CN114697161B - Semi-solid simulation system and simulation method for time-sensitive network - Google Patents
Semi-solid simulation system and simulation method for time-sensitive network Download PDFInfo
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- CN114697161B CN114697161B CN202111669633.8A CN202111669633A CN114697161B CN 114697161 B CN114697161 B CN 114697161B CN 202111669633 A CN202111669633 A CN 202111669633A CN 114697161 B CN114697161 B CN 114697161B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/46—Interconnection of networks
- H04L12/4641—Virtual LANs, VLANs, e.g. virtual private networks [VPN]
- H04L12/4645—Details on frame tagging
- H04L12/465—Details on frame tagging wherein a single frame includes a plurality of VLAN tags
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/46—Interconnection of networks
- H04L12/4604—LAN interconnection over a backbone network, e.g. Internet, Frame Relay
- H04L12/462—LAN interconnection over a bridge based backbone
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/46—Interconnection of networks
- H04L12/4641—Virtual LANs, VLANs, e.g. virtual private networks [VPN]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/14—Network analysis or design
- H04L41/145—Network analysis or design involving simulating, designing, planning or modelling of a network
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Abstract
The application discloses a semi-solid simulation system and a simulation method for a time sensitive network, wherein a data acquisition device acquires original data and sends the original data to a conversion device; the conversion equipment is provided with a TAP unit which is used for adding a VLAN label to the original data to obtain a data stream added with the VLAN label; the simulation equipment receives the data stream added with the VLAN tag through the virtual network bridge; the simulation equipment is used for simulating and obtaining the forwarding characteristics of the data stream according to the VLAN tag information, and sending the forwarding characteristics of the data stream to the PC terminal for displaying; or the system also comprises entity equipment, the entity equipment receives the data stream added with the VLAN label through the virtual network bridge, and the entity equipment displays the data stream PC terminal. The simulation system fuses the real physical equipment and the simulation system, and can be used for performing simulation verification of the time-sensitive network protocol.
Description
Technical Field
The application relates to a method for realizing a semi-physical simulation system for a time-sensitive network, belonging to the technical field of semi-physical simulation.
Background
At present, commercial TSN switches supporting time-sensitive network TSN protocols are still immature in technology and still in a development and verification stage, and meanwhile, the interconnection of TSN switches of all factories is difficult. On the other hand, terminal equipment supporting TSN is not completely released from market, the commercial ecology of the current construction of TSN network is not mature, and there is no unified development standard of TSN terminal equipment. Taking the vehicle-mounted field as an example, commonly used vehicle-mounted sensor devices include: the devices such as the camera, the laser radar, the millimeter wave radar and the like can only support the traditional Ethernet protocol to transmit data, and can not transmit VLAN tag data and the clock synchronization function based on IEEE802.1AS, so that the sensor devices supporting the TSN network are not supported in the market at present. However, the current academic research of TSN is more and more widely conducted, and the algorithm simulation is more and more concentrated, and the application of the system is further apart from the application of physical simulation, so that development of a semi-physical network simulation system with TSN function is urgently needed.
The publication number CN105681101a is named: the patent I of the data packet processing method only realizes a half-entity forwarding mode of the data packet, but does not support the TSN data flow forwarding function and does not consider the characteristics of flow scheduling, simulation evaluation performance and the like.
Disclosure of Invention
Aiming at the technical problems, the application aims to provide a method for realizing a semi-solid simulation system for a time-sensitive network, which is used for interconnecting and communicating data acquisition equipment with simulation equipment and terminal display equipment so as to construct a semi-solid network experimental verification system.
In order to achieve the above object, the present application provides a technical solution comprising the following:
a semi-solid simulation method for a time-sensitive network, the method comprising:
the data acquisition equipment acquires original data and sends the original data to the conversion equipment, the conversion equipment is provided with a TAP unit, and the TAP unit adds a VLAN tag to the original data to obtain a data stream added with the VLAN tag;
the conversion equipment sends the VLAN tag added data stream to simulation equipment through a virtual network bridge;
the simulation equipment simulates and obtains the forwarding characteristics of the data stream according to the VLAN tag information, and sends the forwarding characteristics of the data stream to a PC terminal for display;
or the conversion equipment sends the data stream to the entity equipment through the virtual network bridge, and the entity equipment displays the data stream PC terminal.
Further, the specific process of the simulation device to obtain the forwarding characteristics of the data stream according to the VLAN tag information is as follows:
analyzing the VLAN label by the simulation equipment, judging the priority of the current data flow, and distributing the data flow to a corresponding queue; then calculating a gating list according to the sending period of the data stream, and setting gating operation according to the gating list;
and the simulation equipment simulates and obtains the forwarding characteristics of the data stream so as to evaluate the rationality of the current gating setting.
Further, the forwarding characteristics include delay, jitter, and packet loss rate of the current data stream.
Further, the raw data is image data, distance data or radar data.
Further, the specific process of the switching device sending the VLAN tagged data stream to the emulation device through the virtual bridge is as follows:
the switching equipment comprises a first input end and a first output end, wherein a first TAP unit is added to the first input end network card, and a first TAP unit is added to the first output end network card;
the simulation equipment comprises a second input end and a second output end, a second TAP unit is added on the second input end network card, and a second TAP unit is added on the second output end network card; constructing a virtual network bridge between the conversion equipment and the simulation equipment through the TAP unit;
the conversion device sends the VLAN tag added data stream to the simulation device through the virtual network bridge.
Further, the specific process of adding a VLAN tag to the original data by the first TAP unit to obtain a VLAN tagged data stream is as follows:
the first TAP unit manages VLAN labels of the original data packet, and adds or deletes VLAN label information to the original data packet head field.
As a preferred embodiment of the present application, the switching device recognizes whether the data stream is an ST stream, and if so, sets the data stream to the highest priority.
Further, the VLAN tag includes two fields, a TPID field and a TCI field, where the TPID field is a protocol identifier, and the TCI field is control information.
A semi-solid simulation system for a time-sensitive network, the system comprising:
the data acquisition equipment acquires original data and sends the original data to the conversion equipment;
the switching equipment is provided with a TAP unit, and the TAP unit is used for adding a VLAN tag to the original data to obtain a VLAN tag added data stream;
the system also comprises simulation equipment, wherein the simulation equipment receives the VLAN tag added data stream through a virtual network bridge; the simulation equipment is used for obtaining the forwarding characteristics of the data stream in a simulation mode according to the VLAN tag information, and sending the forwarding characteristics of the data stream to a PC terminal for displaying;
or the system also comprises entity equipment, the entity equipment receives the data stream added with the VLAN label through the virtual network bridge, and the entity equipment displays the data stream PC terminal.
Further, the switching device comprises a first input end and a first output end, a first TAP unit is added on the first input end network card, and a first TAP unit is added on the first output end network card;
the simulation equipment comprises a second input end and a second output end, a second TAP unit is added on the second input end network card, and a second TAP unit is added on the second output end network card; constructing a virtual network bridge between the conversion equipment and the simulation equipment through the TAP unit;
the conversion device sends the VLAN tag added data stream to the simulation device through the virtual network bridge.
Further, the simulation device analyzes the VLAN tag, judges the priority of the current data stream, and distributes the data stream to a corresponding queue; then calculating a gating list according to the sending period of the data stream, and setting gating operation according to the gating list;
and the simulation equipment simulates and obtains the forwarding characteristics of the data stream so as to evaluate the rationality of the current gating setting.
Further, the simulation device is a TSN simulation switch, and the entity device is a TSN entity switch.
As a preferred embodiment of the present application, the switching device recognizes whether the data stream is an ST stream, and if so, sets the data stream to the highest priority.
Further, the VLAN tag includes two fields, a TPID field and a TCI field, where the TPID field is a protocol identifier, and the TCI field is control information.
Advantageous effects
Compared with the prior art, the application has the beneficial effects that:
(1) The simulation system realizes the real-time fusion of the physical equipment and the simulation system, and compared with pure simulation based on pseudo random numbers, the simulation system is closer to a real application scene by simulating an original data packet sent by the real sensor end equipment, and provides a decision basis for the application of the evaluation end equipment in a time-sensitive network system. Meanwhile, the conversion end equipment is developed and realized based on general industrial personal computer hardware and Ubuntu RT real-time open source operating systems, the application development cost is low, and the conversion end equipment has rich application ecology.
(2) Compared with other half-solid simulation systems, the application solves the problem of application of time-sensitive network technology in half-solid simulation, and can realize fusion of common Ethernet transmitting terminal equipment and TSN network by constructing TSN conversion terminal equipment. Compared with pure physical equipment development, the semi-entity-based hybrid simulation mode greatly shortens the construction cost and period of the TSN system and has strong practicability.
(3) Compared with other semi-solid simulation systems, the application optimizes the timing of the simulation system and the external system clock, and ensures that the simulation time is consistent with the external system time.
(4) The semi-solid simulation system is flexible in implementation mode.
Drawings
FIG. 1 is a schematic diagram of an overall architecture of a semi-solid simulation system according to the present application;
FIG. 2 is a schematic flow chart of a method for implementing the semi-physical simulation system according to the present application;
FIG. 3 is a schematic diagram of an application example 1 of a TSN-based semi-solid simulation system according to the present application;
fig. 4 is a schematic diagram of an application example 2 of a TSN-based semi-solid simulation system according to the present application.
Detailed Description
Example 1:
the embodiment is a semi-entity simulation method for a time-sensitive network, which can realize interconnection between TSN stream end equipment and simulation equipment, and comprises the following steps:
the data acquisition equipment acquires original data and sends the original data to the conversion equipment, the conversion equipment is provided with a TAP unit, and the TAP unit adds a VLAN tag to the original data to obtain a data stream added with the VLAN tag;
the conversion equipment sends the VLAN tag added data stream to simulation equipment through a virtual network bridge; the switching equipment comprises a first input end and a first output end, wherein a first TAP unit is added to the first input end network card, and a first TAP unit is added to the first output end network card;
the simulation equipment comprises a second input end and a second output end, a second TAP unit is added on the second input end network card, and a second TAP unit is added on the second output end network card; constructing a virtual network bridge between the conversion equipment and the simulation equipment through the TAP unit;
the conversion device sends the VLAN tag added data stream to the simulation device through the virtual network bridge.
The simulation equipment simulates and obtains the forwarding characteristics of the data stream according to the VLAN tag information, analyzes the VLAN tag, judges the priority of the current data stream, and distributes the data stream into a corresponding queue; then calculating a gating list according to the sending period of the data stream, and setting gating operation according to the gating list; in this embodiment, the forwarding feature includes delay and jitter of the current data stream.
And the simulation equipment simulates and obtains the forwarding characteristics of the data stream so as to evaluate the rationality of the current gating setting.
And finally, the forwarding characteristics of the data stream are sent to a PC terminal to display the forwarding characteristics.
Further, the specific process of adding a VLAN tag to the original data by the first TAP unit to obtain a VLAN tagged data stream is as follows:
the first TAP unit manages VLAN labels of the original data packet, and adds or deletes VLAN label information to the packet header field of the original data packet; the VLAN tag comprises two fields, namely a TPID field and a TCI field, wherein the TPID field is a protocol identifier, and the TCI field is control information.
As a preferred embodiment of the present application, the switching device recognizes whether the data stream is an ST stream, and if so, sets the data stream to the highest priority.
The application mainly utilizes the traditional industrial personal computer based on X86 architecture to construct a set of general time-sensitive network TSN semi-solid simulation system so as to realize the conversion of the common Ethernet original data packet sent by the sensor into a time-sensitive stream with TSN characteristics, and can be in real-time butt joint with the OMNet++ simulation system to construct a set of complete semi-solid simulation system. The system can simulate and analyze the characteristics of forwarding processing delay, jitter and the like of the data packet in the switch, can verify the reliability of a TSN scheduling algorithm, and can also detect the application characteristics of sensor end equipment in a TSN network.
Example 2
A semi-solid simulation system for a time-sensitive network, the system comprising:
the data acquisition equipment acquires original data and sends the original data to the conversion equipment;
the switching equipment is provided with a TAP unit, and the TAP unit is used for adding a VLAN tag to the original data to obtain a VLAN tag added data stream;
the system also comprises simulation equipment, wherein the simulation equipment receives the VLAN tag added data stream through a virtual network bridge; the simulation equipment is used for obtaining the forwarding characteristics of the data stream in a simulation mode according to the VLAN tag information, and sending the forwarding characteristics of the data stream to the PC terminal for displaying.
Further, the switching device comprises a first input end and a first output end, a first TAP unit is added on the first input end network card, and a first TAP unit is added on the first output end network card;
the simulation equipment comprises a second input end and a second output end, a second TAP unit is added on the second input end network card, and a second TAP unit is added on the second output end network card; constructing a virtual network bridge between the conversion equipment and the simulation equipment through the TAP unit;
the conversion device sends the VLAN tag added data stream to the simulation device through the virtual network bridge.
Further, the simulation device analyzes the VLAN tag, judges the priority of the current data stream, and distributes the data stream to a corresponding queue; then calculating a gating list according to the sending period of the data stream, and setting gating operation according to the gating list;
and the simulation equipment simulates and obtains the forwarding characteristics of the data stream so as to evaluate the rationality of the current gating setting.
Further, the simulation device is a TSN simulation switch, and the entity device is a TSN entity switch.
As a preferred embodiment of the present application, the switching device recognizes whether the data stream is an ST stream, and if so, sets the data stream to the highest priority.
Further, the VLAN tag includes two fields, a TPID field and a TCI field, where the TPID field is a protocol identifier, and the TCI field is control information.
Referring to fig. 3, the implementation manner of the first semi-physical simulation system provided by the present application is described below with reference to fig. 3, and the method is implemented on a Ubuntu RT real-time operating system based on an omnet++ network simulation system, and includes the following steps:
s1: the industrial personal computer A is used as TSN data stream conversion equipment, the port 1 is abutted against vehicle-mounted sensor equipment such as a laser radar or a camera, and the port 2 is used as an output port to be abutted against the simulation switch;
s2: the industrial personal computer A sets Ubuntu RT real-time operation system and modifies the kernel of the operation system, such as: parameters such as kernel buffer memory and queue length are used for improving the data packet forwarding throughput and reducing forwarding delay;
s3: the input and output physical network card ports of the industrial personal computer A are respectively added with a corresponding virtual network bridge and a TAP unit;
s4: the laser radar is connected to an input port of the industrial personal computer A, an application program of the industrial personal computer A obtains laser radar original data through a TAP unit interface corresponding to the input port, the laser radar is ST flow according to service currently, a data packet header field is analyzed, if the VLAN tag field is not included, a current original data packet is marked with a VLAN tag label, and the VLAN tag label is forwarded through an output port; if the VLAN tag field is already carried, forwarding is directly to the output port. And finally, the industrial personal computer A forwards the VLAN tag field to the industrial personal computer B.
S5: the industrial personal computer B sets a Ubuntu RT real-time operating system and an OMNet++ simulation environment for the simulation equipment, receives data sent by the industrial personal computer A in real time, and starts a simulation program to simulate a TSN switch data packet forwarding processing flow. This embodiment focuses on the emulation implementation of the ieee802.1qbv protocol. The industrial personal computer B starts a simulation program and receives the data packet sent by the industrial personal computer A in real time, then judges the priority of the current flow according to VLAN label information of the data packet, and distributes the current flow into different queues according to different priorities. According to the ST critical stream sent by the current laser radar, a simulation program calculates and outputs a gating list based on an SMT (satisfaction module theory) algorithm according to the sending period of a laser radar data packet, and sets gating operation according to the gating list, so that the sending time of the ST critical stream is preferentially ensured, and the time delay and jitter of the ST critical stream can be controlled within a certain range under the condition of sudden background stream interference.
S6: the simulation program records and analyzes the time delay and jitter processed by the laser radar in the simulation switch in real time, so as to evaluate the rationality of the current gating setting.
S7: and the industrial personal computer B can send the information which can be forwarded in real time to the PC terminal for display through the output port.
Based on the semi-physical simulation system and the method for the time-sensitive network, general terminal Ethernet equipment can be used as follows: the standard Ethernet data stream sent by the camera, the laser radar, the millimeter wave radar, the ultrasonic radar and other equipment is converted into TSN data stream and is forwarded to the simulation system; and the simulation system receives the real terminal equipment data and simulates according to a simulation protocol.
The application can realize flow scheduling simulation and evaluate flow characteristics, and comprises: jitter, time delay, packet loss rate and the like, and has stronger practicability. The simulation system can be used for constructing a simulation TSN switch aiming at the physical terminal and verifying the performance of a TSN simulation protocol; the method can also be used as a virtual TSN network card and end equipment to interconnect to construct TSN flow conversion end equipment for testing the TSN physical prototype.
The basic principle is that interaction between a simulation system and an entity physical system is realized through a TAP virtual machine interface and a virtual network bridge technology of a Linux kernel, and the function of the TAP interface and the synchronization function are perfected based on an OMNet++ open source platform.
Example 3
The embodiment is a second implementation manner of a semi-entity simulation method for a time-sensitive network, by which a conversion end device and an entity TSN switch heterogeneous device can be interconnected, where the method includes:
the data acquisition equipment acquires original data and sends the original data to the conversion equipment, the conversion equipment is provided with a TAP unit, and the TAP unit adds a VLAN tag to the original data to obtain a data stream added with the VLAN tag;
and the conversion equipment sends the data stream to the entity equipment through the virtual network bridge, and the entity equipment displays the data stream PC terminal. The specific process of the conversion device sending the VLAN tag added data stream to the simulation device through the virtual network bridge is as follows:
the switching equipment comprises a first input end and a first output end, wherein a first TAP unit is added to the first input end network card, and a first TAP unit is added to the first output end network card;
the entity equipment comprises a second input end and a second output end, a second TAP unit is added on a second input end network card, and a second TAP unit is added on a second output end network card; constructing a virtual network bridge between the conversion equipment and the entity equipment through the TAP unit; the conversion device sends the VLAN tag added data stream to the entity device through the virtual network bridge.
The first TAP unit adds a VLAN tag to the original data, and the specific process of obtaining the VLAN-tagged data stream is as follows:
the first TAP unit manages VLAN labels of the original data packet, and adds or deletes VLAN label information to the original data packet head field.
As a preferred embodiment of the present application, the switching device recognizes whether the data stream is an ST stream, and if so, sets the data stream to the highest priority.
Example 4
In order to implement the above simulation method, this embodiment is a semi-physical simulation system for a time-sensitive network, where the system includes:
the data acquisition equipment acquires original data and sends the original data to the conversion equipment;
the switching equipment is provided with a TAP unit, and the TAP unit is used for adding a VLAN tag to the original data to obtain a VLAN tag added data stream;
the system also comprises entity equipment, wherein the entity equipment receives the data stream added with the VLAN tag through the virtual network bridge, and the entity equipment displays the data stream PC terminal.
Further, the switching device comprises a first input end and a first output end, a first TAP unit is added on the first input end network card, and a first TAP unit is added on the first output end network card;
the entity equipment comprises a second input end and a second output end, a second TAP unit is added on the second input end network card, and a second TAP unit is added on the second output end network card; constructing a virtual network bridge between the conversion equipment and the entity equipment through the TAP unit;
the conversion device sends the VLAN tag added data stream to the entity device through the virtual network bridge.
The entity device is a TSN entity switch.
As a preferred embodiment of the present application, the switching device recognizes whether the data stream is an ST stream, and if so, sets the data stream to the highest priority.
The VLAN tag comprises two fields, namely a TPID field and a TCI field, wherein the TPID field is a protocol identifier, and the TCI field is control information.
The VLAN tag in this embodiment includes two fields, a TPID field and a TCI field, where the TPID field is a protocol identifier and the TCI field is control information.
The application constructs a set of general time sensitive network TSN semi-entity simulation system based on the traditional industrial personal computer of X86 architecture, so as to convert the common Ethernet original data packet sent by the sensor into a time sensitive stream with TSN characteristic, and connect entity TSN exchanger equipment, thus realizing networking interconnection of heterogeneous equipment.
Referring to fig. 4, a schematic flow chart of a method for implementing a semi-entity heterogeneous device simulation system disclosed in an embodiment of the present application is provided, wherein a time-sensitive network experimental verification platform is built by a lidar sensor/camera sensor, a flow conversion industrial personal computer, a TSN entity switch, and a PC display device, and the method comprises the following steps:
s1: the industrial personal computer A is used as TSN data stream conversion equipment, the port 1 is in butt joint with the laser radar or camera and other vehicle-mounted sensor equipment, and the port 2 is used as an output port to be in butt joint with the TSN entity switch.
S2: the industrial personal computer A sets Ubuntu RT real-time operation system and modifies the kernel of the operation system, such as: parameters such as kernel buffer memory and queue length are used for improving the data packet forwarding throughput and reducing forwarding delay.
S3: and the input end of the industrial personal computer A is provided with a physical network card, a corresponding TAP unit (virtual network card) is added, the output end of the industrial personal computer A is provided with a corresponding TAP unit (virtual network card), and a corresponding virtual network bridge is added between the two virtual network cards.
S4: the laser radar is connected to an input port of the industrial personal computer A, an application program of the industrial personal computer A obtains laser radar original data through a TAP unit interface corresponding to the input port, analyzes a data packet header field, and if the data packet header field is not provided with a VLAN tag field, the current original data packet is marked with a VLAN tag label and is forwarded through an output port; if the VLAN tag field is already carried, forwarding is directly to the output port. And the industrial personal computer A forwards the VLAN tag field information to the TSN entity switch.
S5: and calculating a TSN switch gating list according to parameters such as the frame size, the period and the like of the data packet of the sensor equipment, setting the data stream sent by the laser radar sensor equipment as an ST stream, indicating that the data stream of the equipment is the highest priority, and finally, issuing the configuration information to the TSN switch.
S6: the TSN exchanger forwards the original data packet with the VLAN tag field removed to the PC terminal for display in real time through the output port.
The system provided in this embodiment, where the collectable raw data is image data, distance data or radar data, the method provided in this embodiment can implement industrial equipment, and the sensor equipment used includes, but is not limited to, the following equipment including: and the physical equipment such as the laser radar, the high-definition camera, the panoramic camera, the millimeter wave radar, the ultrasonic radar and the like are interconnected and communicated with the simulation equipment and the terminal display equipment, so that a semi-solid network experiment verification system is constructed.
The key point of the embodiment is that the common Ethernet data stream sent by the real common terminal equipment can be converted into TSN data stream and is in butt joint with the real TSN switch, so that a TSN network experimental platform is constructed.
The semi-solid simulation system is flexible in implementation mode. May include, but is not limited to, the following interconnection means: the simulation nodes in the real network, the simulation sub-networks in the real network, the real nodes in the simulation network, the simulation protocols in the real network nodes and the actual application are in the simulation network nodes.
In practical application, the real end equipment and the simulation TSN switch can be in butt joint networking, and the simulation end equipment and the real TSN switch can be in butt joint networking, so that data communication between the simulation system and the hardware equipment is realized.
The basic principle is that interaction between a simulation system and an entity physical system is realized through a TAP virtual machine interface and a virtual network bridge technology of a Linux kernel, and the function of the TAP interface and the synchronization function are perfected based on an OMNet++ open source platform.
In summary, by applying background flow to the simulation switch, the laser radar data flow is blocked, and the PC displays the blocking and blocking phenomenon of the laser radar background flow, so that the cloud image cannot be seen; by starting the gating operation, the priority of the laser radar data flow is ensured, and the Qos service quality of the key data flow is ensured.
Claims (14)
1. A semi-solid simulation method for a time-sensitive network, the method comprising:
the data acquisition equipment acquires original data and sends the original data to the conversion equipment, the conversion equipment is provided with a TAP unit, and the TAP unit adds a VLAN tag to the original data to obtain a data stream added with the VLAN tag;
the conversion equipment sends the VLAN tag added data stream to simulation equipment through a virtual network bridge;
and the simulation equipment simulates and obtains the forwarding characteristics of the data stream according to the VLAN tag information, and sends the forwarding characteristics of the data stream to a PC terminal for displaying.
2. The semi-physical simulation method for a time-sensitive network according to claim 1, wherein the specific process of the simulation device to obtain the forwarding characteristics of the data stream according to the VLAN tag information is as follows:
analyzing the VLAN label by the simulation equipment, judging the priority of the current data flow, and distributing the data flow to a corresponding queue; then calculating a gating list according to the sending period of the data stream, and setting gating operation according to the gating list;
and the simulation equipment simulates and obtains the forwarding characteristics of the data stream so as to evaluate the rationality of the current gating setting.
3. A semi-solid emulation method for a time sensitive network according to claim 2, wherein said forwarding characteristics include delay, jitter, and packet loss rate of a current data flow.
4. A semi-solid state simulation method for a time sensitive network according to any of claims 1 to 3, wherein the raw data is image data, range data or radar data.
5. A semi-solid state simulation method for a time sensitive network as claimed in claim 4, wherein,
the specific process of the conversion device sending the VLAN tag added data stream to the simulation device through the virtual network bridge is as follows:
the switching equipment comprises a first input end and a first output end, wherein a first TAP unit is added to the first input end network card, and a first TAP unit is added to the first output end network card;
the simulation equipment comprises a second input end and a second output end, a second TAP unit is added on the second input end network card, and a second TAP unit is added on the second output end network card; constructing a virtual network bridge between the conversion equipment and the simulation equipment through the TAP unit;
the conversion device sends the VLAN tag added data stream to the simulation device through the virtual network bridge.
6. A semi-solid state simulation method for a time sensitive network as claimed in claim 5, wherein,
the first TAP unit adds a VLAN tag to the original data, and the specific process of obtaining the VLAN-tagged data stream is as follows:
the first TAP unit manages VLAN labels of the original data packet, and adds or deletes VLAN label information to the original data packet head field.
7. A semi-solid state simulation method for a time sensitive network as claimed in claim 5, wherein,
the conversion device recognizes whether the data stream is an ST stream, and if so, sets the data stream to the highest priority.
8. The method of claim 5, wherein the VLAN tag includes two fields, a TPID field, a TCI field, a protocol identifier, and a TCI field, and the TCI field is control information.
9. A semi-solid simulation system for a time sensitive network, the system comprising:
the data acquisition equipment acquires original data and sends the original data to the conversion equipment;
the switching equipment is provided with a TAP unit, and the TAP unit is used for adding a VLAN tag to the original data to obtain a VLAN tag added data stream;
the system also comprises simulation equipment, wherein the simulation equipment receives the VLAN tag added data stream through a virtual network bridge; the simulation equipment is used for obtaining the forwarding characteristics of the data stream in a simulation mode according to the VLAN tag information, and sending the forwarding characteristics of the data stream to the PC terminal for displaying.
10. The semi-solid state simulation system for a time sensitive network of claim 9 wherein the transition device comprises a first input and a first output, a first TAP unit being added to the first input network card and a first TAP unit being added to the first output network card;
the simulation equipment comprises a second input end and a second output end, a second TAP unit is added on the second input end network card, and a second TAP unit is added on the second output end network card; constructing a virtual network bridge between the conversion equipment and the simulation equipment through the TAP unit;
the conversion device sends the VLAN tag added data stream to the simulation device through the virtual network bridge.
11. The semi-solid emulation system for a time sensitive network of claim 10, wherein said emulation device parses said VLAN tag, determines a priority of a current data flow, and assigns said data flow to a corresponding queue; then calculating a gating list according to the sending period of the data stream, and setting gating operation according to the gating list;
and the simulation equipment simulates and obtains the forwarding characteristics of the data stream so as to evaluate the rationality of the current gating setting.
12. A semi-physical simulation system for a time sensitive network according to any of claims 9 to 11, wherein the simulation device is a TSN simulation switch and the physical device is a TSN physical switch.
13. A semi-solid simulation system for a time sensitive network according to claim 12 wherein said switching device identifies whether said data stream is an ST stream and if so, sets the data stream to the highest priority.
14. The semi-physical emulation system of claim 12, wherein said VLAN tag comprises two fields, a TPID, a TCI, a protocol identifier, and a control information.
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