CN115840435A - Data transmission method, device, vehicle and storage medium - Google Patents
Data transmission method, device, vehicle and storage medium Download PDFInfo
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Abstract
The application discloses a data transmission method, a data transmission device, a vehicle and a storage medium, wherein the method comprises the following steps: under the condition that a first diagnosis module in a gateway node is in an activated state, sending a specified signal to a plurality of electronic control nodes, wherein the specified signal is used for indicating a second diagnosis module in the electronic control nodes to enter an enabled state; receiving a diagnosis request message sent by a diagnosis node, wherein the diagnosis request message is used for requesting to acquire the fault type of a target electronic control node in a plurality of electronic control nodes; sending the diagnosis request message to a target electronic control node; and receiving a diagnosis response message sent by the target electronic control node, and sending the diagnosis response message to the diagnosis node. Because the gateway node can determine the target electronic control node through the diagnosis request message, the process of mapping the logic address of the electronic control node and the multicast address does not exist, and the communication between the gateway node and the electronic control node is more efficient.
Description
Technical Field
The present application relates to the field of vehicle diagnosis technologies, and in particular, to a data transmission method, an apparatus, a vehicle, and a storage medium.
Background
When a vehicle carries out fault diagnosis, a diagnosis node sends a diagnosis request to a gateway node, and the gateway node forwards the diagnosis request to a corresponding Electronic Control Unit (ECU). In the related art, the gateway node typically uses an IP multicast manner to forward the diagnostic request, for example, based on the mapping between the logical address and the multicast address of the ECU, the gateway node multicasts the diagnostic request to the corresponding ECU.
However, the mapping process between the ECU logical address and the multicast address brings more communication and operation overhead to the gateway node, and reduces the communication efficiency of the gateway node.
Disclosure of Invention
The embodiment of the application provides a data transmission method, a data transmission device, a vehicle and a storage medium.
In a first aspect, some embodiments of the present application provide a data transmission method, where the method includes: under the condition that a first diagnosis module in a gateway node is in an activated state, sending a specified signal to a plurality of electronic control nodes, wherein the specified signal is used for indicating a second diagnosis module in the electronic control nodes to enter an enabled state; receiving a diagnosis request message sent by a diagnosis node, wherein the diagnosis request message is used for requesting to acquire the fault type of a target electronic control node in a plurality of electronic control nodes; sending the diagnosis request message to a target electronic control node; and receiving a diagnosis response message sent by the target electronic control node, and sending the diagnosis response message to the diagnosis node.
In a second aspect, some embodiments of the present application provide another data transmission method, including: receiving a designated signal sent by a gateway node when a first diagnosis module in the gateway node is in an activated state; controlling a second diagnostic module in the electronic control node to enter an enabled state based on the designated signal; receiving a diagnosis request message forwarded by a gateway node, wherein the diagnosis request message is sent to the gateway node by the diagnosis node and is used for requesting to acquire the fault type of an electronic control node; and based on the diagnosis request message, sending the diagnosis response message to a gateway node, wherein the gateway node is used for forwarding the diagnosis response message to the diagnosis node.
In a third aspect, some embodiments of the present application provide a data transmission apparatus, including: the device comprises a first sending module, a first receiving module, a second sending module and a second receiving module. The first sending module is used for sending a specified signal to the plurality of electronic control nodes under the condition that the first diagnosis module in the gateway node is in an activated state, and the specified signal is used for indicating the second diagnosis module in the electronic control nodes to enter an enabled state. The first receiving module is used for receiving a diagnosis request message sent by a diagnosis node, and the diagnosis request message is used for requesting to acquire the fault type of a target electronic control node in the plurality of electronic control nodes. And the second sending module is used for sending the diagnosis request message to the target electronic control node. The second receiving module is used for receiving the diagnosis response message sent by the target electronic control node and sending the diagnosis response message to the diagnosis node.
In a fourth aspect, some embodiments of the present application provide another data transmission apparatus, including: the device comprises a third receiving module, a control module, a fourth receiving module and a third sending module. The third receiving module is used for receiving a designated signal sent by the gateway node when the first diagnosis module in the gateway node is in an activated state. The control module is used for controlling a second diagnosis module in the electronic control node to enter an enabling state based on the specified signal. The fourth receiving module is used for receiving the diagnosis request message forwarded by the gateway node, the diagnosis request message is sent to the gateway node by the diagnosis node, and the diagnosis request message is used for requesting to acquire the fault type of the electronic control node. The third sending module is used for sending the diagnosis response message to the gateway node based on the diagnosis request message, and the gateway node is used for forwarding the diagnosis response message to the diagnosis node.
In a fifth aspect, some embodiments of the present application further provide a vehicle comprising: a gateway node, a plurality of electronic control nodes, one or more processors, memory, and one or more applications. Wherein, a plurality of electronic control nodes are connected with the gateway node; one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the methods described above.
In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium, where computer program instructions are stored in the computer-readable storage medium. Wherein the computer program instructions may be called by a processor to perform the methods described above.
In a seventh aspect, an embodiment of the present application further provides a computer program product, where the computer program product, when executed, implements the above-mentioned method.
In the method, a first diagnosis module in a gateway node sends a designated signal to a plurality of electronic control nodes under the condition that the first diagnosis module is in an activated state, so that a second diagnosis module in the plurality of electronic control nodes enters an enabling state, namely the electronic control nodes enter a state of preparing to receive a diagnosis request message. Under the condition that a subsequent gateway node receives a diagnosis request message sent by a diagnosis node, a target electronic control node in the plurality of electronic control nodes is determined based on relevant information (for example, a destination address of the message) in the diagnosis request message, and the diagnosis request message is sent to the target electronic control node, that is, the message forwarding work is completed. Because the gateway node can determine the target electronic control node through the diagnosis request message, the process of mapping the logic address of the electronic control node and the multicast address does not exist, and the communication between the gateway node and the electronic control node is more efficient.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 shows a schematic structural diagram of a vehicle according to an embodiment of the present application.
Fig. 2 is a flowchart illustrating a data transmission method according to a first embodiment of the present application.
Fig. 3 is a flowchart illustrating a data transmission method according to a second embodiment of the present application.
Fig. 4 is a flowchart illustrating a data transmission method according to a third embodiment of the present application.
Fig. 5 is a flowchart illustrating a data transmission method according to a fourth embodiment of the present application.
Fig. 6 shows a block diagram of a data transmission apparatus according to an embodiment of the present application.
Fig. 7 shows a block diagram of another data transmission apparatus according to an embodiment of the present application.
FIG. 8 shows a block diagram of a vehicle provided by an embodiment of the present application.
Fig. 9 illustrates a block diagram of modules of a computer-readable storage medium provided by an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In the method, a first diagnosis module in a gateway node sends a designated signal to a plurality of electronic control nodes under the condition that the first diagnosis module is in an activated state, so that a second diagnosis module in the plurality of electronic control nodes enters an enabling state, namely the electronic control nodes enter a state of preparing to receive a diagnosis request message. Under the condition that a subsequent gateway node receives a diagnosis request message sent by a diagnosis node, a target electronic control node in the plurality of electronic control nodes is determined based on relevant information (for example, a destination address of the message) in the diagnosis request message, and the diagnosis request message is sent to the target electronic control node, that is, the message forwarding work is completed. Because the gateway node can determine the target electronic control node through the diagnosis request message, the process of mapping the logic address of the electronic control node and the multicast address does not exist, and the communication between the gateway node and the electronic control node is more efficient.
For the convenience of describing the scheme of the present application in detail, the following description will first describe an application environment in the embodiments of the present application with reference to the drawings. Referring to fig. 1, the data transmission method provided in the embodiment of the present application is applied to a vehicle 100, where the vehicle 100 is driven or towed by a power plant, and is used for people to ride or transport goods, and includes, but is not limited to, a car, a minibus, a bus, and the like. Specifically, the vehicle 100 is in communication connection with the diagnostic node 50, and the vehicle 100 includes a gateway node 10 and a plurality of Electronic Control Units (ECUs) 30, where the gateway node 10 establishes communication connection with the plurality of ECU 30, respectively, and the diagnostic node 50 establishes communication connection with the vehicle 100 through the gateway node 10.
The gateway node 10 serves as a core control device in the vehicle Network system, and is responsible for coordinating the operations of protocol conversion, data exchange, fault diagnosis, and the like between a Controller Area Network (CAN) and other data networks. In the present application, the gateway node 10 establishes communication connections with the diagnostic node 50 and the plurality of electronic control nodes 30, respectively. Specifically, the gateway node 10 is connected to the diagnostic node 50 through an ethernet Network, and is connected to the plurality of electronic control nodes 30 through a Controller Area Network (CAN) or through an ethernet Network. The gateway node 10 may be a gateway device disposed in the vehicle 100, or may be a gateway module integrated on a processor of the vehicle 100, which is not specifically limited in this embodiment.
Specifically, the gateway node 10 is provided with a DoIP module (i.e., a first diagnostic module) based on the automotive open system architecture AUTOSARCP, and the DoIP module stores therein a DoIP protocol. A source address (source address, SA) of the diagnostic node 50, that is, a source ECU address of a header in a diagnostic request message corresponding to the DoIP protocol, is added to the DoIP module of the gateway node 10 in the embodiment of the present application. In addition, target Addresses (TA) of the plurality of electronic control nodes 30, that is, target ECU logical addresses of headers in the diagnosis request message corresponding to the DoIP protocol are also added to the DoIP module of the gateway node 10. The present embodiment does not limit the specific development tool of the Basic Software layer (BSW) protocol stack of AUTOSARCP.
In the embodiment of the present application, in the DoIP configuration of the ECU protocol stack of the gateway node 10, the route ACTIVATION mode is set as message ACTIVATION (that is, doIP _ ROUTING _ ACTIVATION _ MSG), and in addition, a static port number 13400 is added to the gateway node 10, where the static port number 13400 is used to monitor a vehicle identification request message, an ACTIVATION request message, a diagnosis request message, and the like sent by the diagnostic node 50, and monitor a diagnosis response message sent by the electronic control node 30. The static port number 13400 includes a Transmission Control Protocol (TCP) and a User data packet Protocol (UDP), and specifically, the static port number 13400 is specified by the ISO13400 standard, which is not described in detail in this embodiment of the present invention.
In this embodiment of the present application, the gateway node 10 is further provided with a first Software Component (SWC), and the first Software Component is configured to enable a DoIP module (activationlinestopwitch active) in the gateway node 10, that is, enable the DoIP module in the gateway node 10 to enter a working state. In addition, the gateway node 10 is added with a routing relationship configuration of a Protocol Data Unit (PDU) between network layer modules (e.g., ldCom modules) associated with the DoIP module.
The ecu 30 is a small-sized computer management center, and has functions of signal (data) acquisition, calculation processing, analysis and judgment, decision of a countermeasure, and the like. In the present application, the electronic control node 30 establishes a communication connection with the gateway node 10. The electronic control node 30 may be an electronic controller disposed in the vehicle 100, or an electronic control module integrated on a processor of the vehicle 100, specifically, the electronic control node 30 may be used for cruise control, light control, airbag control, fuel heating control, exhaust control, brake control, and the like of the vehicle 100, and different types of electronic control nodes 30 may be disposed according to different implemented functions, which is not specifically limited in this embodiment.
Likewise, the electronic control node 30 is provided with a DoIP module (i.e., a second diagnostic module) based on the automotive open system architecture AUTOSARCP, and the DoIP module stores therein a DoIP protocol. A Source Address (SA) of the diagnostic node 50, that is, a source ECU address of a header in a diagnostic request message corresponding to the DoIP protocol, is added to the DoIP module of the electronic control node 30 in the embodiment of the present application.
In the embodiment of the present application, in the DoIP configuration of the ECU protocol stack of the electronic control node 30, the route ACTIVATION mode is set to be automatically activated (that is, doIP _ ROUTING _ ACTIVATION _ AUTOMATIC), and therefore, the DoIP module in the electronic control node 30 does not need to be activated by a message. Similarly, a static port number 13400 is added to the electronic control node 30, and the static port number 13400 is used for monitoring a diagnosis request message sent by the gateway node 10.
In this embodiment of the application, the electronic control node 30 is further provided with a second Software Component (SWC), and the second Software Component is configured to enable the electronic control node 30 (active line switch active), that is, enable a DoIP module in the electronic control node 30 to enter a working state. Specifically, the AUTOSAR protocol stack configuration of the electronic control node 30 is added with a definition of a designation signal for instructing the electronic control node 30 to enter the enabled state. Therefore, when the electronic control node 30 receives the designation signal, the standard interface provided by the AUTOSAR DoIP module is called (i.e., enabled through the SWC), so that the DoIP module in the electronic control node 30 enters the enabled state.
In the embodiment of the present application, a routing relationship configuration of a Protocol Data Unit (PDU) between the DoIP module and an associated network layer module (e.g., an LdCom module) is further added to the electronic control node 30.
The diagnostic node 50 is a fault self-tester for detecting vehicle faults. In the present application, the diagnosis Node 50 is connected to the gateway Node 10 through an ethernet network, that is, the gateway Node 10 serves as an Edge Node (DoIP Edge Node) of the diagnosis Node 50. Therefore, when a diagnosis request is requested to be issued to a certain electronic control node 30, the diagnosis node 50 only needs to write a Target logical Address (TA) of the Target electronic control node 30 in a diagnosis request message and transmit the diagnosis request message to the gateway node 10, and then the gateway node 10 transmits the diagnosis request message to the corresponding electronic control node 30 based on the Target logical Address in the diagnosis request message. Therefore, the diagnostic node 50 can complete the sending task of the diagnostic request message only by determining the device logical address of the target electronic control node 30. Specifically, the diagnostic node 50 may be a diagnostic device disposed in the vehicle 100, or may be a diagnostic module integrated on a processor of the vehicle 100, and the embodiment is not particularly limited.
In this embodiment of the present application, a Network segment where an IP address of a Network Interface Controller (NIC) in the diagnostic node 50 is located is the same as a Network segment where an IP address configured by the NIC connected to the diagnostic node 50 by the gateway node 10 is located.
Referring to fig. 2, fig. 2 schematically illustrates a data transmission method according to a first embodiment of the present application. The method is applied to a gateway node, and particularly comprises the following processes.
S210, under the condition that a first diagnosis module in the gateway node is in an activated state, a designated signal is sent to the electronic control nodes.
Under the condition that the first diagnostic module is in an activated state, the first diagnostic module initializes a Socket and monitors diagnostic request messages sent by the diagnostic node and the electronic control node through a first specified port (for example, a static port number 13400). At this time, the gateway node completes preparation for receiving and transmitting the diagnosis request message.
The designation signal characterizes that the first diagnostic module in the gateway node has been successfully activated for instructing the second diagnostic module in the electronic control node to enter an enabled state. In this embodiment, the gateway node broadcasts the specific signal to the multiple electronic control nodes through the CAN network, where the specific signal may be a Pulse Code Modulation (PCM) signal, and this embodiment does not limit a specific form of the specific signal. It should be noted here that the definition of the specific signal is added to the AUTOSAR protocol stack configuration of the plurality of electronic control nodes, and the plurality of electronic control nodes control the second diagnostic module of the plurality of electronic control nodes to enter the enabled state when the plurality of electronic control nodes listen to the specific signal. Embodiments of the electronic control node for enabling the second diagnostic module based on the designation signal are described in the examples below.
It should be noted that, the route activation mode of the second diagnostic module in the electronic control node is automatic activation. Therefore, when the second diagnostic module is in the enabled state, the electronic control node completes preparation for receiving the diagnostic request message, that is, the electronic control node may listen to the diagnostic request message sent by the gateway node through the second designated port (e.g., the static port number 13400).
S220, receiving a diagnosis request message sent by the diagnosis node.
The diagnosis request message is used for requesting to acquire the operation data of a target electronic control node in the plurality of electronic control nodes so as to realize the diagnosis of the target electronic control node. The diagnosis request message includes the following contents: address information, diagnostic data, and diagnostic data length. The address information includes a message type, a source address, a destination address and an address type. The source address is a sending address of the diagnosis request message, that is, a device logical address of the diagnosis node. The destination address is a receiving address of the diagnosis request message, that is, a device logical address of the target electronic control node. The address type may be physical addressing or functional addressing, and in the embodiment of the present application, only the address type is described as the physical addressing. The diagnostic data includes a service identification for uniquely identifying a diagnostic service.
And S230, sending the diagnosis request message to the target electronic control node.
In the embodiment of the present application, after determining the target electronic control node, the gateway node directly forwards the diagnosis request packet to the target electronic control node, and compared with the related art in which the device logical address of the electronic control node needs to be mapped to the multicast address and then data forwarding is performed, the embodiment of the present application can save processing overhead of the gateway node when forwarding the diagnosis request packet, so that the forwarding process of the diagnosis request packet is more efficient. In some embodiments, S230 may include the following process.
S2310, a destination address of the diagnosis request message is obtained.
After the gateway node receives the diagnosis request message, the network layer unpacks the diagnosis request message through a prestored unpacking algorithm to obtain a destination address in the diagnosis request message.
S2320, acquiring the device logical addresses of the electronic control nodes.
The gateway node can determine the device logical addresses of the plurality of electronic control nodes by reading the information pre-stored in the internal configuration file.
S2330, determine an electronic control node having the same device logical address as the destination address among the plurality of electronic control nodes as a target electronic control node.
And the gateway node compares the destination address with the equipment logical addresses corresponding to the electronic control nodes in sequence, and if the destination address is the same as the equipment logical address, the electronic control node corresponding to the equipment logical address is determined as the target electronic control node.
And S2340, sending the diagnosis request message to the target electronic control node.
In one embodiment, when receiving the diagnostic request message, the gateway node first performs a decapsulation operation on the diagnostic request message through the network layer. And then, a Protocol Data Unit (PDU) is routed to the DoIP stack and the LdCom module, where both the header and the Data field of the DoIP packet are unchanged, that is, the SA is still the device logical address of the diagnostic node, and the TA is still the device logical address of the target electronic control node. And finally, the PDU is framed by a network layer protocol stack and then the diagnosis request message is forwarded to the target electronic control node.
The embodiment of the application provides a data transmission method, in the method, a gateway node can quickly determine a target electronic control node, and the communication efficiency between the gateway node and the target electronic control node is improved.
In some possible embodiments, after S220, the gateway node uses a unified Protocol Data Unit (PDU) and sends the diagnostic request message to the plurality of electronic control nodes via a restricted broadcast address (e.g., 255.255.255.255). And under the condition that the plurality of electronic control nodes receive the diagnosis request message, acquiring a destination address of the diagnosis request message and a local equipment logical address, wherein the local equipment logical address can be read from a configuration file of the electronic control nodes. And the electronic control node further judges whether the destination address is the same as the own equipment logical address. And if the destination address is the same as the equipment logical address, the electronic control node is a target electronic control node, and further responds to the diagnosis request message, namely sends a diagnosis response message to the gateway node. And if the destination address is different from the equipment logical address, not responding to the diagnosis request message.
And S240, receiving a diagnosis response message sent by the target electronic control node, and sending the diagnosis response message to the diagnosis node.
And under the condition that the target electronic control node receives the diagnosis request message, sending a diagnosis response message to the gateway node. At the moment, the gateway node receives the diagnosis response message sent by the target electronic control node and sends the diagnosis response message to the diagnosis node. Specifically, the diagnostic response message includes the operation data of the target electronic control node. The diagnostic response message includes the following: address information, operation result data. The address information includes a message type, a source address, a destination address and an address type. The source address is a sending address of the diagnostic response message, that is, a device logical address of the target electronic control node. The destination address is a receiving address of the diagnostic response message, that is, a device logical address of the diagnostic node. The address type may be physical addressing or functional addressing, in the embodiment of the present application, the address type is physical addressing. The operation result data is an execution result obtained by the target electronic control node calling the service corresponding to the service identifier in the diagnosis request message, and the diagnosis node can determine the fault type of the target electronic control node according to the operation result data.
In the method, a first diagnostic module in a gateway node sends a designated signal to a plurality of electronic control nodes under the condition that the first diagnostic module is in an activated state, so that a second diagnostic module in the plurality of electronic control nodes enters an enabled state, namely the electronic control nodes enter a state of preparing to receive a diagnostic request message. Under the condition that a subsequent gateway node receives a diagnosis request message sent by a diagnosis node, a target electronic control node in the plurality of electronic control nodes is determined based on relevant information (for example, a destination address of the message) in the diagnosis request message, and the diagnosis request message is sent to the target electronic control node, that is, the message forwarding work is completed. Because the gateway node can determine the target electronic control node through the diagnosis request message, the process of mapping the logic address of the electronic control node and the multicast address does not exist, and the communication between the gateway node and the electronic control node is more efficient.
In the above embodiment, it is mentioned that the gateway node performs the subsequent data forwarding step (for example, forwarding the diagnosis request packet to the target electronic control node, or forwarding the diagnosis response packet to the diagnosis node) when the first diagnosis module of the gateway node is in the activated state. The activation process of the first diagnostic module is explained below.
Referring to fig. 3, fig. 3 schematically illustrates a data transmission method according to a second embodiment of the present application. The method is applied to a gateway node, and in some embodiments, the following process is further included before S210.
S302, receiving an activation request message sent by the diagnosis node.
The activation request message is used for requesting for routing activation of the first diagnostic module of the gateway node. The activation request message carries working parameters of the diagnosis node, wherein the working parameters comprise at least one of a source address, an activation type and identity information of the diagnosis node, and the source address is an equipment logic address of the diagnosis node.
In some embodiments, after the diagnostic node discovers and identifies the vehicle, the service person may add the vehicle as a diagnostic object at the diagnostic node, and then the diagnostic node establishes a communication connection (e.g., a TCP Socket connection) with a gateway node in the vehicle and sends an activation request message to the gateway node through the communication connection. The implementation of the diagnostic node to discover and identify vehicles will be explained below.
S304, detecting whether the working parameters of the diagnosis nodes meet preset activation rules.
Wherein the preset activation rule comprises at least one of the following: source address registration rules, activation type support rules, presence rules, and authentication pass rules. In this embodiment of the present application, after receiving the activation request packet, the gateway node routes a Protocol Data Unit (PDU) to a first diagnostic module (that is, a DoIP module), and the Protocol stack further extracts working parameters of a diagnostic node in the DoIP datagram. The working parameters of the diagnosis node comprise one or more items of equipment logical address, activation type and identity information of the diagnosis node. Specifically, S304 includes the following procedure.
S3041, detecting whether the configuration file of the first diagnostic module includes the device logic address of the diagnostic node, and if the configuration file of the first diagnostic module includes the device logic address of the diagnostic node, determining that the working parameter of the diagnostic node satisfies the source address registration rule.
In the application embodiment, the configuration file of the first diagnostic module is pre-configured with device logical addresses of a plurality of devices. And if the equipment logic address of the diagnosis node is added in the configuration file, determining that the working parameters of the diagnosis node meet the source address registration rule. Otherwise, if the device logic address of the diagnosis node is not added in the configuration file of the first diagnosis module, determining that the working parameter of the diagnosis node does not meet the source address registration rule.
S3043, detecting whether the activation type in the diagnosis node is the designated activation type and is the same as the activation type of the first diagnosis module, and determining that the working parameter of the diagnosis node satisfies the activation type support rule when the activation type in the diagnosis node is the designated activation type and is the same as the activation type of the first diagnosis module.
As an embodiment, the activation type in the diagnostic node may be read based on an activation type bit in the operating parameter. The gateway node firstly determines whether the activation type is a designated activation type, if so, judges whether the activation type is the same as the activation type preset by the first diagnosis module, and if the activation type in the diagnosis node is the same as the activation type of the first diagnosis module, determines that the working parameters of the diagnosis node meet the activation type support rule. Otherwise, if the activation type in the diagnostic node is not the designated activation type, or the activation type in the diagnostic node is different from the activation type of the first diagnostic module, determining that the working parameter of the diagnostic node does not meet the activation type support rule.
Specifically, the ACTIVATION type is designated as a message ACTIVATION type, and the message ACTIVATION type may be composed of one or more letters or symbols, for example, the message ACTIVATION type is DOIP _ ROUTING _ activity _ MSG. The embodiments of the present application are not particularly limited.
S3045, detecting whether an available communication connection exists between the diagnosis node and the gateway node, and determining that the working parameter of the diagnosis node satisfies the online rule when the available communication connection exists between the diagnosis node and the gateway node.
As an embodiment, whether there is an available communication connection between the diagnostic node and the gateway node is determined based on heartbeat packets sent by the diagnostic node to the gateway node. If the gateway node receives the heartbeat packet sent by the diagnosis node within the preset time, it indicates that available communication connection exists between the diagnosis node and the gateway node. Specifically, the heartbeat packet is a self-defined protocol packet based on a heartbeat mechanism, and the specific implementation of the heartbeat packet is not limited in the present application.
As another embodiment, whether there is an available communication connection between the diagnostic node and the gateway node is determined based on a preset diagnostic function. And if the return value of the diagnostic function is the first preset value, indicating that available communication connection exists between the diagnostic node and the gateway node. Otherwise, if the return value of the diagnostic function is the second preset value, it indicates that no available communication connection exists between the diagnostic node and the gateway node. The diagnostic function may be a select function in the non-blocking mode, and the first preset value and the second preset value are set by the diagnostic function by default, and exemplarily, the first preset value is 1, and the second preset value is 0.
S3047, detecting whether the identity information in the diagnosis node is the designated identity information, and determining that the working parameters of the diagnosis node satisfy the identity verification passing rule when the identity information is the designated identity information.
As an embodiment, if the identity information (i.e., the designated identity information) stored in the configuration file of the first diagnostic module is the same as the identity information of the diagnostic node, it is determined that the operating parameter of the diagnostic node satisfies the authentication passing rule. Otherwise, if the identity information stored in the configuration file of the first diagnostic module is different from the identity information of the diagnostic node, determining that the working parameters of the diagnostic node do not meet the identity verification passing rule. In particular, the identity information may include account information or/and password information.
S306, under the condition that the working parameters of the diagnosis nodes meet the preset activation rules, controlling the first diagnosis module to enter an activation state.
And the gateway node controls the first diagnosis module to enter an activation state under the condition that the working parameters of the diagnosis node meet a preset activation rule. Otherwise, the gateway node does not activate the first diagnostic module under the condition that the working parameters of the diagnostic node do not meet the preset activation rules.
After the first diagnostic module enters the active state, the gateway node calls the AUTOSAR standard interface provided by the first diagnostic module through a Runtime Environment (RTE) in a periodic task, so as to determine whether the first diagnostic module is in the active state. Specifically, the output parameter of the AUTOSAR standard interface is a boolean parameter, for example, if the output parameter of the AUTOSAR standard interface is True, it indicates that the first diagnostic module is in an activated state, and if the output parameter of the AUTOSAR standard interface is False, it indicates that the first diagnostic module is in an inactivated state.
In some embodiments, the gateway node sends an activation response message to the diagnostic node when the operating parameter of the diagnostic node satisfies a preset activation rule. The test device address in the activation response message is the source address in the activation request message, that is, the device logical address of the diagnostic node, and the physical address is the device logical address of the gateway node. In the subsequent process, the diagnosis node can determine that the first diagnosis module in the gateway node is in the activated state under the condition that the diagnosis node receives the activation response message, and then sends a diagnosis request message to the gateway node.
In the embodiment of the present application, an implementation manner of activating the first diagnostic module through the activation request packet is specifically introduced, so that the gateway node activated by the first diagnostic module can implement forwarding of the diagnosis request packet.
Referring to fig. 4, fig. 4 schematically illustrates a data transmission method according to a third embodiment of the present application. The method is applied to the electronic control node, and particularly comprises the following processes.
S410, receiving a designated signal sent by the gateway node when a first diagnosis module in the gateway node is in an activated state.
The description of the specific signal can refer to the description in S210, and is not described herein.
And S420, controlling a second diagnosis module in the electronic control node to enter an enabling state based on the designated signal.
The route activation mode of the second diagnosis module in the electronic control node is automatic activation. Therefore, in the case where the second diagnostic module is in the enabled state, the electronic control node completes preparation for receiving the diagnostic request message. That is, the electronic control node does not need the step of the gateway node sending an additional activation message to activate the second diagnostic module, so that communication resources between the gateway node and the electronic control node are saved, and the activation speed of the second diagnostic module in the electronic control node is increased. Specifically, S420 includes the following procedure.
S4210, setting the enabling state bit corresponding to the second diagnosis module in the electronic control node to be a specified value based on the specified signal.
In the embodiment of the present application, the electronic control node, upon receiving the designation signal, invokes an AUTOSAR standard interface provided by the second diagnostic module through a Runtime Environment (RTE), where the AUTOSAR standard interface is used to enable the second diagnostic module. Specifically, in a case where the electronic control node receives the designation signal, the AUTOSAR standard interface sets an enable state bit (Activation Line state) corresponding to the second diagnostic module to a designated value, which is, for example, DOIP _ Activation _ Line _ ACTIVE.
S4230, monitoring whether the diagnosis request message is received or not through a designated port in the electronic control node.
And under the condition that the second diagnosis module is in an enabling state, the second diagnosis module initializes the Socket and starts a second designated port to monitor whether a diagnosis request message is received. Specifically, the second designated port may be a static port number 13400.
S430, receiving the diagnosis request message forwarded by the gateway node.
And the diagnosis request message is sent to the gateway node by the diagnosis node and used for requesting to acquire the fault type of the electronic control node. Specifically, after the diagnostic request message reaches the electronic control node, the electronic control node first performs a depacketizing operation on the diagnostic request message through the network layer Protocol stack, and sends the depacketized diagnostic request message to the LdCom module, and subsequently routes a Protocol Data Unit (PDU) to the DoIP module (that is, a second diagnostic module in the electronic control node), and at this time, the electronic control node completes the receiving operation of the diagnostic request message.
And S440, sending the diagnosis response message to the gateway node based on the diagnosis request message.
The gateway node is used for forwarding the diagnosis response message to the diagnosis node. Specifically, after a second diagnostic module in the electronic control node generates a diagnostic response message, the PDU is routed to the LdCom module, and after a subsequent network layer protocol stack compresses the diagnostic response message, the compressed diagnostic response message is sent to the gateway node.
In the method, an electronic control node controls a second diagnosis module in the electronic control node to enter an enabling state under the condition that the electronic control node receives a designated signal sent by a gateway node, namely, the electronic control node is ready to receive a diagnosis request message. And under the condition that the subsequent electronic control node receives the diagnosis request message forwarded by the gateway node, sending a diagnosis response message to the gateway node, and then sending the diagnosis response message to the diagnosis node by the gateway node, thereby completing the fault diagnosis work of the diagnosis node on the electronic control node. Because the gateway node can determine the target electronic control node through the diagnosis request message, the process of mapping the logical address of the electronic control node and the logical address and the multicast address of the multicast address electronic control node does not exist, and the communication between the gateway node and the electronic control node is more efficient.
Referring to fig. 5, fig. 5 schematically illustrates a data transmission method according to a fifth embodiment of the present application. The method is applied to a diagnosis node, a gateway node and a target electronic control node, and particularly comprises the following processes.
And S510, the gateway node sends a vehicle statement message to the diagnosis node.
The vehicle declaration message includes an identification code of the vehicle. In this embodiment, when the gateway node determines that a communication connection (e.g., an ethernet-based communication connection) is established with the diagnostic node, the gateway node enables, through the first software component, the first diagnostic module (i.e., the DoIP module) to enter an enabled state (i.e., doIP _ activity _ LINE _ activity state). Specifically, the enabling state of the first diagnostic module is defined by the automotive DoIP protocol standard, and the present application is not particularly limited.
The gateway node sends a vehicle declaration message to the diagnostic node if the first diagnostic module is in an enabled state. The vehicle declaration message includes an identification code of the vehicle. The Vehicle Identification Number (VIN), which is an Identification code of a Vehicle, is a code indicating the identity of the Vehicle, and the VIN code is restricted in ISO 13400. VIN codes of different vehicles are different, namely, the diagnostic node can determine the unique vehicle by identifying the VIN codes in the vehicle declaration message. Specifically, the DoIP protocol stack in the gateway node may obtain the VIN code through the AUTOSAR interface.
In some embodiments, in order to ensure that the diagnosis node can receive the vehicle declaration message successfully, the gateway node may send the vehicle declaration message multiple times within a preset time, for example, the number of sending times is 3.
In some embodiments, to ensure privacy of data transmission between the gateway node and the diagnostic node, the gateway node may send a vehicle announcement message to the diagnostic node over a restricted broadcast address. For example, the limited broadcast address is 255.255.255.255.
In this embodiment of the application, when the first diagnostic module is in the enabled state, the DoIP protocol stack in the gateway node further performs a step of initializing the UDPSocket, so that the static port number 13400 specified in the UDP is in a message monitoring state, that is, the first diagnostic module monitors the vehicle identification request message through the static port number 13400.
And S515, the diagnosis node sends a vehicle identification request message to the gateway node.
And the diagnosis node sends a vehicle identification request message to the gateway node under the condition of receiving the vehicle statement message sent by the gateway node.
S520, the gateway node sends a vehicle identification response message to the diagnosis node.
And the gateway node sends a vehicle identification response message to the diagnosis node under the condition of receiving the vehicle identification request message sent by the diagnosis node.
And S525, the diagnosis node sends an activation request message to the gateway node.
And under the condition that the diagnosis node receives the vehicle identification response message, adding related information of the vehicle based on the vehicle identification response message, further establishing TCP Socket connection with the gateway node, and sending an activation request message to the gateway node. Specifically, the source address of the activation request packet is the device logical address of the diagnostic node.
S530, the gateway node sends an activation response message to the diagnosis node.
Specifically, the gateway node sends an activation response message to the diagnostic node when the working parameters in the activation request message satisfy a preset activation rule.
S535, the gateway node controls the first diagnostic module to enter an active state.
It should be noted here that there is no precedence order in executing S530 and S535, that is, S530 and S535 may be executed simultaneously, or S530 is executed earlier than S535, or S530 is executed later than S535.
And S540, the gateway node sends a designated signal to the target electronic control node.
And S545, the target electronic control node controls the second diagnosis module to enter an enabling state.
And S550, the diagnosis node sends a diagnosis request message to the gateway node.
And S555, the gateway node forwards the diagnosis request message to the target electronic control node.
And S560, the target electronic control node sends a diagnosis response message to the gateway node.
S565, the gateway node forwards the diagnosis response packet to the diagnosis node.
Specifically, the specific implementation process of S530 to S565 may refer to the related description in the above embodiments, and will not be described herein again.
The embodiment of the application provides a data transmission method, and specifically introduces a vehicle identification request and response process and a route activation request and response process between a gateway node and a diagnosis node, and a process of forwarding a diagnosis request message and a diagnosis response message by the gateway node. Because the gateway node can determine the target electronic control node through the diagnosis request message, the process of mapping the logic address of the electronic control node and the multicast address does not exist, and the communication between the gateway node and the electronic control node is more efficient.
Referring to fig. 6, fig. 6 schematically illustrates a block diagram of a data transmission apparatus 600 according to an embodiment of the present application. The data transmission device 600 includes: a first transmitting module 610, a first receiving module 620, a second transmitting module 630 and a second receiving module 640. The first sending module 610 is configured to send a specific signal to the plurality of electronic control nodes when the first diagnostic module in the gateway node is in an active state, where the specific signal is used to instruct the second diagnostic module in the electronic control nodes to enter an enabled state. The first receiving module 620 is configured to receive a diagnosis request message sent by a diagnosis node, where the diagnosis request message is used to request to acquire a fault type of a target electronic control node in a plurality of electronic control nodes. The second sending module 630 is configured to send the diagnosis request message to the target electronic control node. The second receiving module 640 is configured to receive the diagnostic response packet sent by the target electronic control node, and send the diagnostic response packet to the diagnostic node.
In some embodiments, the second sending module 630 is further configured to obtain a destination address of the diagnosis request message; acquiring equipment logical addresses of a plurality of electronic control nodes; determining an electronic control node with the same equipment logical address and destination address in the plurality of electronic control nodes as a target electronic control node; and sending the diagnosis request message to a target electronic control node.
In some embodiments, the data transmission apparatus 600 further includes a fifth receiving module (not shown), a detecting module (not shown), and an activation state control module (not shown). The fifth receiving module is used for receiving an activation request message sent by the diagnosis node, and the activation request message carries working parameters of the diagnosis node. The detection module is used for detecting whether the working parameters of the diagnosis node meet preset activation rules, and the preset activation rules comprise at least one of the following items: source address registration rules, activation type support rules, presence rules, and authentication pass rules. The activation state control module is used for controlling the first diagnosis module to enter an activation state under the condition that the working parameters of the diagnosis node meet a preset activation rule.
In some embodiments, the detection module is further configured to detect whether the configuration file of the first diagnostic module includes the device logical address of the diagnostic node, and in a case that the configuration file of the first diagnostic module includes the device logical address of the diagnostic node, determine that the operating parameter of the diagnostic node satisfies the source address registration rule; or/and detecting whether the activation type in the diagnosis node is a designated activation type and is the same as the activation type of the first diagnosis module, and determining that the working parameters of the diagnosis node meet the activation type support rule under the condition that the activation type in the diagnosis node is the designated activation type and is the same as the activation type of the first diagnosis module; or/and detecting whether available communication connection exists between the diagnosis node and the gateway node, and determining that the working parameters of the diagnosis node meet the online rule under the condition that the available communication connection exists between the diagnosis node and the gateway node; or/and detecting whether the identity information in the diagnosis node is the designated identity information, and determining that the working parameters of the diagnosis node meet the identity verification passing rule under the condition that the identity information is the designated identity information.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other type of coupling.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
In the device, a first diagnostic module in a gateway node sends a designated signal to a plurality of electronic control nodes under the condition that the first diagnostic module is in an activated state, so that a second diagnostic module in the plurality of electronic control nodes enters an enabled state, namely the electronic control nodes enter a state of preparing to receive a diagnostic request message. Under the condition that a subsequent gateway node receives a diagnosis request message sent by a diagnosis node, a target electronic control node in the plurality of electronic control nodes is determined based on relevant information (for example, a destination address of the message) in the diagnosis request message, and the diagnosis request message is sent to the target electronic control node, that is, the message forwarding work is completed. Because the gateway node can determine the target electronic control node through the diagnosis request message, the process of mapping the logic address of the electronic control node and the multicast address does not exist, and the communication between the gateway node and the electronic control node is more efficient.
Referring to fig. 7, fig. 7 schematically illustrates a block diagram of another data transmission apparatus 700 according to an embodiment of the present application. The data transmission device 700 includes: a third receiving module 710, a control module 720, a fourth receiving module 730, and a third transmitting module 740. The third receiving module 710 is configured to receive a specific signal sent by the gateway node when the first diagnostic module in the gateway node is in an active state. The control module 720 is configured to control a second diagnostic module in the electronic control node to enter an enabled state based on the designated signal. The fourth receiving module 730 is configured to receive a diagnosis request message forwarded by the gateway node, where the diagnosis request message is sent to the gateway node by the diagnosis node, and the diagnosis request message is used to request to acquire a fault type of the electronic control node. The third sending module 740 is configured to send the diagnosis response packet to the gateway node based on the diagnosis request packet, and the gateway node is configured to forward the diagnosis response packet to the diagnosis node.
In some embodiments, the control module 720 is further configured to set an enable status bit corresponding to a second diagnostic module in the electronic control node to a specified value based on the specified signal; and monitoring whether a diagnosis request message is received or not through a specified port in the electronic control node.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described devices and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other type of coupling.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
In the device, under the condition that an electronic control node receives a designated signal sent by a gateway node, a second diagnosis module in the electronic control node is controlled to enter an enabling state, namely, the electronic control node is ready to receive a diagnosis request message. And under the condition that the subsequent electronic control node receives the diagnosis request message forwarded by the gateway node, sending a diagnosis response message to the gateway node, and then sending the diagnosis response message to the diagnosis node by the gateway node, thereby completing the fault diagnosis work of the diagnosis node on the electronic control node. Because the gateway node can determine the target electronic control node through the diagnosis request message, the process of mapping the logical address of the electronic control node and the multicast address does not exist, and the communication between the gateway node and the electronic control node is more efficient.
Referring to fig. 8, a vehicle 800 according to an embodiment of the present application is provided, where the vehicle 800 includes: one or more processors 810, a memory 820, a gateway node 830, a plurality of electronic control nodes 840, and one or more applications. Wherein one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more application programs configured to perform the methods described in the above embodiments.
The Memory 820 may include a Random Access Memory (RAM) or a Read-Only Memory (ROM) 820. The memory 820 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 820 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (e.g., a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The storage data area may also store data created by the electronic device map in use (e.g., phone book, audio-video data, chat log data), and the like.
The plurality of electronic control nodes 840 are connected to the gateway node 830, and specifically, for the related descriptions of the gateway node 830 and the plurality of electronic control nodes 840, reference is made to the detailed description in the above environment embodiments, which is not repeated herein.
Referring to fig. 9, a computer-readable storage medium 900 is further provided according to an embodiment of the present application, in which computer program instructions 910 are stored in the computer-readable storage medium 900, and the computer program instructions 910 can be called by a processor to execute the method described in the above embodiment.
The computer-readable storage medium 900 may be, for example, a flash Memory, an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Electrically Programmable Read-Only Memory (EPROM), a hard disk, or a Read-Only Memory (ROM). Optionally, the Computer-readable Storage Medium includes a Non-volatile Computer-readable Storage Medium (Non-transitory Computer-readable Storage Medium). The computer-readable storage medium 900 has storage space for computer program instructions 910 to perform any of the method steps of the method described above. The computer program instructions 910 may be read from or written to one or more computer program products.
Although the present application has been described with reference to the preferred embodiments, it is to be understood that the present application is not limited to the disclosed embodiments, but rather, the present application is intended to cover various modifications, equivalents and alternatives falling within the spirit and scope of the present application.
Claims (10)
1. A method of data transmission, the method comprising:
under the condition that a first diagnostic module in a gateway node is in an activated state, sending a specified signal to a plurality of electronic control nodes, wherein the specified signal is used for indicating a second diagnostic module in the electronic control nodes to enter an enabled state;
receiving a diagnosis request message sent by a diagnosis node, wherein the diagnosis request message is used for requesting to acquire the fault type of a target electronic control node in a plurality of electronic control nodes;
sending the diagnosis request message to the target electronic control node;
and receiving a diagnosis response message sent by the target electronic control node, and sending the diagnosis response message to the diagnosis node.
2. The method of claim 1, wherein sending the diagnostic request message to the target electronic control node comprises:
acquiring a destination address of the diagnosis request message;
acquiring equipment logical addresses of a plurality of electronic control nodes;
determining an electronic control node with the same equipment logical address and the same destination address in a plurality of electronic control nodes as the target electronic control node;
and sending the diagnosis request message to the target electronic control node.
3. The method according to claim 1 or 2, wherein before sending the designation signal to the plurality of electronic control nodes with the first diagnostic module in the gateway node in an active state, further comprising:
receiving an activation request message sent by the diagnosis node, wherein the activation request message carries working parameters of the diagnosis node;
detecting whether working parameters of the diagnosis node meet preset activation rules, wherein the preset activation rules comprise at least one of the following items: a source address registration rule, an activation type support rule, an online rule and an identity verification passing rule;
and controlling the first diagnosis module to enter the activation state under the condition that the working parameters of the diagnosis node meet the preset activation rule.
4. The method of claim 3, wherein said detecting whether an operating parameter of the diagnostic node satisfies a predetermined activation rule comprises:
detecting whether the configuration file of the first diagnosis module comprises the equipment logic address of the diagnosis node or not, and determining that the working parameter of the diagnosis node meets the source address registration rule under the condition that the configuration file of the first diagnosis module comprises the equipment logic address of the diagnosis node; and/or the first and/or second light-emitting diodes are arranged in the light-emitting diode,
detecting whether an activation type in the diagnosis node is a designated activation type and is the same as an activation type of the first diagnosis module, and determining that a working parameter of the diagnosis node meets the activation type support rule under the condition that the activation type in the diagnosis node is the designated activation type and is the same as the activation type of the first diagnosis module; and/or the first and/or second light-emitting diodes are arranged in the light-emitting diode,
detecting whether an available communication connection exists between the diagnosis node and the gateway node, and determining that the working parameters of the diagnosis node meet the online rule under the condition that the available communication connection exists between the diagnosis node and the gateway node; and/or the first and/or second light-emitting diodes are arranged in the light-emitting diode,
and detecting whether the identity information in the diagnosis node is appointed identity information, and determining that the working parameters of the diagnosis node meet the identity verification passing rule under the condition that the identity information is the appointed identity information.
5. A method of data transmission, the method comprising:
receiving a designated signal sent by a gateway node when a first diagnosis module in the gateway node is in an activated state;
controlling a second diagnostic module in the electronic control node to enter an enabled state based on the designated signal;
receiving a diagnosis request message forwarded by the gateway node, wherein the diagnosis request message is sent to the gateway node by the diagnosis node and is used for requesting to acquire the fault type of the electronic control node;
and sending a diagnosis response message to the gateway node based on the diagnosis request message, wherein the gateway node is used for forwarding the diagnosis response message to the diagnosis node.
6. The method of claim 5, wherein said controlling a second diagnostic module in an electronic control node into an enabled state based on said designated signal comprises:
setting an enabling state bit corresponding to a second diagnostic module in the electronic control node to a specified value based on the specified signal;
and monitoring whether the diagnosis request message is received or not through a designated port in the electronic control node.
7. A data transmission apparatus, characterized in that the apparatus comprises:
the gateway node comprises a first sending module, a second sending module and a control module, wherein the first sending module is used for sending a designated signal to a plurality of electronic control nodes under the condition that a first diagnosis module in the gateway node is in an activated state, and the designated signal is used for indicating a second diagnosis module in the electronic control nodes to enter an enabled state;
the system comprises a first receiving module, a second receiving module and a judging module, wherein the first receiving module is used for receiving a diagnosis request message sent by a diagnosis node, and the diagnosis request message is used for requesting to acquire the fault type of a target electronic control node in a plurality of electronic control nodes;
the second sending module is used for sending the diagnosis request message to the target electronic control node;
and the second receiving module is used for receiving the diagnosis response message sent by the target electronic control node and sending the diagnosis response message to the diagnosis node.
8. A data transmission apparatus, characterized in that the apparatus comprises:
a third receiving module, configured to receive a specific signal sent by a gateway node when a first diagnostic module in the gateway node is in an activated state;
the control module is used for controlling a second diagnosis module in the electronic control node to enter an enabling state based on the specified signal;
a fourth receiving module, configured to receive a diagnosis request packet forwarded by the gateway node, where the diagnosis request packet is sent to the gateway node by the diagnosis node, and the diagnosis request packet is used to request to acquire a fault type of the electronic control node;
a third sending module, configured to send a diagnostic response packet to the gateway node based on the diagnostic request packet, where the gateway node is configured to forward the diagnostic response packet to the diagnostic node.
9. A vehicle, characterized by comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-6.
10. A computer-readable storage medium having computer program instructions stored therein, the computer program instructions being invokable by a processor to perform the method of any of claims 1-6.
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