CN117336320B - System for dynamically controlling network communication of robot terminal and implementation method - Google Patents
System for dynamically controlling network communication of robot terminal and implementation method Download PDFInfo
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Abstract
The invention provides a system and an implementation method for dynamically controlling network communication of a robot terminal, which are characterized by comprising a core function layer, a session layer, a service discovery layer, a routing layer, a proxy layer, a network layer and a storage layer; the invention ensures the mutual communication of a plurality of devices in different networks, effectively establishes data management and communication in a distributed system, and provides unified data management and communication; by adopting the distributed hash table and the multi-copy data storage mechanism, data can be copied and distributed among nodes, so that the reliability and the expandability of the system are improved, and the dependence on centralized services is reduced.
Description
Technical Field
The invention relates to the field of terminal robots, in particular to a system and an implementation method for dynamically controlling network communication of a robot terminal.
Background
In the field of terminal robots, at present, due to insufficient computing resource capacity of a terminal, a terminal device cannot well complete computing tasks, sensors (cameras, laser radars and the like) on a plurality of robot devices need to communicate with each other, and along with the increase of the number of robots, the robots can be in different local area networks. There is a strong need for a system that can support intercommunication between an edge and a server, and that can support free networking of multiple edge robotic devices.
In the process of gradually iterating the service, the robot is found to be required to communicate with various external terminals, communication protocols between every two robots are not communicated, and stability between the robots cannot be guaranteed. And the subsequent process of dynamically adding the protocol cannot be realized, and the function iteration upgrading cannot be effectively performed.
To reduce latency, network utilization and cost, many robotic communication center nodes are deployed in storage nodes near edge nodes, but when data contribution and distribution are involved, much information is trapped on islands of the fixed network. It means that the robot terminal must support multiple linked stacks in order to distribute and retrieve data in a performance, resource and delay sensitive manner
In the prior art, most of robot systems are based on DDS as a communication middleware, and the strategy of network isolation by the DDS is to distinguish different networks by setting different domain ids, so that a plurality of domains cannot be set, and the mutual communication of a plurality of devices in different networks cannot be ensured; the dynamic switching cannot be performed, and the service is in a fixed domain after the dynamic switching is set, so that the subsequent service expansion is not facilitated; in the same domain, there are very many devices, which may cause mutual interference of messages (the number of topics is high without interference), so that the subsequent maintenance is not facilitated; the network utilization rate is low, the cost is high, and the data island is realized, so that the problem of distributed expansion can not be realized.
Meanwhile, the communication node protocol diversity, stability and communication diversity of the robot terminal and the side equipment also lead to the failure of supporting various communication protocols at the same time; the multiple protocols can not be discovered and communicated with each other; the problems of incapability of dynamically switching communication protocols and incapability of implementing decentralization design occur.
Disclosure of Invention
The invention aims to provide a system and an implementation method for dynamically controlling network communication of a robot terminal, which aim to solve the problems that most of the robot systems in the prior art are based on DDS as a communication middleware, and the strategy of network isolation by the DDS is to distinguish different networks by setting different domain ids, so that a plurality of domains cannot be set, and the mutual communication of a plurality of devices in different networks cannot be ensured; the dynamic switching cannot be performed, and the service is in a fixed domain after the dynamic switching is set, so that the subsequent service expansion is not facilitated; in the same domain, there are very many devices, which may cause mutual interference of messages (the number of topics is high without interference), so that the subsequent maintenance is not facilitated; the network utilization rate is low, the cost is high, and the data island can not realize distributed expansion; meanwhile, the communication node protocol diversity, stability and communication diversity of the robot terminal and the side equipment also lead to the failure of supporting various communication protocols at the same time; the multiple protocols can not be discovered and communicated with each other; the problems of dynamic switching of communication protocols and decentralization design cannot be achieved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a system for dynamically controlling network communication of a robot terminal, comprising a core function layer (core), a session layer (session), a service discovery layer (discovery), a routing layer (router), a proxy layer (proxy), a network layer (net), and a storage layer (store), wherein the core function layer provides a core function and a basic data structure, implements a core protocol and an algorithm, and comprises but is not limited to a data storage and subscription release mechanism; meanwhile, an api is also provided for program call; the session layer is responsible for managing the session between nodes, establishing and maintaining links between the nodes, and processing state management and message processing at the session level; the service discovery layer is responsible for discovery and service discovery between nodes, provides functions of automatic discovery and joining between nodes, and supports various discovery protocols and mechanisms; the routing layer provides a routing function between nodes, can forward the message to the correct node according to the target address of the data, and supports dynamic maintenance of a routing table and dynamic update of a routing algorithm; the proxy layer provides a proxy function between nodes, allows communication between nodes which are cross-network or safe isolated, supports message routing and forwarding between proxy nodes, and supports various protocols; the network layer is responsible for processing network communication between nodes, managing links and message transmission between nodes, and providing reliability guarantee and transmission protocol support at the network layer; the storage layer is capable of providing persistent storage functionality while managing the storage and retrieval of data on the nodes, and also provides a high performance and scalable storage engine.
The system adopts a cloud native architecture, and a shielding software and hardware platform is deployed through a container, which is specifically expressed as follows:
the system and the running are packaged together in the environment, are deployed in the form of a container, and use a container arrangement tool to ensure the high availability of the system, so that the system can meet the requirements of horizontal expansion and load balancing, dynamically provide various hardware resources through cloud primary service, and monitor and log systems perfectly, and monitor the running condition and performance index of the system in real time.
The system peels the content from the terminal position based on the idea that ICN (Information-Centric Networking) is different from the current end-to-end communication mechanism of the Internet, and adopts a publishing/substricrib model to treat the data as the first type of citizen in the network; the concrete steps are as follows:
The data is regarded as the first citizen in the network, and a content-oriented routing and naming mechanism is adopted, so that the data can be directly obtained from an interested place without depending on a fixed address, and the self-adaptive routing and data aggregation capability is realized; the publish/subscribe model is used as a main communication model, is suitable for asynchronous communication and real-time data transmission, and can support event-driven application in a large-scale distributed system.
The system adopts zero-sharing/zero-copy (zero sharing: multiple processes or devices can be accessed and shared at the same time, zero copying: unnecessary data copying operation is avoided in the process of data transmission), so that the efficiency and performance of data transmission are improved.
The routing layer of the system designs an elasticity and fault tolerance mechanism for node faults and network partitions in a distributed environment, and specifically comprises the following contents:
the reliable transmission and restoration capability of data are realized by using multi-path routing and data redundancy; when node faults or network partitions occur, the data can be automatically rerouted, the availability and consistency of the data are ensured, and the core algorithm is a consistency hash algorithm.
The system organizes devices and nodes in a distributed environment into a logic network by utilizing a virtual network technology; this allows users to access data in the network in a transparent and uniform manner and to utilize the distributed computing capabilities for data processing and analysis.
The system can be adapted to various data transmission protocols, and has the advantages of expandability and performance optimization, and the system is characterized in that:
Support a variety of data transmission protocols, including TCP/IP, UDP, webSocket, DDS, etc., so that the system can adapt to different network environments and application requirements, and provide flexible data transmission modes, and provide scalable and high-performance data sharing and communication, and it uses some performance optimization techniques, such as data compression, parallel transmission, batch processing, etc., to maximize the efficiency of data transmission and processing.
The method for realizing the network communication system of the dynamic control robot terminal comprises a client flow and a server flow, wherein the client flow comprises the following steps: initializing, loading needed class libraries and dependent items, creating proxy and proxy building and server-side link; the service end flow comprises the following steps: configuration phase and operation phase.
In the flow of the client-side,
The initialization specifically comprises the following steps: creating a link instance, setting necessary configuration parameters and setting clientId of the link instance;
The loading of the needed class libraries and the dependent items specifically comprises: according to the configuration issued by the server and the issued environment dependency package, loading a required class library and dependency items (including node information of actual communication and message types required to be forwarded);
and the proxy is established to mainly realize the receiving and sending of the message, and the proxy establishment and the link of the server can report the heartbeat information at fixed time.
The configuration stage in the server-side process includes:
① Initializing configuration information (loading routing configuration, each client configuration information);
② Linking the clients, and issuing corresponding class libraries and dependent items according to the client configuration information;
③ Creating a plurality of routing configuration tables according to all the routing configuration information of the system, and taking charge of routing and forwarding all the messages;
④ Creating a corresponding forwarding message processor according to the message type, wherein the forwarding message processor is used for forwarding messages of different protocols;
The operation phase comprises:
① Publishing the data to a specific theme in the network, wherein the publishing of the data is to associate the data with the theme by calling a corresponding API method, and specify a publishing strategy of the data, such as data persistence, transmission priority and the like;
② According to the interested subject subscribed by the client object, by designating the subscribed subject and the corresponding callback function, the system can receive the notification and call the corresponding processor for processing when the data is available;
③ According to a routing information table configured by the system or by using a self-adaptive data transmission and routing mechanism, dynamically selecting an optimal path for data transmission according to the subscription and release relation of data, and utilizing the technologies of multipath routing, data redundancy, flow control and the like to adapt to different network conditions and data flows;
④ Correspondingly writing the forwarding record of the corresponding message into a search library to ensure data consistency;
⑤ The search pool performs a secondary check and performs a secondary processing (resending, discarding, ignoring) of the message for the policy.
Compared with the prior art, the invention has the following beneficial effects:
The invention ensures the mutual communication of a plurality of devices in different networks, effectively establishes data management and communication in a distributed system, and provides unified data management and communication; the routing structure is dynamically switched, takes effect in real time, has a self-adaptive network topology function, and provides fine-grained access control and strategy; the data transmission can be effectively managed, unnecessary network traffic is reduced, and the network utilization rate is improved; by optimizing data transmission and self-adaptive network environment, available network resources can be utilized to the maximum extent, so that the problem of low network utilization rate is solved; the unified data management mode is provided, so that the flow and access of data in a distributed environment are ensured, and the obstacle of data island is eliminated; providing a rich set of client libraries and APIs that can be developed and integrated on different languages and platforms, which allows developers to build distributed applications using their own familiar tools and techniques; through the characteristics of dynamic routing, publishing/subscribing mode, data filtering and selecting, access control and strategy, data persistence and storage/retrieval, cross-language and cross-platform support and the like, developers can customize and control a data sharing mode according to requirements, and various flexibility requirements are met; by adopting the distributed hash table and the multi-copy data storage mechanism, data can be copied and distributed among nodes, so that the reliability and the expandability of the system are improved, and the dependence on centralized services is reduced.
Drawings
FIG. 1 is a diagram of a cloud primary architecture of the present invention;
FIG. 2 is a diagram of the core concept of the ICN architecture of the present invention, isolating content from terminal locations;
FIG. 3 is a basic schematic of the zero-sharing and zero-copy employed in the present invention;
FIG. 4 is a diagram showing the consistency guaranteed by a consistency hash algorithm in a distributed environment of the present invention;
FIG. 5 is a diagram of a proxy architecture of the present invention;
FIG. 6 is a flow chart of the system of the present invention;
FIG. 7 is a diagram illustrating a client proxy link establishment and message code sending in an embodiment;
FIG. 8 is a diagram illustrating a message code accepted by a server in an embodiment;
FIG. 9 is a schematic diagram of obtaining routing information and forwarding the routing information to a processor code in an embodiment;
FIG. 10 is a schematic diagram of code for a specific processor implementation in an embodiment;
Fig. 11 is a schematic diagram of interactive codes performed at an actual and specific terminal after receiving a message by a client proxy in an embodiment.
Detailed Description
In order to clarify the technical problems, technical solutions, implementation processes and performance, the present invention will be further described in detail below with reference to examples. It should be understood that the specific embodiments described herein are for purposes of illustration only. The invention is not intended to be limiting. Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
In addition, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.
Example 1
The method for realizing the network communication system of the dynamic control robot terminal comprises a client flow and a server flow, wherein the client flow comprises the following steps: initializing, loading needed class libraries and dependent items, creating proxy and proxy building and server-side link; the service end flow comprises the following steps: configuration phase and operation phase.
In the flow of the client-side,
The initialization specifically comprises the following steps: creating a link instance, setting necessary configuration parameters and setting clientId of the link instance;
The loading of the needed class libraries and the dependent items specifically comprises: according to the configuration issued by the server and the issued environment dependency package, loading a required class library and dependency items (including node information of actual communication and message types required to be forwarded);
and the proxy is established to mainly realize the receiving and sending of the message, and the proxy establishment and the link of the server can report the heartbeat information at fixed time.
The configuration stage in the server-side process includes:
① Initializing configuration information (loading routing configuration, each client configuration information);
② Linking the clients, and issuing corresponding class libraries and dependent items according to the client configuration information;
③ Creating a plurality of routing configuration tables according to all the routing configuration information of the system, and taking charge of routing and forwarding all the messages;
④ Creating a corresponding forwarding message processor according to the message type, wherein the forwarding message processor is used for forwarding messages of different protocols;
The operation phase comprises:
① Publishing the data to a specific theme in the network, wherein the publishing of the data is to associate the data with the theme by calling a corresponding API method, and specify a publishing strategy of the data, such as data persistence, transmission priority and the like;
② According to the interested subject subscribed by the client object, by designating the subscribed subject and the corresponding callback function, the system can receive the notification and call the corresponding processor for processing when the data is available;
③ According to a routing information table configured by the system or by using a self-adaptive data transmission and routing mechanism, dynamically selecting an optimal path for data transmission according to the subscription and release relation of data, and utilizing the technologies of multipath routing, data redundancy, flow control and the like to adapt to different network conditions and data flows;
④ Correspondingly writing the forwarding record of the corresponding message into a search library to ensure data consistency;
⑤ The search pool performs a secondary check and performs a secondary processing (resending, discarding, ignoring) of the message for the policy.
The dynamic forwarding of a robot message is realized, which mainly comprises the following core steps (provided that both the client and the server have been successfully started and the configuration loading is completed)
S1, a client proxy sends a message;
S2, the server receives the message;
S3, obtaining route configuration according to cached configuration information (caching strategy customization), determining a dynamic forwarding object (a client which needs to accept the message), and distributing the dynamic forwarding object to a specific processor for message forwarding according to the type of the client;
s4, the processor is particularly responsible for message body processing, and a communication channel is correspondingly established;
s5, after receiving the message, the client proxy performs interaction between the actual terminal and the specific terminal;
The step S1 of establishing a link by a client proxy and sending a message is specifically realized as follows:
And establishing a session with the invoker server through the invoker.open () to obtain a session object session.
Next, we create a publisher object publisher using session. Then, we specify the topic to send the message and the message content message, and send the message to the specified topic through publicher.
The server side receives the message in the step S2, and the specific implementation is as follows:
We first define a callback function remove message for processing the received message. The function accepts two parameters: topic represents the subject to which the received message belongs and payload represents the content of the message.
Next, the client object invoker _client is initialized Invoker, and then a session with the Invoker instance is established through invoker _client.open (), resulting in a session object session.
A subscriber object is created using session_subscriber (), and callback functions are bound to subscribers through subscriber_add_ listener (process_message) to process the received message, with specific code as shown in fig. 8.
Step S3 obtains route information and forwards the route information to a processor, and the method is concretely realized as follows:
A message Processor class Processor is first defined, in which the process_message method is used to process the received message.
Then, a get_routing_config function is defined for acquiring the routing configuration information from the cache and returning a data structure of the routing configuration information. The specific implementation depends on the caching system and data structure used.
Next, a get_message_ receivers function is defined, and a list of clients to receive the message is obtained according to the routing configuration and the client type. The function returns a list of eligible clients based on the routing configuration information and the screening logic of the client type.
Then, initialize Invoker a client object invoker _client, establish a session with the Invoker instance, and create a message processor object processor.
Next, we call get_routing_config to get the routing configuration information and call get_message_ receivers to get the client list of the message to be received, the incoming routing configuration and the client type.
We then use the session. Subscribe subscription message to loop through the list of receiving clients and bind the process_message method of the message handler to each receiving client's subscription, with specific code as shown in fig. 9.
The implementation of step S4processor is only exemplified here by a simple logical implementation, which is specifically as follows:
We define a message Processor class Processor whose initialization method __ init __ receives a routing_config.
In the generate_channels method, we traverse the routing configuration, generate the communication channels from the configuration, and store them in the channels dictionary.
In the create_channel method, you need to implement the creation logic of the communication channel according to the specific communication channel requirements and configuration, and return the communication channel object.
In the process_message method, according to the subject of the received message, a corresponding receiver (receiver) is searched in the routing configuration, then a corresponding communication channel is obtained from the channels dictionary, and the message is sent to the channel, and the specific code is shown in fig. 10.
After receiving the message, the client proxy performs interaction at the actual and specific terminals in step S5, which specifically includes the following contents:
a client agent class ClientProxy is defined that receives a terminal ID as a parameter.
In the interactive_with_terminal method, you can implement the logic of interacting with the actual terminal. Logic in the example is to establish a connection with a terminal, send a message, and receive a response from the terminal. The specific implementation will vary depending on the communication protocol and the type of terminal you use.
In the connect_to_terminal method, you need to implement logic to establish a connection with the terminal, and return to the terminal connection object.
When subscribing to a message, we define a process_message function as a callback function that receives the topic and load of the message and passes the message to the interactive_with_terminal method of the client agent for interaction.
The above example code only provides one basic framework, and you need to implement the logic of interaction with the terminal in the interaction_with_terminal method according to specific requirements. The specific manner and operation of interaction will depend on the type of terminal and the communication protocol, with specific codes as shown in fig. 11.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A system for dynamically controlling network communication of a robot terminal, comprising a core function layer (core), a session layer (session), a service discovery layer (discovery), a routing layer (router), a proxy layer (proxy), a network layer (net), and a storage layer (store), wherein the core function layer provides a core function and a basic data structure, implements a core protocol and an algorithm, and comprises but is not limited to a data storage and subscription release mechanism; meanwhile, an api is also provided for program call; the session layer is responsible for managing the session between nodes, establishing and maintaining links between the nodes, and processing state management and message processing at the session level; the service discovery layer is responsible for discovery and service discovery between nodes, provides functions of automatic discovery and joining between nodes, and supports various discovery protocols and mechanisms; the routing layer provides a routing function between nodes, can forward the message to the correct node according to the target address of the data, and supports dynamic maintenance of a routing table and dynamic update of a routing algorithm; the proxy layer provides a proxy function between nodes, allows communication between nodes which are cross-network or safe isolated, supports message routing and forwarding between proxy nodes, and supports various protocols; the network layer is responsible for processing network communication between nodes, managing links and message transmission between nodes, and providing reliability guarantee and transmission protocol support at the network layer; the storage layer is capable of providing persistent storage functionality while managing the storage and retrieval of data on the nodes, and also provides a high performance and scalable storage engine.
2. The system for dynamically controlling network communication of a robot terminal according to claim 1, wherein the system adopts a cloud native architecture, and a software and hardware platform is shielded by container deployment, and the system is specifically expressed as follows:
The system and the runtime environment are packaged together, deployed in a container form, and the container arrangement tool is used to ensure the high availability of the system, so that the system can meet the requirements of horizontal expansion and load balancing, dynamically provide various hardware resources through cloud primary service, and monitor and log system perfected, and monitor the running condition and performance index of the system in real time.
3. The system for dynamically controlling network communication of robot terminals according to claim 1, wherein the system is based on ICN (Information-Centric Networking), which is different from the current internet end-to-end communication mechanism, and wherein ICN (Information-Centric Networking) strips content from terminal position, and uses public/subscience model to treat data as first type citizens in the network; the concrete steps are as follows:
In the service discovery and routing layer of the system, data is regarded as a first type of citizen in the network, and a content-oriented routing and naming mechanism is adopted, so that the data can be directly obtained from a place of interest without depending on a fixed address, and the self-adaptive routing and data aggregation capability is realized; the publish/subscribe model is used as a main communication model, is suitable for asynchronous communication and real-time data transmission, and can support event-driven application in a large-scale distributed system.
4. The system for dynamically controlling network communication of robot terminals according to claim 1, wherein the system employs zero-sharing/zero-copy, zero-sharing: multiple processes or devices can access and share at the same time, zero replication: unnecessary data copying is avoided in the data transmission process, and the efficiency and performance of data transmission are improved; by this feature, it is possible to realize a storage and retrieval of management data on nodes in the storage layer in the system, providing a high-performance and expandable storage engine, that is, a data copy mechanism of the storage layer.
5. The system for dynamically controlling network communication of robot terminals according to claim 1, wherein the routing layer of the system designs an elastic and fault tolerant mechanism for node failures and network partitions in a distributed environment, specifically comprising the following:
the reliable transmission and restoration capability of data are realized by using multi-path routing and data redundancy; when node faults or network partitions occur, the data can be automatically rerouted, the availability and consistency of the data are ensured, and the core algorithm is a consistency hash algorithm.
6. The system for dynamically controlling network communication of robot terminals according to claim 1, wherein the agent layer of the system organizes devices and nodes in a distributed environment into a logical network using virtual network technology; this allows users to access data in the network in a transparent and uniform manner and to utilize the distributed computing capabilities for data processing and analysis.
7. The system for dynamically controlling network communication of a robot terminal according to claim 1, wherein the system is adaptable to a plurality of data transmission protocols, and is scalable and performance optimized, and is specifically expressed as:
The network layer and the session layer of the system support a plurality of data transmission protocols, including but not limited to TCP/IP, UDP, webSocket, DDS, so that the system can adapt to different network environments and application requirements, provide flexible data transmission modes, provide data sharing and communication with expandability and high performance, and use some performance optimization technologies, such as data compression, parallel transmission, batch processing and the like, so as to improve the efficiency of data transmission and processing to the greatest extent.
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