CN115473863A - Message bridging method and system for ROS and IROS - Google Patents
Message bridging method and system for ROS and IROS Download PDFInfo
- Publication number
- CN115473863A CN115473863A CN202210884190.2A CN202210884190A CN115473863A CN 115473863 A CN115473863 A CN 115473863A CN 202210884190 A CN202210884190 A CN 202210884190A CN 115473863 A CN115473863 A CN 115473863A
- Authority
- CN
- China
- Prior art keywords
- message
- iros
- ros
- list
- subscriber
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
- H04L51/06—Message adaptation to terminal or network requirements
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/50—Queue scheduling
- H04L47/62—Queue scheduling characterised by scheduling criteria
- H04L47/622—Queue service order
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
- H04L51/06—Message adaptation to terminal or network requirements
- H04L51/066—Format adaptation, e.g. format conversion or compression
Abstract
The invention relates to the technical field of message subscription and release, in particular to a message bridging method and a system of ROS and IROS, comprising the following steps: checking the running states of the ROS and the IROS operating system; creating two working threads, and respectively processing the subscription and release services of the ROS and the IROS; establishing a corresponding publisher list and a subscriber list according to the message queue list; carrying out data format verification on the message data, and issuing the message data to a corresponding system through a corresponding issuer; the beneficial effects are that: the ROS and IROS message bridging method and system provided by the invention realize direct message communication between the ROS and the IROS operating system, and solve the problem that communication cannot be realized between the ROS and the IROS operating system due to a communication mechanism. The upper application software can realize subsection compiling and transferring through topicbridge, and the working efficiency of development and testing personnel is greatly improved.
Description
Technical Field
The invention relates to the technical field of message subscription and publishing, in particular to a message bridging method and a message bridging system for an ROS and an IROS.
Background
ROS (Robot Operating System, hereinafter referred to as ROS) is a popular Robot Operating System nowadays, but there are many defects, such as the strong dependence of the whole System on master nodes, low data transceiving performance, and data security, which results in slow promotion in the industrial field.
In the prior art, an IROS (Intelligent Robot operating system, hereinafter abbreviated as IROS) operating system currently being developed effectively solves these problems of the ROS, and both stability and real-time security of the IROS operating system exceed the ROS.
However, for the upper-layer application based on the ROS or the IROS operating system, there may be multiple messages and the messages may originate from different executable programs, and due to the difference between the communication mechanisms of the ROS and the IROS operating system, we can only migrate all the applications when migrating the upper-layer application from the ROS to the IROS operating system, and then perform testing and running, which may be very troublesome due to the number of messages and other factors.
Disclosure of Invention
The invention aims to provide a message bridging method and a message bridging system for an ROS and an IROS, which aim to establish a message channel for the ROS and the IROS operating system, solve the problem that upper-layer application cannot be migrated and tested in parts when the ROS migrates to the IROS operating system, and effectively improve the working efficiency of IROS development and testing personnel.
In order to achieve the purpose, the invention provides the following technical scheme: a message bridging method of an ROS and an IROS comprises the following steps:
checking the running states of the ROS and the IROS operating system;
creating two working threads, and respectively processing the subscription and release services of the ROS and the IROS;
establishing a corresponding publisher list and a subscriber list according to the message queue list;
and carrying out data format verification on the message data, and publishing the message data to a corresponding system through a corresponding publisher.
Preferably, when the running states of the ROS and the IROS operating systems are checked, the topicbridge first checks the running states of the ROS and the IROS operating systems, and if the running states are abnormal, the topicbridge waits in a circulating mode until the two systems run normally.
Preferably, when two working threads are created, after the operating systems of the ROS and the IROS are normally operated, the topicbridge creates the two working threads to process the subscription and release services of the ROS and the IROS, respectively.
Preferably, when the corresponding publisher and subscriber lists are established, the threads corresponding to the ROS and the IROS query the respective message queue lists, establish the corresponding publisher and subscriber lists according to the message queue lists, and after the establishment is successful, the subscriber invokes the subscription interface to start monitoring the corresponding message queue states.
Preferably, when the information is verified and published, when an ROS subscriber detects that a new message arrives in the message queue, the callback function of the subscriber verifies the data format of the message data, and after the verification is successful, the subscriber inquires a corresponding message publisher in the publisher list of the ROS and publishes the message data to the ROS system through the publisher; similarly, when a subscriber of the IROS detects that a new message comes in the message queue, the received message is published to the IROS system through a message publisher of the IROS;
and after the message is issued, continuing to monitor respective message queues, and thus finishing the direct communication of the ROS and the IROS operating system message.
A message bridging system of ROS and IROS is composed of a state detection module, a thread creation module, a list creation module and a verification release module;
the state detection module is used for checking the running states of the ROS and the IROS operating system;
the thread creating module is used for creating two working threads and respectively processing the subscription and release services of the ROS and the IROS;
the list establishing module is used for establishing a corresponding publisher list and a corresponding subscriber list according to the message queue list;
and the verification and release module is used for verifying the data format of the message data and releasing the message data to a corresponding system through a corresponding publisher.
Preferably, the state detection module is configured to check the operating states of the ROS and the IROS operating system first, and if there is an abnormal state, wait in this loop until the two systems operate normally.
Preferably, the thread creating module is used for creating two working threads for respectively processing the subscription and release services of the ROS and the IROS after the ROS and the IROS operating systems operate normally.
Preferably, the list creation module is configured to query respective message queue lists by threads corresponding to the ROS and the IROS, create corresponding publisher and subscriber lists according to the message queue lists, and after the creation is successful, the subscriber invokes a subscription interface to start monitoring the corresponding message queue state.
Preferably, the verification publishing module is configured to, when the ROS subscriber detects that a new message arrives in the message queue, perform data format verification on the message data by using a callback function of the subscriber, after the verification is successful, query a corresponding message publisher from the list of the ROS publishers, and publish the message data to the ROS system through the publisher; similarly, when a subscriber of the IROS detects that a new message comes in the message queue, the received message is published to the IROS system through a message publisher of the IROS;
and after the message is issued, continuing to monitor respective message queues, so that the direct communication between the ROS and the IROS operating system message is completed.
Compared with the prior art, the invention has the beneficial effects that:
the ROS and IROS message bridging method and system provided by the invention realize direct message communication between the ROS and the IROS operating system, and solve the problem that communication cannot be realized between the ROS and the IROS operating system due to a communication mechanism. The upper application software can realize subsection compiling and transferring through topicbridge, and the working efficiency of development and testing personnel is greatly improved.
Drawings
FIG. 1 is a flow chart of the topicbridge function of the present invention;
FIG. 2 is a functional diagram of the topicbridge of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clear and fully described, embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of some embodiments of the invention and are not limiting of the invention, and that all other embodiments obtained by those of ordinary skill in the art without the exercise of inventive faculty are within the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "middle", "upper", "lower", "left", "right", "inner", "outer", "top", "bottom", "side", "vertical", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "a," "an," "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
For the purposes of simplicity and explanation, the principles of the embodiments are described by referring mainly to examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. It will be apparent, however, to one skilled in the art that the embodiments may be practiced without these specific details. In some instances, well-known methods and structures have not been described in detail so as not to unnecessarily obscure the embodiments. In addition, all embodiments may be used in combination with each other.
Referring to fig. 1 to fig. 2, the present invention provides a technical solution: a message bridging method of an ROS and an IROS comprises the following steps:
checking the running states of the ROS and IROS operating systems, firstly checking the running states of the ROS and IROS operating systems by the topicbridge, and if the running states are abnormal, circularly waiting at the running states until the two systems run normally;
creating two working threads, and respectively processing the subscription and release services of the ROS and the IROS, wherein after the ROS and IROS operating systems normally operate, the topicbridge creates two working threads and respectively processes the subscription and release services of the ROS and the IROS;
establishing a corresponding publisher list and a subscriber list according to the message queue list, wherein threads corresponding to the ROS and the IROS can inquire respective message queue lists, establishing corresponding publisher lists and subscriber lists according to the message queue lists, and after the creation is successful, the subscriber calls a subscription interface to start monitoring the corresponding message queue state;
the method comprises the steps that data format verification is conducted on message data, the message data are published to a corresponding system through corresponding publishers, when an ROS subscriber detects that a new message arrives in a message queue, a callback function of the subscriber conducts data format verification on the message data, the subscriber goes to a publisher list of the ROS to inquire the corresponding message publisher after successful verification, and the message data are published to the ROS system through the publisher; similarly, when a subscriber of the IROS detects that a new message comes in the message queue, the received message is published to the IROS system through a message publisher of the IROS;
and after the message is issued, continuing to monitor respective message queues, so that the direct communication between the ROS and the IROS operating system message is completed.
A message bridging system of ROS and IROS is composed of a state detection module, a thread creation module, a list creation module and a verification release module;
the topicbridge firstly checks the running states of the ROS and IROS operating systems, and if the running states are abnormal, the topicbridge waits circularly until the two systems run normally;
the thread creating module is used for creating two working threads and respectively processing the subscription and release services of the ROS and the IROS, and after the ROS and IROS operating systems operate normally, the topicbridge creates two working threads and respectively processes the subscription and release services of the ROS and the IROS;
the list creation module is used for establishing corresponding publisher and subscriber lists according to the message queue list, threads corresponding to the ROS and the IROS can inquire respective message queue lists, establishing corresponding publisher and subscriber lists according to the message queue lists, and after the creation is successful, the subscriber calls a subscription interface to start monitoring the corresponding message queue state;
the verification publishing module is used for verifying the data format of the message data and publishing the message data to a corresponding system through a corresponding publisher, when the ROS subscriber detects that a new message arrives in the message queue, the callback function of the subscriber can verify the data format of the message data, and after the verification is successful, the subscriber can inquire the corresponding message publisher in a publisher list of the ROS and publish the message data to the ROS system through the publisher; similarly, when a subscriber of the IROS detects that a new message comes in the message queue, the received message is published to the IROS system through a message publisher of the IROS;
and after the message is issued, continuing to monitor respective message queues, so that the direct communication between the ROS and the IROS operating system message is completed.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A message bridging method of ROS and IROS is characterized in that: the message bridging method of the ROS and the IROS comprises the following steps:
checking the running states of the ROS and the IROS operating system;
creating two working threads, and respectively processing the subscription and release services of the ROS and the IROS;
establishing a corresponding publisher list and a subscriber list according to the message queue list;
and carrying out data format verification on the message data, and issuing the message data to a corresponding system through a corresponding issuer.
2. The method of claim 1, wherein the message bridging between the ROS and the IROS is as follows: when the running states of the ROS and IROS operating systems are checked, the topicbridge first checks the running states of the ROS and IROS operating systems, and if the running states are abnormal, the topicbridge waits in a circulating mode until the two systems run normally.
3. The method of claim 2, wherein the message bridging between the ROS and the IROS is as follows: when two working threads are created, after the ROS and the IROS operating systems run normally, the topicbridge creates the two working threads to process the subscription and release services of the ROS and the IROS respectively.
4. The method of claim 1, wherein the message bridging between the ROS and the IROS is as follows: when the corresponding publisher list and the subscriber list are established, threads corresponding to the ROS and the IROS can inquire respective message queue lists, the corresponding publisher list and the subscriber list are established according to the message queue lists, and after the establishment is successful, the subscriber calls a subscription interface to start monitoring the corresponding message queue state.
5. The method of claim 1, wherein the message bridging between the ROS and the IROS is as follows: when the information is verified and published, when an ROS subscriber detects that a new message comes in a message queue, a callback function of the subscriber performs data format verification on message data, and after the verification is successful, the subscriber goes to a publisher list of the ROS to inquire a corresponding message publisher, and the message data is published to an ROS system through the publisher; similarly, when a subscriber of the IROS detects that a new message comes in the message queue, the received message is published to the IROS system through a message publisher of the IROS;
and after the message is issued, continuing to monitor respective message queues, so that the direct communication between the ROS and the IROS operating system message is completed.
6. A message bridging system of an ROS with an IROS according to any of claims 1-5, wherein: the system consists of a state detection module, a thread creation module, a list creation module and a verification release module;
the state detection module is used for checking the running states of the ROS and the IROS operating system;
the thread creating module is used for creating two working threads and respectively processing the subscription and release services of the ROS and the IROS;
the list establishing module is used for establishing a corresponding publisher list and a subscriber list according to the message queue list;
and the verification and release module is used for verifying the data format of the message data and releasing the message data to a corresponding system through a corresponding publisher.
7. The ROS-IROS message bridging system of claim 6, wherein: the state detection module is used for checking the running states of the ROS and the IROS by the topicbridge, and if the running states are abnormal, the running states can be circularly waited until the two systems run normally.
8. The message bridging system of an ROS and IROS according to claim 7, wherein: and the thread creating module is used for creating two working threads by the topicbridge after the ROS and IROS operating systems operate normally, and respectively processing the subscription and release services of the ROS and the IROS.
9. The ROS-IROS message bridging system of claim 8, wherein: the list creation module is used for enabling threads corresponding to the ROS and the IROS to inquire respective message queue lists, creating corresponding publisher list and subscriber list according to the message queue lists, and after the creation is successful, the subscriber calls a subscription interface to start monitoring the corresponding message queue state.
10. The ROS-IROS message bridging system of claim 9, wherein: the verification publishing module is used for verifying the data format of the message data by a callback function of the subscriber when the ROS subscriber detects that a new message comes in the message queue, inquiring the corresponding message publisher in the publisher list of the ROS after the verification is successful, and publishing the message data to the ROS system through the publisher; similarly, when a subscriber of the IROS detects that a new message comes in the message queue, the received message is published to the IROS system through a message publisher of the IROS;
and after the message is issued, continuing to monitor respective message queues, so that the direct communication between the ROS and the IROS operating system message is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210884190.2A CN115473863B (en) | 2022-07-25 | 2022-07-25 | Message bridging method and system for ROS and IROS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210884190.2A CN115473863B (en) | 2022-07-25 | 2022-07-25 | Message bridging method and system for ROS and IROS |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115473863A true CN115473863A (en) | 2022-12-13 |
| CN115473863B CN115473863B (en) | 2023-08-08 |
Family
ID=84366253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210884190.2A Active CN115473863B (en) | 2022-07-25 | 2022-07-25 | Message bridging method and system for ROS and IROS |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115473863B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1954293A (en) * | 2004-04-02 | 2007-04-25 | 西姆毕恩软件有限公司 | Inter process communication in a computing device |
| CN106648816A (en) * | 2016-12-09 | 2017-05-10 | 武汉斗鱼网络科技有限公司 | Multithread processing system and multithread processing method |
| CN109525660A (en) * | 2018-11-14 | 2019-03-26 | 江苏飞图智能控制技术有限公司 | A kind of method and system of ROS news release and subscription registration |
| CN109639548A (en) * | 2019-02-22 | 2019-04-16 | 南京邮电大学 | A kind of bridge joint ROS system and CANopen real-time Communication for Power Network method |
| CN110569135A (en) * | 2019-09-07 | 2019-12-13 | 武汉中海庭数据技术有限公司 | interprocess communication method and system based on publish-subscribe mode |
| CN111198770A (en) * | 2018-11-19 | 2020-05-26 | 北京图森智途科技有限公司 | Communication method, device and system, conversion method and device of ROS1 message |
| CN111221659A (en) * | 2018-11-23 | 2020-06-02 | 北京图森智途科技有限公司 | Subscription performance tracking system of multi-robot operating system environment |
| CN111745651A (en) * | 2020-06-15 | 2020-10-09 | 哈工大机器人（合肥）国际创新研究院 | Intelligent robot operating system structure and operating method thereof |
| CN112055061A (en) * | 2020-08-21 | 2020-12-08 | 烽火通信科技股份有限公司 | Distributed message processing method and device |
| CN112579515A (en) * | 2019-09-27 | 2021-03-30 | Oppo广东移动通信有限公司 | Thread message processing method and related product |
| CN113311825A (en) * | 2021-05-05 | 2021-08-27 | 温州大学 | Visual and self-defined ROS intelligent robot man-machine interaction system and control method thereof |
| CN113572815A (en) * | 2021-06-25 | 2021-10-29 | 广州大学 | Communication technology method, system and medium for crossing heterogeneous platforms |
| CN114157997A (en) * | 2021-11-26 | 2022-03-08 | 山东新一代信息产业技术研究院有限公司 | IROS topic bridging method, equipment and medium |
| US11277369B1 (en) * | 2021-03-02 | 2022-03-15 | Servicenow, Inc. | Message queue architecture and interface for a multi-application platform |
| CN114443428A (en) * | 2022-01-19 | 2022-05-06 | 山东新一代信息产业技术研究院有限公司 | Program internal running state monitoring method and device based on IROS |
| CN114706669A (en) * | 2022-04-15 | 2022-07-05 | 山东新一代信息产业技术研究院有限公司 | Intelligent robot real-time operation system |
-
2022
- 2022-07-25 CN CN202210884190.2A patent/CN115473863B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1954293A (en) * | 2004-04-02 | 2007-04-25 | 西姆毕恩软件有限公司 | Inter process communication in a computing device |
| CN106648816A (en) * | 2016-12-09 | 2017-05-10 | 武汉斗鱼网络科技有限公司 | Multithread processing system and multithread processing method |
| CN109525660A (en) * | 2018-11-14 | 2019-03-26 | 江苏飞图智能控制技术有限公司 | A kind of method and system of ROS news release and subscription registration |
| CN111198770A (en) * | 2018-11-19 | 2020-05-26 | 北京图森智途科技有限公司 | Communication method, device and system, conversion method and device of ROS1 message |
| CN111221659A (en) * | 2018-11-23 | 2020-06-02 | 北京图森智途科技有限公司 | Subscription performance tracking system of multi-robot operating system environment |
| CN109639548A (en) * | 2019-02-22 | 2019-04-16 | 南京邮电大学 | A kind of bridge joint ROS system and CANopen real-time Communication for Power Network method |
| CN110569135A (en) * | 2019-09-07 | 2019-12-13 | 武汉中海庭数据技术有限公司 | interprocess communication method and system based on publish-subscribe mode |
| CN112579515A (en) * | 2019-09-27 | 2021-03-30 | Oppo广东移动通信有限公司 | Thread message processing method and related product |
| CN111745651A (en) * | 2020-06-15 | 2020-10-09 | 哈工大机器人（合肥）国际创新研究院 | Intelligent robot operating system structure and operating method thereof |
| CN112055061A (en) * | 2020-08-21 | 2020-12-08 | 烽火通信科技股份有限公司 | Distributed message processing method and device |
| US11277369B1 (en) * | 2021-03-02 | 2022-03-15 | Servicenow, Inc. | Message queue architecture and interface for a multi-application platform |
| CN113311825A (en) * | 2021-05-05 | 2021-08-27 | 温州大学 | Visual and self-defined ROS intelligent robot man-machine interaction system and control method thereof |
| CN113572815A (en) * | 2021-06-25 | 2021-10-29 | 广州大学 | Communication technology method, system and medium for crossing heterogeneous platforms |
| CN114157997A (en) * | 2021-11-26 | 2022-03-08 | 山东新一代信息产业技术研究院有限公司 | IROS topic bridging method, equipment and medium |
| CN114443428A (en) * | 2022-01-19 | 2022-05-06 | 山东新一代信息产业技术研究院有限公司 | Program internal running state monitoring method and device based on IROS |
| CN114706669A (en) * | 2022-04-15 | 2022-07-05 | 山东新一代信息产业技术研究院有限公司 | Intelligent robot real-time operation system |
Non-Patent Citations (3)
| Title |
|---|
| 刘晨璐;乔磊;彭飞;徐建;曹海宁;: "基于发布订阅的进程间通信设计与实现", 空间控制技术与应用, no. 03 * |
| 张高举;郭绍忠;许瑾晨;王磊;张辛;: "并发错误检测技术研究综述", 信息工程大学学报, no. 05 * |
| 陈盛龙;平雪良;曹正万;蒋毅;: "基于ROS串联机器人虚拟运动控制及仿真研究", 组合机床与自动化加工技术, no. 10 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115473863B (en) | 2023-08-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5031042B2 (en) | Method and system for establishing logical paths between servers in an agreement timing network | |
| CN107634984B (en) | File synchronization method based on one-way transmission channel | |
| CN112559407B (en) | STP link layer state machine optimization method | |
| CN108063813B (en) | Method and system for parallelizing password service network in cluster environment | |
| CN113067850B (en) | Cluster arrangement system under multi-cloud scene | |
| US20060224728A1 (en) | Failover method in a cluster computer system | |
| CN105867837A (en) | Method, equipment and system for updating configurations of clients in distributed high-speed cache systems | |
| CN104601668B (en) | Data push method, device and system based on condition managing | |
| CN103888441A (en) | Information transmitting method between application and protocol stack and processing device | |
| CN107181780B (en) | Communication channel processing method and system | |
| US20020147823A1 (en) | Computer network system | |
| CN103677760B (en) | A kind of event concurrency controller based on Openflow and event concurrency disposal route thereof | |
| WO2014086143A1 (en) | Message bus implementation method oriented for complicated production process management system | |
| CN107948063B (en) | Method for establishing aggregation link and access equipment | |
| CN112350914A (en) | Modbus communication method and system based on MQTT cloud platform | |
| US20120147784A1 (en) | Method for transmitting attributes based on fiber channel network and switch system | |
| CN115473863A (en) | Message bridging method and system for ROS and IROS | |
| WO2014166218A1 (en) | Fault management method and apparatus | |
| CN109815056A (en) | Realize method, apparatus, storage medium and the equipment of message queue reconnection | |
| CN102917068A (en) | Self-adaptive large-scale cluster communication system and self-adaptive large-scale cluster communication method | |
| CN117290122A (en) | Kafka-based multi-environment ordered production and consumption method | |
| US20090198768A1 (en) | Asynchronous request-response communication method | |
| CN105516926A (en) | Network positioning method, device and mobile terminal | |
| CN116846888A (en) | Consensus processing method, device, equipment and storage medium of block chain network | |
| US7400650B1 (en) | System and method for eliminating Streams framework overhead in data communications |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |