CN114546672A - Unmanned communication method, device, equipment and storage medium - Google Patents
Unmanned communication method, device, equipment and storage medium Download PDFInfo
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- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
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- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
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Abstract
The specification discloses an unmanned communication method, an unmanned communication device, an unmanned communication equipment and a storage medium, wherein a message bus assembly is started in a created first process, a communication node is created, the message bus assembly in the first process inserts a received message into a designated queue corresponding to a topic to which the message belongs, and the message is sent to the message bus assembly in the process in which the communication node subscribing the message is located according to the sequence of the designated queue or the message is sent to the communication node subscribing the message in the first process according to the relationship between the first process and the process in which the communication node subscribing the message is located. The message bus assembly is started in the process and the communication node is established, so that the single point fault when the message bus assembly in one process cannot work is avoided, the reliability of message transmission in the unmanned system is improved, the message sending and receiving of the communication node are realized through the message bus assembly, the decoupling between a message producer and a message consumer is realized, and the real-time property of message transmission is ensured.
Description
Technical Field
The present disclosure relates to the field of unmanned technologies, and in particular, to an unmanned communication method, an apparatus, a device, and a storage medium.
Background
Unmanned equipment has been widely applied in many fields such as national defense, national economy and the like, and along with the continuous improvement of technological level, unmanned equipment is further developed, thereby bringing more convenience to the life of people. The unmanned device can realize autonomous driving in the environment and reach the destination by sensing the surrounding environment. The unmanned system realizes the control of the unmanned equipment through functional modules, and comprises a sensing module, a positioning module, a prediction module, a planning module, a control module and the like. The functional module needs to acquire the output result of the upstream module and transmit the output result of the functional module to the downstream module, so that the development of each functional module of the unmanned system needs to be performed in a software development platform with a message transmission function. Currently, a Robot Operation System (ROS) has been widely used in the development of an unmanned System.
In the prior art, a master node is usually configured to provide services of registering and naming communication nodes for each function module, where the communication nodes corresponding to each function module are slave nodes, and the communication nodes are used to receive and send messages for the function modules corresponding to the communication nodes. Within the ROS, a publish-subscribe inter-node communication framework is provided by which messages can be transmitted between communicating nodes. The communication between the communication nodes needs to be realized through the main node, the communication node which issues the message issues the topic on the main node and sends the message to the topic, and the communication node which subscribes the message can receive the message in the topic as long as the communication node subscribes the topic on the main node.
However, since the communication nodes corresponding to the functional modules issue and subscribe messages through the master node, once the master node fails to operate, the slave nodes also fail to operate, and thus messages cannot be transmitted between the functional modules in the unmanned system. Moreover, when a large number of topics and messages exist in the system, the delay of the master node for processing the publishing and subscribing services is large, and the requirement of the unmanned system on message transmission real-time performance cannot be met.
Disclosure of Invention
The present specification provides an unmanned communication method, apparatus, device and storage medium to partially solve the above-mentioned problems of the prior art.
The technical scheme adopted by the specification is as follows:
the present specification provides an unmanned communication method including:
creating a first process;
starting a message bus assembly in the first process, and creating a communication node in the first process;
determining a communication mode of each communication node for communication through the message bus assembly according to a predetermined communication configuration file; wherein the message bus component within the first process is to communicate with a communication node within the first process;
receiving a message sent by a communication node within the first process;
determining the topic to which the message belongs, and determining a queue corresponding to the topic as a designated queue; wherein the same topic corresponds to the same queue;
inserting the message into the tail of the designated queue;
according to the communication mode, when the first process and the process of the communication node subscribing the messages in the designated queue are different processes of the same equipment or different processes in different equipment, the messages in the designated queue are sent to the message bus assembly in the process of the communication node subscribing the messages in the designated queue according to the sequence of the messages in the designated queue, and when the first process and the process of the communication node subscribing the messages in the designated queue are the same process, the messages in the designated queue are sent to the communication node subscribing the messages in the designated queue in the first process according to the sequence of the messages in the designated queue.
Optionally, determining, according to a predetermined communication configuration file, a communication mode in which each communication node communicates through the message bus component, specifically including:
determining the relationship between the first process and the process where the communication node subscribing the message is located according to a predetermined communication configuration file; the relation comprises that the first process and the process where the communication node subscribing the message is located are processes in the same process or different processes in the same device or different devices;
determining a communication mode of the communication node for communicating through the message bus assembly according to the relation between the first process and the process where the communication node subscribing the message is located;
when the relation is that the first process and the process where the communication node subscribing the message is located are the same process, the communication mode is to send the message to the communication node subscribing the message in the first process through an in-process transmission component;
when the relation is that the first process and the process where the communication node subscribing the message is located are different processes in the same device, the communication mode is that the message is sent to a message bus component in the process where the communication node subscribing the message is located through an inter-process transmission component of the same device;
and when the relation is that the first process and the process where the communication node subscribing the message is located are processes in different devices, the communication mode is that the message is sent to a message bus component in the process where the communication node subscribing the message is located through an inter-process transmission component of the different devices.
Optionally, the message sent by the communication node in the first process is generated by a message producer in the unmanned device and published by the communication node in the first process to a topic corresponding to the message; the communication node in the first process is used for sending messages to the message bus assembly in the first process for a message producer in the unmanned aerial device and/or obtaining messages from the message bus assembly in the first process for a message consumer in the unmanned aerial device.
Optionally, sending each message in the designated queue to a message bus component in a process in which a communication node subscribing to each message in the designated queue is located specifically includes:
taking the message bus assembly in the process where the communication node subscribing each message in the appointed queue is positioned as a message bus assembly to be communicated; receiving a topic subscription request corresponding to a topic sent by the message bus component to be communicated;
and when receiving each message in the specified queue corresponding to the topic subscribed by the message bus assembly to be communicated, sending each message in the specified queue corresponding to the topic to be communicated to the message bus assembly to be communicated.
Optionally, sending each message in the specified queue corresponding to the topic to the message bus component to be communicated, specifically including:
determining a component corresponding to the designated queue among message bus components in the first process; wherein one queue corresponds to one component;
and sending each message in the specified queue corresponding to the topic to the message bus component to be communicated through the component corresponding to the specified queue.
Optionally, sending each message in the designated queue to a communication node subscribing to each message in the designated queue in the first process specifically includes:
receiving a topic subscription request corresponding to a topic sent by a communication node within the first process;
and when receiving each message in the appointed queue corresponding to the topic subscribed by the communication node in the first process, sending each message in the appointed queue corresponding to the topic to the communication node in the first process.
Optionally, sending each message in the specified queue corresponding to the topic to a communication node in the first process specifically includes:
determining a component corresponding to the designated queue among message bus components in the first process; wherein one queue corresponds to one component;
and sending each message in the designated queue corresponding to the topic to a communication node subscribing each message in the designated queue corresponding to the topic in the first process through a component corresponding to the designated queue.
This specification provides an unmanned communication device, including:
the process creation module is used for creating a first process;
the starting module is used for starting the message bus assembly in the first process and creating a communication node in the first process;
the communication mode determining module is used for determining the communication mode of each communication node for communication through the message bus assembly according to a predetermined communication configuration file; wherein the message bus component within the first process is to communicate with a communication node within the first process;
a message receiving module, configured to receive a message sent by a communication node in the first process;
the specified queue determining module is used for determining the topic to which the message belongs and determining a queue corresponding to the topic as a specified queue; wherein the same topic corresponds to the same queue;
the message inserting module is used for inserting the message into the tail part of the specified queue;
and the message sending module is used for sending the messages in the designated queue to the message bus component in the process where the communication node subscribing the messages in the designated queue is located according to the sequence of the messages in the designated queue when the processes where the first process and the communication node subscribing the messages in the designated queue are located are different processes of the same device or different devices according to the communication mode, and sending the messages in the designated queue to the communication node subscribing the messages in the designated queue in the first process according to the sequence of the messages in the designated queue when the processes where the first process and the communication node subscribing the messages in the designated queue are located are the same process.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described unmanned communication method.
The present specification provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above-described unmanned communication method when executing the program.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
in an unmanned communication method provided by this specification, a message bus component is started in a created first process, and a communication node is created, where the message bus component in the first process inserts a received message into an assigned queue corresponding to a topic to which the message belongs, and determines to send the message to the message bus component in a process to which a communication node subscribing the message belongs, or sends the message to a communication node subscribing the message in a process to which the communication node subscribing the message belongs, according to a relationship between the first process and the process to which the communication node subscribing the message belongs. By starting the message bus assembly in the process and establishing the communication node, the problem that other processes cannot work when the message bus assembly in one process cannot work is avoided, and the reliability of message transmission in the unmanned system is improved; because the communication node sends the message and receives the message through the message bus assembly, the decoupling between the message producer and the message consumer is realized, and the real-time property of message transmission is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
FIG. 1 is a schematic diagram of a system architecture suitable for an unmanned communication method;
FIG. 2 is a schematic flow chart of an unmanned communication method of the present disclosure;
FIG. 3 is a schematic diagram of an unmanned communications device provided herein;
fig. 4 is a schematic diagram of an electronic device corresponding to fig. 2 provided in the present specification.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
With the rapid development of the unmanned technology, constructing an unmanned system with low cost, low power consumption and high stability to support large-scale operation becomes one of the problems to be solved urgently by the unmanned technology. In order to support the cooperative operation of multiple computing nodes and maximize the resource utilization rate, a software development platform for unmanned system development, namely an unmanned engine, is constructed, mechanisms and tools are provided for each function module in an unmanned system, and meanwhile, the adaptation to vehicle-mounted and simulation environments is provided, so that the challenges of difference between road test and simulation test, adaptation of each function module in different operation environments, non-uniform hardware resource configuration and the like in the current unmanned system development process are faced.
The unmanned system realizes the control of the unmanned equipment through a functional module, and the functional module comprises a perception module, a positioning module, a prediction module, a planning module, a control module and the like. The function modules are extremely unbalanced in resource requirements and the like, for example, on the scale of data input, the sensing module and the positioning module are extremely dependent on data acquired by a radar sensor and a camera sensor, and the data usage amount of the sensing module and the positioning module is far higher than that of other function modules; for example, in terms of hardware resource consumption, the sensing module and the prediction module consume more computing resources of the graphics processor. Therefore, in order to improve the utilization efficiency of computing resources, it is necessary for the unmanned engine to support distributed deployment, that is, a set of unmanned systems is respectively deployed on multiple devices and even devices across a machine room.
The operation of each functional module in the simulation environment is an important means for the research and development of the unmanned technology, and after the unmanned operation enters the operation stage, the simulation task is rapidly increased. According to the foregoing analysis, since the hardware computation requirements of the functional modules are different, that is, the hardware computation requirements of different simulation tasks are different, for example, the perceptual simulation task and the predictive simulation task must depend on the graphics processor. On the premise that the hardware resources or the ratio of the hardware resources is fixed, in order to further improve the resource utilization rate, different subtasks in the simulation task can be split into different devices to run, that is, each functional module can be split into different devices to run. While the unmanned engine needs to be responsible for accomplishing the distributed communication of the same task among different devices.
In order to realize distributed deployment, the functional modules are divided into computing modules for completing computation and communication nodes for providing communication and other assistance for the computing modules, so that the computing modules in the functional modules only need to complete computing parts and do not need to adapt to the operating environment of the computing modules. The unmanned engine provides abstraction and isolation of an operating environment for a computing part in the functional module, and functions of high-instantaneity data transmission, data recording, scheduling and the like in a distributed environment are realized.
In practical application, each functional module needs to acquire an output result of an upstream module and transmit the output result of the functional module to a downstream module, which requires a communication node in the functional module to undertake a message transmission function.
Compared with a communication mode that a main node is arranged in an ROS and the main node is used for realizing the communication mode that the communication nodes corresponding to the functional modules issue and subscribe messages, the communication mode that the message bus assembly is introduced is provided in the specification, a message producer does not need to pay attention to how a message consumer processes the messages, decoupling between the message producer and the message consumer is realized, and message transmission instantaneity is improved; and the process in which the communication node is located comprises the message bus assembly, so that the risk that the message cannot be transmitted among the function modules in the unmanned system because the communication node corresponding to each function module issues the message and subscribes the message through the master node and the slave node cannot work once the master node cannot work is avoided.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 1 is a system architecture structure diagram applicable to an unmanned communication method provided in an embodiment of the present disclosure, where the system architecture may be applied to an unmanned device such as an unmanned vehicle, an unmanned aerial vehicle, and an unmanned ship.
In general, in order to implement distributed communication between the functional modules, a communication node is configured for the computing module of each functional module, and is used to provide support such as message transmission for the computing module of each functional module, so that the computing module in the functional module only needs to complete a computing part, and does not need to adapt to the operating environment where the computing module is located. The functional modules can run in the processes, and at least one functional module can run in one process. For example, since the sensing module and the prediction module consume more computing resources of the graphics processor, and other functional modules use less graphics processor, the sensing module and the prediction module can be run in the same process, which can implement both sensing and prediction functions.
The communication nodes are responsible for the transmission of messages of the corresponding computing modules, and one computing module can configure at least one communication node. For example, when a computing module configures a communication node, the communication node is responsible for sending and receiving messages of its corresponding computing module; when one computing module is configured with two communication nodes, one of the communication nodes may be responsible for sending messages of the computing module corresponding to the communication node, and the other communication node may be responsible for receiving messages of the computing module corresponding to the communication node. The communication nodes and the corresponding computing modules run in the same process, and because each functional module can run in different processes, the relationship between the communication nodes can be in the same process, different processes of the same device, or different devices.
In the system architecture suitable for the unmanned communication method provided by the embodiment of the specification, a plurality of processes can be created in equipment for providing a running environment for each functional module, and a message bus component can be started in each process. Since at least one functional module can be executed in one process, a communication node corresponding to the functional module needs to be created. Each communication node communicates in real time with the message bus component within the process in which it is located. The real-time communication in the embodiment of the invention refers to communication with communication delay controlled at millisecond level or microsecond level, and specifically can be communication meeting the real-time requirement of communication of each component of unmanned equipment in a vehicle-mounted system or a simulation system.
The communication node is configured to send a message to a message bus component in the first process for a message producer in the drone and/or retrieve a message from the message bus component in the first process for a message consumer in the drone.
Specifically, the communication node undertakes the tasks of publishing messages and subscribing messages for the computing modules in the corresponding functional modules, that is, the computing modules corresponding to the communication node may be only message producers, only message consumers, or both message producers and message consumers. When the computing module in the functional module is only a message producer, the communication node corresponding to the computing module is only a publishing node, when the computing module in the functional module is only a message consumer, the communication node corresponding to the computing module is only a subscribing node, and when the computing module in the functional module is both a message producer and a message consumer, the communication node corresponding to the computing module is both a publishing node and a subscribing node, which is not specifically limited in this invention. In the embodiments of this specification, a specific scheme is described by taking an example that a communication node only publishes a message or only subscribes to a message.
The message bus assembly is used for determining a communication mode of each communication node for communication through the message bus assembly according to a predetermined communication configuration file.
Under the normal condition, the construction of the communication topology in the ROS is completed by the main node through node registration and discovery service, so that the method has strong dependence on the network environment, and if the network environment is unstable, the failure rate of the construction of the communication topology is greatly improved. In order to solve the problem that the dependence of the construction of the communication topology on the network environment is strong, in the unmanned communication method provided by the embodiment of the present specification, the message bus assemblies located in each process can construct the communication topology according to the communication configuration file by means of predetermining the communication configuration file, and the communication mode in which each communication node performs communication through the message bus assemblies is determined, so that the problem of failure in constructing the communication topology due to unstable network environment is avoided.
Second, the message bus component receives messages sent by the communication nodes.
Then, according to the communication mode, when the process of the communication node and the process of the communication node subscribing the message are different processes of the same equipment or different processes in different equipment, the message is sent to a message bus component in the process of the communication node subscribing the message; and when the process of the communication node is the same as the process of the communication node subscribed with the message, sending the message to the communication node subscribed with the message in the process of the communication node.
For example, in a system architecture suitable for the unmanned communication method as shown in fig. 1, two devices, a device a and a device B, are provided for providing operation requirements for each function module, wherein a first process in the device a includes a communication node 1, a communication node 2 and a message bus component a1(ii) a The second process in device a comprises a communication node 3 and a message bus component a2(ii) a The third process in device B comprises a communication node 4 and a message bus component B. The communication node 1 in the first process of the device A is used as a publishing node to publish the message to the message bus component A in the process of the communication node A1Performing the following steps; when the communication node 2 subscribes to the message published by the communication node 1, the message bus component A1Sending the received message to the communication node 2; when the communication node 3 subscribes to the message published by the communication node 1, the message bus component A1Sending the received message to the message bus assembly A2Then from the message bus component A2Sending the message to the communication node 3(ii) a When the communication node 4 subscribes to the message published by the communication node 1, the message bus component A1The received message is sent to the message bus component B, which then sends the message to the communication node 4.
It can be seen that the transmission of messages between the communication nodes needs to pass through the message bus assembly, and the communication node 1 only needs to send the messages to the message bus assembly a1There is no need to be concerned about how other communication nodes subscribe to the message.
Based on the same idea, the embodiment of the present specification provides an unmanned communication method, as shown in fig. 2. Fig. 2 is a schematic diagram of an unmanned communication method provided in an embodiment of this specification, where a communication topology in which each communication node communicates through a message bus component is the same as that in fig. 1, the communication node 1 of a first process in the device a in fig. 1 is a node that issues a message, and a message bus component X in fig. 2 may be a message bus component a in a second process in fig. 1 according to a process in which a communication node that subscribes to a message is different2Or the message bus component B in the third process, the communication node Y may be one of the communication nodes 2, 3, and 4 in fig. 1. The embodiment of the specification provides an unmanned communication method which specifically comprises the following steps:
s100: and the message bus assembly in the first process determines the communication mode of each communication node for communication through the message bus assembly according to the predetermined communication configuration file.
In practical applications, the communication configuration file is used for constructing a communication topology in which each communication node communicates through the message bus component. According to the constructed communication topology, the transmission of messages among the communication nodes can be realized. The message bus assembly started in each process can determine the communication mode of each communication node for communication through the message bus assembly according to the communication configuration file.
S102: a communication node within the first process sends a message to a message bus component within the first process.
In the embodiment of the present specification, each functional module is divided into a computing module for computing and a communication node providing a communication function for the computing module, and therefore, a message sent by the communication node originates from the corresponding computing module. Specifically, the computing module in each functional module may generate a message or may consume a message, and thus, the computing module in each functional module is defined as a message producer or a message consumer. The computing module in the same functional module can be only a message producer or only a message consumer, and can also be simultaneously used as the message producer and the message consumer.
A communication node within a first process obtains a message generated by a message producer corresponding to the communication node itself and determines a topic to which the message belongs. Publishing the message to a corresponding topic; wherein, at least one message generated by a message producer can be included in one topic. The message in the topic is then sent to a message bus component within the first process.
S104: a message bus component within a first process receives a message sent by a communication node within the first process.
Specifically, a buffer for temporarily storing the message may be provided in the message bus component, and the buffer may be configured to temporarily store the received message until the message is sent to the communication node subscribing to the message or the message bus in the process in which the communication node subscribing to the message is located.
S106: a message bus assembly in a first process determines a topic to which the message belongs, and determines a queue corresponding to the topic as an appointed queue; wherein the same topic corresponds to the same queue; and insert the message to the tail of the specified queue.
Specifically, after the message bus assembly in the first process receives the message sent by the communication node in the first process and determines the topic of the message, the message can be ensured to be transmitted to the message bus assembly in the process where the communication node subscribing the message is located or sent to the communication node subscribing the message in the first process in a mode of inserting the received message into the queue corresponding to the topic.
S108: and when the first process and the process in which the communication node subscribing to each message in the specified queue are located are different processes of the same device or different devices, the message bus assembly in the first process sends each message in the specified queue to the message bus assembly in the process in which the communication node subscribing to each message in the specified queue is located according to the sequence of each message in the specified queue.
S110: the message bus assembly sends the message to the communication node in the process of the message bus assembly.
Generally, when a communication node needs to subscribe to a message in a topic, a message bus component receives a topic subscription request corresponding to the topic and sent by the communication node. If the messages in the designated queue corresponding to the topic are not in the process of the message bus assembly, the message bus assembly sends a subscription request corresponding to the topic to the message bus assembly in the process of the topic according to the topic subscribed by the communication node, so that the message bus assembly in the process of the topic sends the messages in the designated queue corresponding to the topic to the message bus assembly after receiving the messages in the designated queue corresponding to the topic.
When the message bus assembly receives a message of a corresponding designated queue in a subscribed topic, the message bus assembly sends the message to a communication node in a process where the message bus assembly is located;
for example, message bus component X in FIG. 2 is message bus A in FIG. 12The communication node Y in fig. 2 is the communication node 3 in fig. 1. When the communication node 3 subscribes to the message published by the communication node 1, the message bus assembly A is not in the same process as the communication node 1 and the communication node 32After receiving the subscription request sent by the communication node 3, the message bus component A is sent to1A subscription request is sent. Responding to message bus assembly A2Sent subscription request, message bus A1Sending messages subscribed by the communication node 3 to the message bus A2Then from the message bus A2The message is sent to the communication node 3.
S112: and when the first process and the process where the communication node subscribing the messages in the designated queue are located are the same process, sending the messages in the designated queue to the communication node subscribing the messages in the designated queue in the first process according to the sequence of the messages in the designated queue.
Generally, when a communication node needs to subscribe to a message in a specified queue corresponding to a topic, a message bus component receives a topic subscription request corresponding to the topic, which is sent by the communication node. And if the appointed queue corresponding to the topic is in the process of the message bus assembly, after receiving the message in the appointed queue corresponding to the subscribed topic, the message bus assembly sends the message to a communication node subscribing the message in the process of the message bus assembly.
For example, communication node Y in fig. 2 is communication node 2 in fig. 1. When the communication node 2 subscribes to the message published by the communication node 1, the message bus component A is because the communication node 1 and the communication node 2 are in the same process1After receiving the subscription request sent by the communication node 2, the message is sent to the communication node 2.
S114: the communication node receives the message sent by the message bus component in the process of the communication node.
The communication node sends the received message to the corresponding message consumer so that the message consumer can process the message.
The communication node that subscribes to the message is referred to as a subscribing node, and the communication node that publishes the message is referred to as a publishing node. Therefore, the subscribing node and the publishing node can be in the same process, can be in different processes of the same device, and can be in different devices. Steps S108 to S110 are performed when the subscribing node and the publishing node are in different processes of the same device or in different devices, and step S112 is performed when the subscribing node and the publishing node are in the same process.
Since the subscribing nodes in the same process as the publishing node, the subscribing nodes in different processes of the same device as the publishing node, and the subscribing nodes in different devices as the publishing node can subscribe to the message published by the publishing node at the same time, the steps S108 to S110 and S112 are not performed in sequence.
In an unmanned communication method provided by the present specification, a message bus component is started in a created first process, and a communication node is created, where the message bus component in the first process inserts a received message into an assigned queue corresponding to a topic to which the message belongs, and determines to send the message to the message bus component in a process to which the communication node subscribing the message belongs, or to send the message to the communication node subscribing the message in a process to which the communication node subscribing the message belongs, according to a relationship between the first process and the process to which the communication node subscribing the message belongs. By starting the message bus assembly in the process and establishing the communication node, the problem that other processes cannot work when the message bus assembly in one process cannot work is avoided, and the reliability of message transmission in the unmanned system is improved; because the communication node sends the message and receives the message through the message bus assembly, the decoupling between the message producer and the message consumer is realized, and the real-time property of message transmission is ensured.
In this embodiment of this specification, the message bus component shown in step S100 in fig. 2 determines, according to a predetermined communication configuration file, a communication mode in which each communication node communicates through the message bus component, specifically implemented by the following steps:
firstly, determining a communication configuration file, and determining the relationship between the process of the communication configuration file and the process of the communication node subscribing the message.
And then, determining a communication mode of the communication node for communicating through the message bus assembly according to the relationship between the process of the message bus assembly and the process of the communication node subscribing the message.
Specifically, because the communication node subscribing to the message and the communication node publishing the message may be located in the same process, different processes in the same device, and different devices, the relationship between the process in which the message bus component receiving the message is located and the process in which the communication node subscribing to the message is located is of the following three types:
the first type is: when the relation is that the process where the communication node subscribes to the message is the same as the process where the communication node subscribes to the message, the communication mode is that the message is sent to the communication node subscribing to the message in the process where the communication node subscribes to the message through an in-process transmission component;
the second type: when the relation is that the process where the communication node subscribes to the message and the process where the communication node subscribes to the message are located are different processes in the same device, the communication mode is that the message is sent to a message bus component in the process where the communication node subscribes to the message through an inter-process transmission component of the same device;
the third type: and when the relation is that the process in which the communication node subscribes the message and the process in which the communication node subscribes the message are processes in different devices, the communication mode is that the message is sent to a message bus component in the process in which the communication node subscribes the message through an inter-process transmission component of the different devices.
It should be noted that the transmission component is located in the message bus component, and is configured to transmit the message to the message bus component where the communication node subscribing to the message is located or the communication node subscribing to the message. Wherein, the in-process transmission component can be a local message transmission component; the inter-process transmission component of the same device can be a shared memory component; the inter-process transmission components of different devices may be Google Remote Procedure Call (gRPC) components, high speed serial computer extension bus (PCIe) components, and the like.
In this embodiment of this specification, as shown in step S106 in fig. 2, the message bus component in the first process determines the topic described in the received message, and inserts the received message into the tail of the queue corresponding to the topic, the specific steps are as follows:
firstly, temporarily storing received messages in a message buffer, determining topics to which the received messages belong, and determining queues corresponding to the topics as designated queues, wherein the same topic corresponds to the same queue.
Specifically, according to a predetermined hash algorithm, a hash value corresponding to each topic is calculated; and determining the queue corresponding to each topic according to the hash value corresponding to each topic. It can be seen that the same topic corresponds to only the same queue, and one queue may include messages in at least one topic.
Secondly, the message is inserted into the tail of the specified queue.
In order to ensure that the messages received first start processing and then the messages received later start processing, the messages are placed in the queue according to the sequence of the received messages, so that the messages are inserted into the tail of the appointed queue every time the messages are inserted, and the messages positioned at the front in the queue can be extracted first.
Then, determining a component corresponding to the designated queue according to a relationship between the first process and a process in which a communication node subscribing to each message in the designated queue is located, where the determining specifically includes the following two cases:
in the first case: the first process and the process where the communication node subscribing to each message in the specified queue is located are different processes or different devices of the same device, and at this time, a component corresponding to the specified queue needs to be determined in a message bus component in the first process. Wherein one queue corresponds to one component. And taking out the messages from the head of the appointed queue in sequence according to the sequence of the messages in the appointed queue through the component, and sending the messages in the appointed queue to the message bus component in the process of the communication node subscribed with the messages, so that the sequence of the messages received by the message bus component in the process of the communication node subscribed with the messages is the same as the sequence of the messages in the appointed queue.
In the second case: the first process and the process where the communication node subscribing each message in the designated queue is located are the same process, and at this time, the component corresponding to the designated queue needs to be determined in the message bus component in the process where the first process is located. Wherein one queue corresponds to one component. And taking out the messages from the head of the appointed queue in sequence according to the sequence of the messages in the appointed queue through the component, and sending the messages in the appointed queue to the communication node which subscribes the messages in the process where the communication node subscribes the messages, so that the sequence of the messages received by the communication node which subscribes the messages is the same as the sequence of the messages in the appointed queue.
In another embodiment of the present specification, to perform offline analysis and locate events and problems occurring online, the online messages need to be saved. Specifically, in order to ensure the ordering and integrity of the messages, a centralized message storage strategy is adopted. Because the device where the main process is located can be plugged with a data disk, messages needing to be stored are uniformly sent to the message bus assembly in the main process, and the messages needing to be stored are arranged in the message bus assembly in the main process according to the time sequence and are temporarily stored in the memory. And when the message needs to be landed in the data disk, executing a landing function in the message bus assembly, and storing the message needing to be stored in the data disk from the memory. By adopting a centralized message storage strategy, the orderliness and the integrity of the messages can be ensured, and the offline reproduction of the online scene is facilitated.
The above unmanned communication method provided for one or more embodiments of the present specification also provides a corresponding unmanned communication device based on the same idea.
Fig. 3 is a schematic diagram of an unmanned communication device provided in this specification, which specifically includes:
a process creation module 200 for creating a first process;
a starting module 202, configured to start a message bus component in the first process, and create a communication node in the first process;
a communication mode determining module 204, configured to determine, according to a predetermined communication configuration file, a communication mode in which each communication node communicates through a message bus component; wherein the message bus component within the first process is to communicate with a communication node within the first process;
a message receiving module 206, configured to receive a message sent by a communication node in the first process;
a specified queue determining module 208, configured to determine a topic to which the message belongs, and determine a queue corresponding to the topic, as a specified queue; wherein the same topic corresponds to the same queue;
a message inserting module 210, configured to insert the message into the tail of the specified queue;
a message sending module 212, configured to send, according to the communication manner, each message in the designated queue to a message bus component in a process where a communication node subscribing to each message in the designated queue is located, when the process where the first process and the process where the communication node subscribing to each message in the designated queue are located are different processes of the same device or different devices, and send, when the process where the communication node subscribing to each message in the designated queue is located, each message in the designated queue to a communication node subscribing to each message in the designated queue in the first process, according to the ordering of each message in the designated queue.
Optionally, the communication mode determining module 204 is specifically configured to determine, according to a predetermined communication configuration file, a relationship between the first process and a process where a communication node subscribing to the message is located; the relation comprises that the first process and the process where the communication node subscribing the message is located are processes in the same process or different processes in the same device or different devices; determining a communication mode of the communication node for communicating through the message bus assembly according to the relation between the first process and the process where the communication node subscribing the message is located; when the relation is that the first process and the process where the communication node subscribing the message is located are the same process, the communication mode is to send the message to the communication node subscribing the message in the first process through an in-process transmission component; when the relation is that the first process and the process where the communication node subscribing the message is located are different processes in the same device, the communication mode is that the message is sent to a message bus component in the process where the communication node subscribing the message is located through an inter-process transmission component of the same device; and when the relation is that the first process and the process where the communication node subscribing the message is located are processes in different devices, the communication mode is that the message is sent to a message bus component in the process where the communication node subscribing the message is located through an inter-process transmission component of the different devices.
Optionally, the message sent by the communication node in the first process is generated by a message producer in the unmanned device and published by the communication node in the first process to a topic corresponding to the message; the communication node in the first process is used for sending messages to the message bus assembly in the first process for a message producer in the unmanned aerial device and/or obtaining messages from the message bus assembly in the first process for a message consumer in the unmanned aerial device.
Optionally, the message sending module 212 is specifically configured to use a message bus component in a process where a communication node subscribing to each message in the specified queue is located as a message bus component to be communicated; receiving a topic subscription request which is sent by the message bus component to be communicated and corresponds to a topic; and when receiving each message in the appointed queue corresponding to the topic subscribed by the message bus assembly to be communicated, sending each message in the appointed queue corresponding to the topic to be communicated to the message bus assembly to be communicated.
Optionally, the message sending module 212 is specifically configured to determine, in the message bus components in the first process, a component corresponding to the specified queue; wherein one queue corresponds to one component; and sending each message in the specified queue corresponding to the topic to the message bus component to be communicated through the component corresponding to the specified queue.
Optionally, the message sending module 212 is specifically configured to receive a topic subscription request corresponding to a topic sent by a communication node in the first process; and when receiving each message in the appointed queue corresponding to the topic subscribed by the communication node in the first process, sending each message in the appointed queue corresponding to the topic to the communication node in the first process.
Optionally, the message sending module 212 is specifically configured to determine, in the message bus components in the first process, a component corresponding to the specified queue; wherein one queue corresponds to one component; and sending each message in the designated queue corresponding to the topic to a communication node subscribing each message in the designated queue corresponding to the topic in the first process through a component corresponding to the designated queue.
The present specification also provides a computer-readable storage medium having stored thereon a computer program operable to execute the unmanned communication method provided in fig. 2 above.
This specification also provides a schematic block diagram of the electronic device shown in fig. 4. As shown in fig. 4, the drone includes, at the hardware level, a processor, an internal bus, a network interface, a memory, and a non-volatile memory, although it may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above described unmanned communication method of fig. 2. Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain a corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in purely computer readable program code means, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (10)
1. An unmanned communications method, comprising:
creating a first process;
starting a message bus assembly in the first process, and creating a communication node in the first process;
determining a communication mode of each communication node for communication through the message bus assembly according to a predetermined communication configuration file; wherein the message bus component within the first process is to communicate with a communication node within the first process;
receiving a message sent by a communication node within the first process;
determining the topic to which the message belongs, and determining a queue corresponding to the topic as a designated queue; wherein the same topic corresponds to the same queue;
inserting the message into the tail of the designated queue;
according to the communication mode, when the first process and the process of the communication node subscribing the messages in the designated queue are different processes of the same equipment or different processes in different equipment, the messages in the designated queue are sent to the message bus assembly in the process of the communication node subscribing the messages in the designated queue according to the sequence of the messages in the designated queue, and when the first process and the process of the communication node subscribing the messages in the designated queue are the same process, the messages in the designated queue are sent to the communication node subscribing the messages in the designated queue in the first process according to the sequence of the messages in the designated queue.
2. The method of claim 1, wherein determining a communication mode in which each communication node communicates via the message bus component according to a predetermined communication profile comprises:
determining the relationship between the first process and the process where the communication node subscribing the message is located according to a predetermined communication configuration file; the relation comprises that the first process and the process where the communication node subscribing the message is located are processes in the same process or different processes in the same device or different devices;
determining a communication mode of the communication node for communicating through the message bus assembly according to the relation between the first process and the process where the communication node subscribing the message is located;
when the relation is that the first process and the process where the communication node subscribing the message is located are the same process, the communication mode is to send the message to the communication node subscribing the message in the first process through an in-process transmission component;
when the relation is that the first process and the process where the communication node subscribing the message is located are different processes in the same device, the communication mode is that the message is sent to a message bus component in the process where the communication node subscribing the message is located through an inter-process transmission component of the same device;
and when the relation is that the first process and the process where the communication node subscribing the message is located are processes in different devices, the communication mode is that the message is sent to a message bus component in the process where the communication node subscribing the message is located through an inter-process transmission component of the different devices.
3. The method of claim 1, wherein the message sent by the communication node within the first process is generated by a message producer in the drone and published by the communication node within the first process to a topic to which the message corresponds; the communication node in the first process is used for sending messages to the message bus assembly in the first process for a message producer in the unmanned device and/or obtaining messages from the message bus assembly in the first process for a message consumer in the unmanned device.
4. The method according to claim 1, wherein sending each message in the designated queue to a message bus component in a process in which a communication node subscribing to each message in the designated queue is located, specifically comprises:
taking the message bus assembly in the process where the communication node subscribing each message in the appointed queue is positioned as a message bus assembly to be communicated; receiving a topic subscription request corresponding to a topic sent by the message bus component to be communicated;
and when receiving each message in the appointed queue corresponding to the topic subscribed by the message bus assembly to be communicated, sending each message in the appointed queue corresponding to the topic to be communicated to the message bus assembly to be communicated.
5. The method of claim 4, wherein sending each message in the designated queue corresponding to the topic to the message bus component to be communicated specifically comprises:
determining a component corresponding to the designated queue among message bus components in the first process; wherein one queue corresponds to one component;
and sending each message in the specified queue corresponding to the topic to the message bus component to be communicated through the component corresponding to the specified queue.
6. The method according to claim 1, wherein sending each message in the designated queue to a communication node subscribing to each message in the designated queue in the first process specifically comprises:
receiving a topic subscription request corresponding to a topic sent by a communication node within the first process;
and when receiving each message in the appointed queue corresponding to the topic subscribed by the communication node in the first process, sending each message in the appointed queue corresponding to the topic to the communication node in the first process.
7. The method as claimed in claim 6, wherein sending each message in the designated queue corresponding to the topic to a communication node in the first process specifically comprises:
determining a component corresponding to the designated queue among message bus components in the first process; wherein one queue corresponds to one component;
and sending each message in the designated queue corresponding to the topic to a communication node subscribing each message in the designated queue corresponding to the topic in the first process through a component corresponding to the designated queue.
8. An unmanned communications device, comprising:
the process creation module is used for creating a first process;
the starting module is used for starting the message bus assembly in the first process and creating a communication node in the first process;
the communication mode determining module is used for determining the communication mode of each communication node for communication through the message bus assembly according to a predetermined communication configuration file; wherein the message bus component within the first process is to communicate with a communication node within the first process;
a message receiving module, configured to receive a message sent by a communication node in the first process;
the specified queue determining module is used for determining the topic to which the message belongs and determining a queue corresponding to the topic as a specified queue; wherein the same topic corresponds to the same queue;
the message inserting module is used for inserting the message into the tail part of the specified queue;
and the message sending module is used for sending the messages in the designated queue to the message bus component in the process where the communication node subscribing the messages in the designated queue is located according to the sequence of the messages in the designated queue when the processes where the first process and the communication node subscribing the messages in the designated queue are located are different processes of the same device or different devices according to the communication mode, and sending the messages in the designated queue to the communication node subscribing the messages in the designated queue in the first process according to the sequence of the messages in the designated queue when the processes where the first process and the communication node subscribing the messages in the designated queue are located are the same process.
9. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 7 when executing the program.
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| CN116761212A (en) * | 2023-07-27 | 2023-09-15 | 北京小米机器人技术有限公司 | Image transmission control method, device, terminal equipment and storage medium |
| CN116761212B (en) * | 2023-07-27 | 2024-04-23 | 北京小米机器人技术有限公司 | Image transmission control method, device, terminal equipment and storage medium |
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| CN116761212A (en) * | 2023-07-27 | 2023-09-15 | 北京小米机器人技术有限公司 | Image transmission control method, device, terminal equipment and storage medium |
| CN116761212B (en) * | 2023-07-27 | 2024-04-23 | 北京小米机器人技术有限公司 | Image transmission control method, device, terminal equipment and storage medium |
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