CN115114051B

CN115114051B - Node communication method, device, equipment and storage medium

Info

Publication number: CN115114051B
Application number: CN202211036562.2A
Authority: CN
Inventors: 徐楠
Original assignee: Guoqi Intelligent Control Beijing Technology Co Ltd
Current assignee: Guoqi Intelligent Control Beijing Technology Co Ltd
Priority date: 2022-08-29
Filing date: 2022-08-29
Publication date: 2022-11-15
Anticipated expiration: 2042-08-29
Also published as: CN115114051A

Abstract

The application provides a node communication method, a node communication device, a node communication equipment and a storage medium. The node communication method comprises the steps of responding to a process starting request, initializing a process and generating a function table; judging whether the process is an internal communication process; if the process is an internal communication process, the process is started according to the function table to realize direct communication between internal nodes without middleware, so that information transmission delay between different nodes between systems is reduced, and the efficiency of node communication is improved.

Description

Node communication method, device, equipment and storage medium

Technical Field

The present application relates to the field of automation control technologies, and in particular, to a node communication method, apparatus, device, and storage medium.

Background

With the continuous development of the automobile industry and the automation technology, the intellectualization of the automobile becomes an important development direction. In the intelligent development process of the automobile, the performance of an intelligent automobile operating system is directly influenced by the communication performance between system nodes.

At present, in an intelligent automobile, traditional communication is realized through a theme (topic) between two nodes, and if the two nodes need to communicate, a node sending information transmits communication content to a main body between the nodes, and then transmits the communication content to a node receiving the information through the topic.

However, the node communication method in the prior art has time consumption in the communication process, and the node communication efficiency is low.

Disclosure of Invention

The application provides a node communication method, a node communication device, a node communication equipment and a storage medium, which are used for solving the technical problems of time consumption and low node communication efficiency in the communication process of the node communication method in the prior art.

In a first aspect, the present application provides a node communication method, including:

responding to a process starting request, initializing a process and generating a function table;

judging whether the process is an internal communication process;

and if the process is an internal communication process, starting the process according to the function table so as to realize direct communication between internal nodes.

The method can realize communication among the internal nodes by adopting a mode of starting a plurality of nodes by a single process, when the process is started, the function table is firstly generated, after the process is determined to be an internal communication process, corresponding functions can be directly called at the bottom layer based on the internal communication of the function table, direct communication among the nodes is realized, middleware is not needed, information transmission delay among different nodes among systems is reduced, and the efficiency of node communication is improved.

Optionally, the starting the process according to the function table to implement direct communication between internal nodes includes:

and calling the function in the function table, and starting a plurality of nodes to realize direct communication between internal nodes.

Here, the multiple nodes can be started in a single process by calling functions through the function table, direct communication between internal nodes is achieved, the implementation mode is simple, and efficiency is high.

Optionally, the determining whether the process is an internal communication process includes:

and judging whether the process is an internal communication process or not according to a preset counting method.

Optionally, the determining whether the process is an internal communication process according to a preset counting method includes:

acquiring a total count value of the message subscription and the message publication of the process;

comparing the total count value with a preset count threshold;

if the total count value is larger than the preset count threshold value, determining the process as an internal communication process;

and if the total count value is not greater than the preset count threshold value, determining that the process is an external communication process.

When the communication type of the process is judged, the process can be judged according to the total counting value of the message subscription and the message release of the process, and if the total counting value is larger than the preset counting threshold value, the process is determined to be an internal communication process.

Optionally, the generating the function table includes:

and generating a function table according to the preset node and the preset function.

The function table can be generated through the preset nodes and the preset functions, and multi-node starting and communication can be achieved conveniently through calling the function table.

Optionally, after the if the process is an internal communication process, starting the process according to the function table to implement direct communication between internal nodes, the method further includes:

and if the process is not an internal communication process, the communication between the nodes is realized through the middleware.

Here, for the external communication process, the application still adopts middleware to implement communication, so as to implement stability of process communication.

In a second aspect, the present application provides a node communication apparatus, including:

the initialization processing module is used for responding to the process starting request, initializing the process and generating a function table;

the judging module is used for judging whether the process is an internal communication process;

and the communication processing module is used for starting the process according to the function table if the process is an internal communication process so as to realize direct communication between internal nodes.

Optionally, the communication processing module is specifically configured to:

Optionally, the determining module is specifically configured to:

Optionally, the determining module is further specifically configured to:

acquiring a total count value of message subscription and message publishing of the process;

comparing the total count value with a preset count threshold value;

and if the total counting value is not greater than the preset counting threshold value, determining that the process is an external communication process.

Optionally, the initialization processing module is specifically configured to:

Optionally, after the communication processing module is configured to start the process according to the function table if the process is an internal communication process, so as to implement direct communication between internal nodes, the apparatus further includes:

and the external communication module is used for realizing the communication between the nodes through the middleware if the process is not an internal communication process.

In a third aspect, the present application provides a human body node communication device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the node communication method of the first aspect or the alternatives thereof.

In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing the node communication method according to the first aspect or the alternatives of the first aspect when the computer-executable instructions are executed by a processor.

In a fifth aspect, the invention provides a computer program product comprising a computer program which, when executed by a processor, implements a node communication method as described above in the first aspect and in various possible designs of the first aspect.

According to the node communication method, the node communication device, the node communication equipment and the node communication storage medium, the communication between internal nodes is realized in a mode that a plurality of nodes are started in a single process, when the process is started, the function table is firstly generated, after the process is determined to be an internal communication process, corresponding functions can be directly called from the bottom layer based on the internal communication of the function table, the direct communication between the nodes is realized, no middleware is needed, the information transmission delay between different nodes in a system is reduced, and the node communication efficiency is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic diagram of a node communication system architecture according to an embodiment of the present application;

fig. 2 is a schematic flowchart of a node communication method according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a node communication process according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a node communication apparatus according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a node communication device 500 according to an embodiment of the present application.

Specific embodiments of the present disclosure have been shown by way of example in the drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The terms "first," "second," "third," and "fourth," if any, in the description and claims of this application and the above-described figures are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The terms in the examples of the present application are explained first:

the ROS is a middleware for anonymously publishing, subscribing, and delivering information between different processes. The core part of the ROS2 system is the ROS network. The ROS network refers to the connection relationship between different nodes communicating with each other in the ROS system.

Nodes (Nodes): a node is an entity that communicates with other nodes using the ROS system.

Topic (topic): nodes may publish information to a topic and may also subscribe to topics to receive messages.

In the field of current intelligent automobile operating systems, a commonly used middleware is ROS2 based on DDS industry standard. The important part is how to reduce the information transmission delay between different nodes in the system. Traditional communication is achieved through topic between two nodes. Such an implementation may allow for the transfer of information to some extent, but ignores the time consumption of the transfer between node information.

In order to solve the above technical problems, the present application provides a node communication method, apparatus, device, and storage medium, for internal communication, a single process is adopted to start a plurality of nodes, and a corresponding function is directly called from the bottom layer based on a function table, so as to implement direct communication between nodes without passing through middleware.

Optionally, fig. 1 is a schematic diagram of a node communication system architecture provided in an embodiment of the present application. In fig. 1, the above architecture includes at least one of a receiving device 101, a processor 102, and a display device 103.

It should be understood that the illustrated structure of the embodiments of the present application does not constitute a specific limitation to the node communication system architecture. In other possible embodiments of the present application, the foregoing architecture may include more or less components than those shown in the drawings, or combine some components, or split some components, or arrange different components, which may be determined according to practical application scenarios, and is not limited herein. The components shown in fig. 1 may be implemented in hardware, software, or a combination of software and hardware.

In a specific implementation process, the receiving device 101 may be an input/output interface or a communication interface.

The processor 102 may start multiple nodes in a single process, and directly call corresponding functions from the bottom layer based on the internal communication of the function table, thereby implementing direct communication between nodes without passing through middleware.

The display device 103 may be used to display the above results and the like.

The display device may also be a touch display screen for receiving user instructions while displaying the above content to enable interaction with a user.

It should be understood that the processor may be implemented by reading instructions in the memory and executing the instructions, or may be implemented by a chip circuit.

In addition, the network architecture and the service scenario described in the embodiment of the present application are for more clearly illustrating the technical solution of the embodiment of the present application, and do not constitute a limitation to the technical solution provided in the embodiment of the present application, and it can be known by a person of ordinary skill in the art that, along with the evolution of the network architecture and the occurrence of a new service scenario, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

The technical scheme of the present application is described in detail by combining specific embodiments as follows:

fig. 2 is a flowchart illustrating a node communication method according to an embodiment of the present application. The execution subject of the embodiment of the present application may be the processor 102 in fig. 1, and the specific execution subject may be determined according to an actual application scenario. As shown in fig. 2, the method comprises the steps of:

s201: in response to a process start request, a process is initialized, and a function table is generated.

When the process is started, a plurality of ROS nodes are started by adopting a single process, communication in the nodes does not need to be carried out by the middleware, a preset function table is adopted, and the table is generated when the process is initialized.

Optionally, generating the function table comprises:

Optionally, a pointer, a node address, etc. may be included in the function table.

The function table can be generated through the preset nodes and the preset functions, and starting and communication of multiple nodes can be achieved conveniently by calling the function table.

It is understood that the preset node and the preset function may be determined according to actual situations, and the embodiment of the present application is not particularly limited thereto.

S202: and judging whether the process is an internal communication process.

Optionally, determining whether the process is an internal communication process includes: and judging whether the process is an internal communication process or not according to a preset counting method.

It is understood that the preset counting method may be determined according to actual situations, and the embodiment of the present application is not particularly limited thereto.

Optionally, judging whether the process is an internal communication process according to a preset counting method, including:

acquiring a total count value of message subscription and message publishing of a process; comparing the total count value with a preset count threshold value; if the total counting value is larger than a preset counting threshold value, determining the process as an internal communication process; and if the total count value is not greater than the preset count threshold value, determining the process as an external communication process.

It is understood that the preset count threshold herein may be determined according to practical situations, and the embodiment of the present application is not particularly limited thereto.

When the communication type of the process is judged, the embodiment of the application can judge according to the total count value of the message subscription and the message publishing of the process, and if the total count value is greater than the preset count threshold, the process is determined to be an internal communication process.

S203: and if the process is an internal communication process, starting the process according to the function table so as to realize direct communication between the internal nodes.

Optionally, starting a process according to the function table to implement direct communication between internal nodes, including: and calling functions in the function table, and starting a plurality of nodes to realize direct communication among the internal nodes.

In this embodiment of the present application, a plurality of nodes may be started in a single process by calling a function through a function table, so as to implement direct communication between internal nodes, and the implementation manner is simple and efficient.

Optionally, after starting the process according to the function table to implement direct communication between the internal nodes if the process is an internal communication process, the method further includes: and if the process is not an internal communication process, the communication between the nodes is realized through the middleware.

Here, for an external communication process, the embodiments of the present application still implement communication by using middleware, so as to implement stability of process communication.

Exemplarily, fig. 3 is a schematic structural diagram of a node communication process provided in the embodiment of the present application, as shown in fig. 3, a process 1 includes a node a, a node B, and a node C, and the process 1 is an internal communication process, and when the process flows to the process 1, and when the process 1 is executed, the node a may directly send a message to the node B and the node C to implement communication. A plurality of ros nodes are started by adopting a single process, communication in the nodes does not need to be carried out by a middleware, a function table is adopted, the table is generated when the process is initialized, internal communication or external communication is judged by a unique counting mode, corresponding functions are called from an internal direct bottom layer, and middleware transmission is adopted for external communication. Middleware communication is not adopted among the nodes A, the nodes B and the nodes C, so that the communication time in the nodes is greatly reduced, and the running speed of the whole system is improved. After process 1 ends, process 2 may continue to be executed by the method described above. It should be understood that the above figures are only schematic, no specific examples of the communication manner between the processes are provided, and the arrows between the processes only indicate the running sequence of the processes.

The method and the device for achieving the communication between the internal nodes can achieve communication between the internal nodes in a mode that a plurality of nodes are started through a single process, when the process is started, the function table is firstly generated, after the process is determined to be an internal communication process, corresponding functions can be directly called at the bottom layer based on internal communication of the function table, direct communication between the nodes is achieved, middleware is not needed, information transmission delay between different nodes between systems is reduced, and efficiency of node communication is improved.

Fig. 4 is a schematic structural diagram of a node communication apparatus according to an embodiment of the present application, and as shown in fig. 4, the apparatus according to the embodiment of the present application includes: an initialization processing module 401, a judgment module 402 and a communication processing module 403. The node communication means here may be the above-mentioned processor itself, or a chip or an integrated circuit that implements the functions of the processor. It should be noted here that the division of the initialization processing module 401, the judgment module 402, and the communication processing module 403 is only a division of logical functions, and the two may be integrated or independent physically.

The initialization processing module is used for responding to a process starting request, initializing a process and generating a function table;

and the communication processing module is used for starting the process according to the function table if the process is an internal communication process so as to realize the direct communication between the internal nodes.

Optionally, the communication processing module is specifically configured to:

and calling a function in the function table, and starting a plurality of nodes to realize direct communication between internal nodes.

Optionally, the determining module is specifically configured to:

Optionally, the determining module is further specifically configured to:

acquiring a total count value of message subscription and message publishing of a process;

comparing the total count value with a preset count threshold value;

if the total counting value is larger than a preset counting threshold value, determining the process as an internal communication process;

and if the total count value is not greater than the preset count threshold value, determining the process as an external communication process.

Optionally, the initialization processing module is specifically configured to:

and the external communication module is used for realizing the communication between the nodes through the middleware if the process is not the internal communication process.

In order to implement the foregoing embodiment, an embodiment of the present disclosure further provides a node communication device.

Referring to fig. 5, a schematic structural diagram of a node communication device 500 suitable for implementing the embodiment of the present disclosure is shown, where the node communication device 500 may be a terminal device or a server. Among them, the terminal Device may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a Digital broadcast receiver, a Personal Digital Assistant (PDA), a tablet computer (PAD), a Portable Multimedia Player (PMP), a car navigation terminal (e.g., a car navigation terminal), etc., and a fixed terminal such as a Digital TV, a desktop computer, etc. The node communication device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 5, the node communication device 500 may include a processing means (e.g., a central processing unit, a graphic processor, etc.) 501, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the node communication apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

Generally, the following devices may be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 507 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 508 including, for example, magnetic tape, hard disk, etc.; and a communication device 509. The communication means 509 may allow the node communication apparatus 500 to perform wireless or wired communication with other apparatuses to exchange data. While fig. 5 illustrates a node communications apparatus 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, the processes described above with reference to the flow diagrams may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program performs the above-described functions defined in the methods of the embodiments of the present disclosure when executed by the processing device 501.

It should be noted that the computer readable medium of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The computer readable medium may be embodied in the node communication device; or may exist separately without being assembled into the node communication device.

The computer readable medium carries one or more programs which, when executed by the node communication apparatus, cause the node communication apparatus to perform the method shown in the above embodiments.

Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of Network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a unit does not in some cases constitute a limitation of the unit itself, for example, the first retrieving unit may also be described as a "unit for retrieving at least two internet protocol addresses".

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The node communication device in the embodiment of the present application may be configured to execute the technical solutions in the method embodiments of the present application, and the implementation principle and the technical effect are similar, which are not described herein again.

The embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-readable storage medium is configured to implement the node communication method according to any one of the foregoing items.

An embodiment of the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program is configured to implement any one of the node communication methods described above.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A node communication method, comprising:

responding to a process starting request, initializing a process and generating a function table; when the process is started, starting a plurality of nodes by adopting a single process;

judging whether the process is an internal communication process;

if the process is an internal communication process, calling a function in the function table according to the function table, and starting the plurality of nodes to realize direct communication between the internal nodes;

the judging whether the process is an internal communication process includes:

comparing the total count value with a preset count threshold;

and if the total count value is greater than the preset count threshold value, determining that the process is an internal communication process.

2. The method of claim 1, wherein the step of removing the metal oxide layer comprises removing the metal oxide layer from the metal oxide layer

3. The method of claim 1 or 2, wherein the generating a function table comprises:

4. The method according to any one of claims 1 to 3, wherein after the starting the process according to the function table to realize direct communication between internal nodes if the process is an internal communication process, the method further comprises:

5. A node communication apparatus, comprising:

the initialization processing module is used for responding to the process starting request, initializing the process and generating a function table; when the process is started, starting a plurality of nodes by adopting a single process;

the communication processing module is used for calling a function in the function table according to the function table and starting the plurality of nodes to realize direct communication between the internal nodes if the process is an internal communication process;

the judgment module is specifically configured to:

comparing the total count value with a preset count threshold;

and if the total count value is larger than the preset count threshold value, determining the process as an internal communication process.

6. A node communication device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 4.

7. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, are configured to implement the node communication method according to any one of claims 1 to 4.