also perform pre-locking through the resource pool, that is, lock multiple resources simultaneously, where one resource is the primary resource being used, and the remaining standby resources can still be used by other consumers (the scheduler has a low scheduling priority), and when the standby resources are used by other consumers, the connection of the pre-locked resources will be disconnected.
In the step S40, the resource pool adopts a lazy start strategy, that is, only when the resource is scheduled by the scheduler for the first time, the connection of the resource corresponding to the producer is established, and when the resource is not used at a preset time interval or is actively released by the scheduler, the resource pool also releases the connection and supports the pre-locking of the resource;
the resource pool maintains the resource state of the resource corresponding to the producer; the resource status includes availability, occupancy, and occupancy time.
The resource pool is responsible for establishing connection, initialization and disconnection of resources and is roughly divided into four stages of handshaking, connection, communication and waving. In the handshake phase, a corresponding provider (node) is locked, but the connection is not established, at the moment, the resource pool sends a producer (resource) into the interface through the consumer pool, an object is generated by the client through the SDK, and at the moment, the connection phase is entered; the client end can inform the server end after establishing connection, and the resource pool updates the resource state; the stage of using resources by the client is the exchange stage; and releasing the resources and informing the resource pool after the resources of the client are used, and finishing the work of the subsequent waving stage by the resource pool, wherein the work comprises resource state updating, informing a provider and the like.
The step S60 further includes:
and the client feeds back the interconnection information to a resource pool of the server, the resource pool updates the resource state of the corresponding resource based on the interconnection information, and disconnects the corresponding resource and updates the resource state after the task execution of the node is completed.
In summary, the invention has the advantages that:
1. the server side utilizes the consumer pool, the producer pool, the resource pool, the finder and the scheduler to automatically scan and connect all the nodes, and the producers of the nodes are injected into the finder to scan other nodes, so that automatic interconnection of all the nodes under the condition of zero user intervention is realized, and the autonomy of node interconnection is greatly improved.
2. The node scanning is carried out at regular time through the discovery device, the producers carried by the scanned nodes are obtained and cached in the resource pool, the producers in the producer pool are injected into the discovery device to be scanned by other nodes, the resources can be matched quickly through the resource pool, or the providers of the same resource are switched, namely the resource pool and the dependence reverse mode are combined, the highly flexible resource scheduling is realized, and the flexibility of node interconnection is greatly improved.
3. The code is edited through the programming language, so that the program of the server can be conveniently operated on any operating system, the SDK supporting multiple languages is provided, and the compatibility of node interconnection is greatly improved.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.
Claims (6)
1. A distributed node interconnection method applied to a robot is characterized in that: the method comprises the following steps:
s10, a client acquires a code edited by a programming language, and converts the code into a plurality of structured nodes through an SDK (software development kit);
the node is composed of a deal demand, a deal offer and a core function;
the deal requirement is used for describing resources needing to use other nodes; the deal provides resources for describing that the node can provide to other nodes, and the resources comprise resource types, resource addresses and additional information; the core function is a logic function for realizing the functions of the nodes;
the nodes are connected through a contract; the deal includes a boundary, a behavior, and a number of resources; the boundary is used for describing the condition for transferring the resource represented by the deal; the behavior is used for describing the operation of transmitting the resource which needs to be carried out by the nodes of both parties; the resource number is used for describing the number of resources which can be provided or expected to be obtained by the node;
step S20, the client sends each node to a server through an interface;
s30, the server side disassembles each received node into a consumer and a plurality of producers, adds the consumer into a consumer pool, and adds the producers into a producer pool;
the consumers are described by the contract demands, and the contract demands are ranked based on a preset algorithm; the producer is described by a deal offer;
the scheduler finds resources from the resource pool for each consumer to match;
step S40, a finder at a server side scans nodes, acquires producers carried by the scanned nodes and caches the producers in a resource pool, and injects the producers in the producer pool into the finder for scanning by other nodes;
s50, a dispatcher of a server side matches a corresponding producer from the resource pool based on a consumer in the consumer pool, and sends the matched producer to a client side;
and S60, converting the received nodes related to the producer into objects by the client through the SDK, and interconnecting the corresponding nodes based on the objects.
2. The distributed node interconnection method applied to the robot as claimed in claim 1, wherein: in step S20, the interface integrates GRPC, HTTP, and ROS2 functions.
3. The distributed node interconnection method applied to the robot as claimed in claim 1, wherein: in step S40, the node scanning performed by the finder at the server through the network specifically includes:
the finder at the service end scans nodes through Avahi, ROS2 or bluetooth.
4. The distributed node interconnection method applied to the robot as claimed in claim 1, wherein: in step S40, the discoverer adopts a timing scanning and passive monitoring strategy to ensure that all resource pools in the same network include producers of all other nodes.
5. The distributed node interconnection method applied to the robot as claimed in claim 1, wherein: in the step S40, the resource pool adopts a lazy start strategy, that is, only when the resource pool is scheduled by the scheduler for the first time, the connection of the resource corresponding to the producer is established, and when the resource is not used for a preset time interval or is actively released by the scheduler, the resource pool also releases the connection and supports the pre-locking of the resource;
the resource pool maintains the resource state of the resource corresponding to the producer; the resource states include availability, occupancy, and occupancy time.
6. The distributed node interconnection method applied to the robot as claimed in claim 1, wherein: the step S60 further includes:
and the client feeds back interconnection information to a resource pool of the server, the resource pool updates the resource state of the corresponding resource based on the interconnection information, and disconnects the corresponding resource and updates the resource state after the task execution of the node is completed.
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