CN117596200B - A time-sensitive network routing scheduling method, electronic device, and medium - Google Patents

Abstract

The present invention discloses a time-sensitive network routing scheduling method, electronic device and medium. The method comprises: a controller obtains a TSN network topology according to a link layer discovery protocol; a clock is configured for each TSN switch, a sending terminal and a receiving terminal to realize time synchronization; the controller receives a connection request sent by the sending terminal, wherein the connection request contains description information of a TT stream; the transmission priority of each message is configured according to the description information of the TT stream, and routing path constraints, path link constraints, link transmission time slot constraints and path scheduling constraints are configured based on the TSN network topology, with the goal of minimizing the sum of delays in the TT stream, and the routing path of each message in the TT stream and the transmission time slot on the routing path are solved; the controller configures a flow table for the TSN switch according to the routing path of each message in the TT stream, configures a gating list for the TSN switch according to the transmission time slot of each message in the TT stream, and configures a scheduling time table for the sending terminal.

Description

A time-sensitive network routing scheduling method, electronic device, and medium

Technical Field

The present invention relates to the field of time-sensitive networks, and in particular to a time-sensitive network routing scheduling method, electronic equipment, and medium.

Background technique

With the rapid development of technologies such as smart manufacturing and industrial Internet, ensuring end-to-end low-latency transmission and low jitter requirements has become an important requirement for delay-sensitive services. Although standard Ethernet has advantages such as high bandwidth and strong compatibility, it can only provide best-effort network services and it is difficult to meet the deterministic transmission requirements of delay-sensitive services. Time-sensitive Networking (TSN) based on Ethernet protocol is a series of traffic scheduling standards proposed by the IEEE 802.1 working group, mainly including time synchronization, traffic scheduling, reliable transmission, network management and other protocol standards, which ensures the low-latency, low-jitter, deterministic and reliable transmission of time-sensitive data, while meeting the transmission compatibility of non-time-sensitive data.

Since the development of time-sensitive network standards, the following four types of protocols have been established as the core mechanisms:

(1) Clock synchronization: used to support time synchronization between devices, including IEEE 802.1AS;

(2) Data flow scheduling: Supports control of packet forwarding on forwarding nodes, including IEEE 802.1Qav (forwarding and queuing), IEEE 802.1Qbv (gated scheduling), IEEE 802.1Qbu (frame preemption), IEEE 802.1Qci (stream filtering), and IEEE 802.1Qch (round-robin queue forwarding);

(3) Flow reliability: Ensure the reliability of network transmission and the integrity of data flows, including: IEEE 802.1Qca (path control and flow reservation), IEEE 802.1 CB (frame duplication and frame elimination);

(4) Network management: Control plane protocols for time-sensitive networks, including IEEE 802.1Qcp (YANG model) and IEEE 802.1Qcc (network management architecture).

The time-sensitive network protocol proposed by the IEEE TSN task group only provides a technical framework, and has not yet made specific provisions for the specific implementation. In the deterministic scheduling problem of time-triggered (TT) flows in time-sensitive networks, if only gating scheduling is considered without considering the impact of routing, and the shortest path from the sender to the receiver is used to forward the TT flow, it may cause congestion on the link between TT flows of different periods or between TT flows and non-TT flows, increase the network packet loss rate, and fail to calculate the gating scheduling table.

Summary of the invention

In view of the deficiencies in the prior art, the present invention provides a time-sensitive network routing scheduling method, electronic device, and medium.

In a first aspect, an embodiment of the present invention provides a time-sensitive network routing scheduling method, the method is based on a time-sensitive network routing scheduling network architecture, including a controller, and a plurality of TSN switches, a plurality of sending terminals and a plurality of receiving terminals coupled to the controller as nodes; the TSN switches communicate with the sending terminals and the receiving terminals respectively; the method includes:

The controller obtains the TSN network topology based on the link layer discovery protocol;

Configure clocks for each TSN switch, sending terminal, and receiving terminal to achieve time synchronization;

The controller receives a connection request sent by a sending terminal, wherein the connection request includes description information of the TT stream; configures the transmission priority of each message according to the description information of the TT stream, and configures routing path constraints, path link constraints, link transmission time slot constraints, and path scheduling constraints based on the TSN network topology, with the goal of minimizing the sum of delays in the TT stream, and solves the routing path and transmission time slot on the routing path for each message in the TT stream;

The controller configures the flow table for the TSN switch according to the routing path of each message in the TT flow, configures the gating list for the TSN switch according to the transmission time slot of each message in the TT flow, and configures the scheduling schedule for the sending terminal.

In a second aspect, an embodiment of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory is coupled to the processor; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the above-mentioned time-sensitive network routing scheduling method.

In a third aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the above-mentioned time-sensitive network routing scheduling method is implemented.

Compared with the prior art, the invention has the following beneficial effects: the invention provides a time-sensitive network routing scheduling method, which targets the TT flow characteristics in the time-sensitive network, considers the flow frame period, frame size, priority, maximum delay, maximum jitter, propagation delay, processing delay, transmission delay and other characteristics, and considers the path problem and scheduling problem of the TT flow path, so as to avoid the TT flow being unschedulable due to the routing or scheduling problem alone. At the same time, the controller sends the flow table to the TSN switch and configures the time slot, which improves the network flexibility.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

FIG1 is a flow chart of a time-sensitive network routing scheduling method provided by an embodiment of the present invention;

FIG2 is a schematic diagram of a time-sensitive network routing scheduling structure provided by an embodiment of the present invention;

3 is a schematic diagram of a process of solving the routing path and the transmission time slot on the routing path of each message in the TT flow according to an embodiment of the present invention;

FIG4 is a schematic diagram of configuration parameters of a controller and a TSN switch provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of an electronic device provided by an embodiment of the present invention.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

It should be noted that, in the absence of conflict, the features in the following embodiments and implementations may be combined with each other.

As shown in Figures 1 and 2, an embodiment of the present invention provides a time-sensitive network routing scheduling method, which is implemented based on a time-sensitive network routing scheduling network architecture. The time-sensitive network routing scheduling network architecture includes a controller, several TSN switches, several sending terminals and several receiving terminals. The controller connects all TSN switches, sending terminals and receiving terminals through a control link, and the TSN switch is connected to the sending terminal and the receiving terminal respectively through a wired link.

Furthermore, the controller uses an ONOS controller, and the ONOS controller includes a topology discovery module, a traffic monitoring module, a TSN configuration module, and a routing management module; the topology discovery module is used to maintain a unified view of the entire network; the traffic monitoring module is used to monitor the link bandwidth, traffic and network speed information of the entire network; the TSN configuration module is used to issue configurations to TSN switches and sending terminals; the routing management module is used for routing decisions, and routes the TT flow from the sending terminal to the receiving terminal by issuing a flow table.

Furthermore, the TSN switch is selected to support IEEE 802.1AS, IEEE 802.1Qbv protocol, IEEE802.1Qci protocol, IEEE 802.1Qch protocol, OpenFlow protocol, LLDP protocol, and supports Netconf function.

Furthermore, the transmitting terminal and the receiving terminal are hosts that support IEEE 802.1AS, IEEE 802.1Qbv, IEEE 802.1Qci, and IEEE 802.1Qch protocols.

As shown in FIG1 , the time-sensitive network routing scheduling method provided by an embodiment of the present invention is described in detail below. The method specifically includes the following steps:

Step S1: The controller obtains the TSN network topology according to the Link Layer Discovery Protocol (LLDP).

The specific implementation process of step S1 includes the following sub-steps:

Step S101: The controller sends a modification message (flow-mod message) to all TSN switches; the TSN switches set flow table entries to match LLDP messages, and send the matched LLDP messages to the ONOS controller.

In step S102, the controller constructs a detection frame including the device number of the first TSN switch, constructs an LLDP (Link Layer Discovery Protocol) message, and sends a packet-out message to the first TSN switch.

Step S103, the first TSN switch broadcasts the LLDP message after receiving the LLDP message. When the second TSN switch receives the LLDP message, it encapsulates the LLDP message into a reporting data packet and uploads the reporting data packet to the controller.

Step S104, the controller constructs a directed edge according to the uploaded report data packet, (first TSN switch, second TSN switch). Similarly, the controller sends LLDP messages to all switches, and constructs a TSN network topology according to the acquired report data packets, and the TSN network topology is a TSN network topology directed graph.

Exemplarily, the ONOS controller constructs a detection frame including the device number of the first TSN switch, constructs an LLDP (Link Layer Discovery Protocol) message and sends a packet-out message to the first TSN switch. The first TSN switch receives the LLDP message and broadcasts the LLDP message on all ports. When the neighboring second TSN switch and the eighth TSN switch receive the LLDP message, they encapsulate the LLDP message into a reporting data packet and upload the reporting data packet to the ONOS controller. The controller constructs directed edges based on the uploaded reporting data packets, denoted as (V ₁ ,V ₈ ), (V ₁ ,V ₂ ) and (V ₁ , _VE1 ), where (V ₁ ,V ₂ ,V ₈ , _VE1 ) represent (first TSN switch, second TSN switch, eighth TSN switch, first sending terminal) respectively. Similarly, the ONOS controller sends LLDP messages to all TSN switches and constructs a TSN network topology directed graph based on the acquired reporting data packets.

Step S2: Configure the clock for each TSN switch, sending terminal and receiving terminal to achieve time synchronization.

It should be noted that the TSN switch provided in this example uses the generic precision time protocol (gPTP) of IEEE 802.1AS for time synchronization. gPTP uses the BMCA algorithm to establish a master-slave structure and form a gPTP domain. Then, the most accurate clock source among the clocks of all TSN switches is selected as the master clock. Then, the synchronization (Sync) message and the follow (Follow_Up) message are sent by using the message sending and receiving method. The first correspondence between the clock deviation and the link delay is calculated. Then, through the delay request response mechanism, the delay request (Delay_Req) message and the delay response (Delay_Resp) message are sent to calculate the second correspondence between the clock deviation and the link delay. The clock deviation value and the link delay are calculated by the first correspondence and the second correspondence. The slave clock uses the clock deviation value to correct the local time and complete the time synchronization with the master clock. The clock deviation is required to be less than 1μs.

Step S3: The controller receives a connection request sent by the sending terminal, wherein the connection request includes description information of the TT stream; the transmission priority of each message is configured according to the description information of the TT stream, and the routing path constraints, path link constraints, link transmission time slot constraints, and scheduling constraints are configured based on the TSN network topology, with the goal of minimizing the sum of delays in the TT stream, and the routing path of each message in the TT stream and the transmission time slot on the routing path are solved.

As shown in FIG3 , the specific implementation process of step S3 includes the following sub-steps:

Step S301: The controller receives a connection request sent by a sending terminal, wherein the connection request includes description information of a TT flow (Time-triggered flow).

Specifically, the connection request is a control flow F composed of a series of messages, F=（f ₁ ,f ₂ ,f ₃ ,……,f _m ,……,f _N ）, m∈[1,N], N is the number of messages, wherein each message f _m includes: a sending terminal s _m , a receiving terminal d _m , a frame period c _m of the message f _m , a frame size l _m of the message f _m , a priority sp _m of the message f _m , a maximum delay del _m of the message f _m and a maximum jitter j _m that the message f _m can accept. Traffic of different priorities is identified by different VLAN IDs, and traffic with a maximum delay del m higher than the maximum delay del _m of the message f _m is considered to be unable to guarantee reliable data transmission.

At the same time, the network architecture provided by the present invention can be recorded as a TSN network model N={F, V, E}, where F represents the TT flow in the network, V represents the network nodes including the sending terminal, the receiving terminal and the TSN switch, and E represents the network link composed of two nodes, (V _a , V _b )∈E, where V _a and V _b are the source and destination network nodes respectively. The mth message f _m ∈F in the TT flow, f _m =(s _m , d _m , _cm , sp _m , l _m , del _m , j _m ), where s _m represents the sending terminal node, d _m represents the receiving terminal node, _cm represents the transmission period of the data frame, sp _m represents the priority size of f _m , l _m represents the data frame size of f _m , del _m represents the maximum delay of the data frame, and j _m represents the maximum jitter that f _m can accept. For (V _a , V _b )∈E, there is a propagation delay of TT flow f _m , the data sending rate send _ab at (V _a ,V _b ), for V _a ∈ V, the TSN switch V _a decides which port to forward the data packet./> , the transmission delay of TSN switch V _a serializing TT stream f _m at the egress port/> , the TSN switch V _a processes the jitter _Jam of the TT flow _fm .

Step S302, configuring the transmission priority of each message f _m ∈ F according to the description information of the TT flow in the connection request specifically includes:

1) For the mth message and the nth message (f _m ,f _n )∈F, if the priority of the mth message is higher than the priority of the nth message sp _m > sp _n , the controller transmits the mth message f _m before the nth message f _n .

2) For the mth message and the nth message (f _m ,f _n )∈F, if the priority of the m-th message is the same as the priority of the n-th message sp _m =sp _n , then a judgment is made according to the transmission period _cm of the data frame corresponding to the m-th message and the transmission period c _n of the data frame corresponding to the n-th message; if the transmission period of the data frame corresponding to the m-th message is greater than the transmission period c _m >c _n of the data frame corresponding to the n-th message, then the controller arranges the m-th message f _m before the n-th message f _n for transmission.

3) For the mth message and the nth message (f _m ,f _n )∈F, if the priority of the m-th message is the same as the priority of the n-th message sp _m =sp _n and the transmission period of the data frame corresponding to the m-th message is the same as the transmission period of the data frame corresponding to the n-th message c _m =c _n , then a judgment is made according to the maximum delay del _m of the data frame corresponding to the m-th message and the maximum delay del _n of the data frame corresponding to the n-th message. If the maximum delay of the data frame corresponding to the m-th message is less than the maximum delay del _m ＜del _n of the data frame corresponding to the n-th message, the controller arranges the m-th message f _m before the n-th message f _n for transmission.

4) For the mth message and the nth message (f _m ,f _n )∈F, if the priority of the m-th message is the same as the priority of the n-th message sp _m =sp _n , the transmission period of the data frame corresponding to the m-th message is the same as the transmission period of the data frame corresponding to the n-th message c _m =c _n , the maximum delay of the data frame corresponding to the m-th message is the same as the maximum delay of the data frame corresponding to the n-th message del _m =del _n , then a judgment is made based on the maximum jitter j _m acceptable to the m-th message and the maximum jitter j _n acceptable to the n-th message. If the maximum jitter acceptable to the m-th message is less than the maximum jitter acceptable to the n-th message j _m ＜j _n , the controller will arrange the m-th message f _m of the flow before the n-th message f _n for transmission. If the maximum jitter acceptable to the m-th message is the same as the maximum jitter acceptable to the n-th message j _m =j _n , the controller randomly selects a message to transmit first.

Step S303: configure routing path constraints according to the description information of the TT flow and the TSN network topology.

The path constraint is: when the mth message f _m passes through the link (source network node, destination network node), the routing path variable of the mth message f _m corresponding to the current link is recorded as 1; when the mth message f _m does not pass through the link (source network node, destination network node), the routing path variable of the mth message f _m corresponding to the current link is recorded as 0.

Furthermore, the path constraint variable is recorded as , the expression is as follows:

∈{0,1},/> (V _a ,V _b )∈E, /> f _m ∈F

In the formula, when the path constraint variable is recorded as =1, it means that the mth message f _m passes through the link (V _a ,V _b ); when the path constraint variable is recorded as/> =0, it means that the mth message f _m does not pass through the link (V _a ,V _b ).

Step S404: configure link constraints according to the description information of the TT flow and the TSN network topology.

The path link constraint includes a first path link constraint, a second path link constraint and a third path link constraint.

The first path link constraint is: when there is a TSN switch as a routing node in the link corresponding to the mth message f _m , the number of inbound port links of the TSN switch as the routing node should be equal to the number of outbound port links; the first path link expression is as follows:

Where _Va represents the TSN switch as the routing node. Indicates that the mth message f _m passes through the link (V _a ,V _b ),/> Indicates that the mth message f _m passes through the link (V _b , V _a ).

The second path link constraint is: the number of outbound port links of the sending terminal should be equal to the number of inbound port links of the receiving terminal and both are 1. The second path link constraint expression is as follows:

In the formula, Indicates that the mth message f _m passes through the link (s _m ,V _a ),/> It indicates that the mth message f _m passes through the link (V _b ,d _m ).

The third path link constraint is: to prevent routing loops, it is necessary to ensure that each message passes through the selected link only once. The third path link constraint expression is defined as follows:

Step S305: configure the link transmission time slot constraint according to the description information of the TT flow and the TSN network topology; the expression of the link transmission time slot constraint is as follows:

In the formula, is the starting time slot of the mth message f _m transmitted on the link (V _a ,V _b ),/> is the number of cycles that the mth message f _m takes on the link (V _a ,V _b ),/> Represents the set of natural numbers.

Step S306, configure the path scheduling constraints according to the description information of the TT flow and the TSN network topology. When selecting a routing path, it is necessary to ensure that the selected routing path meets the path scheduling constraints. The path scheduling constraints include the first path scheduling constraints,

The expression of the first path scheduling constraint is as follows:

In the formula, is an infinite constant. When the controller selects the link (V _a , V _b ), the starting time slot of the mth message f _m transmitted on the link (V _a , V _b ) is / > and the number of cycles that the mth message f _m takes on the link (V _a ,V _b )/> is a non-negative integer; when the controller does not select the link (V _a ,V _b ), the starting time slot of the mth message f _m transmitted on the link (V _a ,V _b )/> and the number of cycles that the mth message f _m takes on the link (V _a ,V _b )/> is 0.

The second path scheduling constraint considers the processing delay of the mth message f _m of the TT flow at a certain TSN switch V _a , transmission delay/> The difference between the time slot of the outbound _link and the time slot of the inbound link must be greater than or equal to the processing time of the mth message f _m at a certain TSN switch, and the expression is as follows:

In the formula, It indicates that the mth message f _m passes through the link (V _a ,V _b ).

The third path scheduling constraint is: the difference between the link time slot of the mth message f _m at the receiving terminal input port and the link time slot of the sending terminal output port is less than the difference between the maximum delay of the mth message f _m and the propagation delay of the mth message f _m on the link (V _a , V _b ); the expression is as follows:

In the formula, represents the starting time slot of the transmission of the mth message f _m on the link (V _b , d _m ),/> represents the number of cycles that the mth message f _m takes on the link (V _b , d _m ),/> represents the starting time slot of the transmission of the mth message f _m on the link (s _m ,V _a ),/> represents the number of cycles that the mth message f _m takes on the link (s _m ,V _a ),/> represents the propagation delay of the mth message f _m on the link (V _a ,V _b ).

The propagation delay of the mth message _fm on the link ( _Va , _Vb )∈E is The calculation formula is as follows:

Where send _ab represents the data sending rate on the link (V _a ,V _b ).

The fourth path scheduling constraint is: when the priority of the mth message is higher than the priority of the nth message, considering the number of message transmissions within the super period, in order to ensure the deterministic transmission of the TT flow, multiple data frames are not allowed to compete for the same channel at the same time, so it is necessary to ensure that when transmitting through the same link, the nth message is transmitted after the mth message is transmitted; the expression of the fourth path scheduling constraint is as follows:

In the formula, represents the starting time slot of the nth message f _m transmitted on the link (V _a ,V _b ),/> Representation interval The integer in the range, c _n represents the transmission period of the data frame corresponding to the nth message, /> represents the starting time slot of the mth message f _m transmitted on the link (V _a ,V _b ), μ represents the interval/> Integer in the range, /> Indicates f _m in/> The number of transmissions.

Among them, the number of transmissions of the mth message f _m within the super period is , the expression is as follows:

In the formula, _TF represents the super period, and its expression is as follows:

T _F = LCM( _cm ), f _m ∈F

Where LCM(·) represents the least common multiple of all message transmission periods, and _cm represents the transmission period of the mth message _fm .

It should be noted that in this example, the gating list is precisely controlled by time slot division based on the IEEE 802.1Qbv protocol. The gating list is driven and controlled by the transmission cycle of the TT flow. Since the transmission cycle of the TT flow is different, the controller sets the super cycle. To control the gate list loop scheduling.

Step S307, define an objective function, which is to minimize the sum of TT flow delays, and is defined as follows:

In the formula, represents the starting time slot of the transmission of the mth message f _m on the link (V _b , d _m ),/> represents the number of cycles that the mth message f _m takes on the link (V _b , d _m ),/> represents the starting time slot of the transmission of the mth message f _m on the link (s _m ,V _a ),/> It represents the number of cycles that the mth message f _m takes on the link (s _m ,V _a ).

Step S308, modeling is performed based on routing path constraints, path link constraints, link transmission time slot constraints, and path scheduling constraints, and an integer linear programming (ILP) solver is used to obtain the objective function solution that minimizes the sum of TT flow delays, and the routing path of each message in the TT flow and the transmission time slot on the routing path are obtained.

In this embodiment, the TT flow is randomly generated according to the network topology of Figure 1, two non-repeating terminals are randomly selected as the sending terminal and the receiving terminal, the frame period is a random number from 100 to 500μs, the frame size is a random number from 100 to 4000B, the flow priority is a random number from 1 to 7, the maximum delay is less than the frame period of the flow, the maximum jitter is less than 1/8 of the maximum delay, the link transmission rate is 1Gbit/s, the processing delay is between 1 and 5μs, the transmission delay is between 1 and 20μs, and the jitter of the switch processing the TT flow is less than 5μs. The IBM ILOG CPLEX Optimization Studio solver is used to solve the above integer linear programming model, and the objective function and constraints are used to solve:

,

,

The value of .

The time-sensitive network routing scheduling method provided by the present invention may further include, after step S3 and before step S4: traversing and querying whether there are any sending terminals and receiving terminals that have not been calculated, and if there are any sending terminals and receiving terminals that have not been calculated, returning to and repeating step S3, otherwise executing step S4.

Step S4: The controller configures a flow table for the TSN switch according to the routing path of each message in the TT flow, configures a gating list for the TSN switch according to the transmission time slot of each message in the TT flow, and configures a scheduling schedule for the sending terminal.

As shown in FIG. 4 , in step S4, a gating list is configured for the TSN switch according to the transmission time slot of each message in the TT stream, specifically including:

S401: The TSN configuration module of the controller calls the client (Netconf Client) to trigger the establishment of a Netconf session, establishes an SSH connection with the server (Server) of the TSN switch, and performs authentication and authorization.

S402: The controller and the TSN switch complete Netconf session establishment and capability negotiation.

S403: Send the routing path to the controller through a REST request (Representational State Transfer), and the controller sends a forwarding flow table to the TSN switch according to the routing management module.

S404: The TT stream transmission time slot is sent to the controller via a REST request. The controller calls Netconf RPC via the TSN configuration module to configure a gating list for the TSN switch.

S405: The TSN configuration module of the controller calls the client (Netconf Client) to trigger the closing of the Netconf session, and closes the SSH connection with the server (Server) of the TSN switch.

Furthermore, in step S4, the process of configuring a scheduling schedule for the sending terminal includes: the controller converts the transmission time slot on the routing path of each message in the TT stream into an XML file through the TSN configuration module, and sends it to the sending terminal through a REST request.

Correspondingly, the present application also provides an electronic device, including: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the time-sensitive network routing scheduling method as described above. As shown in FIG5, a hardware structure diagram of any device with data processing capability in which the time-sensitive network routing scheduling method provided in an embodiment of the present invention is located, in addition to the processor, memory and network interface shown in FIG5, any device with data processing capability in which the device in the embodiment is located can also include other hardware according to the actual function of the device with data processing capability, which will not be described in detail.

Accordingly, the present application also provides a computer-readable storage medium on which computer instructions are stored, and when the instructions are executed by the processor, the time-sensitive network routing scheduling method as described above is implemented. The computer-readable storage medium can be an internal storage unit of any device with data processing capabilities described in any of the aforementioned embodiments, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash card (Flash Card), etc. equipped on the device. Furthermore, the computer-readable storage medium can also include both an internal storage unit and an external storage device of any device with data processing capabilities. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capabilities, and can also be used to temporarily store data that has been output or is to be output.

Those skilled in the art will readily appreciate other embodiments of the present application after considering the description and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application. The description and examples are intended to be exemplary only.

It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims (9)

1. The time-sensitive network routing scheduling method is characterized by depending on a time-sensitive network routing scheduling network architecture and comprises a controller, a plurality of TSN switches, a plurality of transmitting terminals and a plurality of receiving terminals, wherein the TSN switches, the transmitting terminals and the receiving terminals are used as nodes and are coupled with the controller; the TSN exchanger is respectively communicated with the sending terminal and the receiving terminal; the method comprises the following steps:

The controller obtains TSN network topology according to a link layer discovery protocol;

Configuring clocks for each TSN exchanger, transmitting terminal and receiving terminal to realize time synchronization;

The controller receives a connection request sent by a sending terminal, wherein the connection request comprises description information of TT flow; configuring transmission priority of each message according to the description information of the TT flow, and configuring route path constraint, path link constraint, link transmission time slot constraint and path scheduling constraint based on TSN network topology, aiming at minimizing the sum of delays in the TT flow, and solving to obtain a route path of each message in the TT flow and a transmission time slot on the route path;

the path scheduling constraint comprises a first path scheduling constraint, a second path scheduling constraint, a third path scheduling constraint and a fourth path scheduling constraint;

The first path scheduling constraint is: when the controller selects the link (V _a,V_b), the starting time slot of the transmission of the mth message f _m on the link (V _a,V_b) and the cycle number time of the mth message f _m on the link (V _a,V_b) are non-negative integers; when the controller does not select the link (V _a,V_b), the starting time slot of the transmission of the mth message f _m on the link (V _a,V_b) and the cycle number time that the mth message f _m has undergone on the link (V _a,V_b) are 0;

The second path scheduling constraint is: the difference between the time slot of the exit port link and the time slot of the entry port link of the mth message f _m at a certain TSN switch is greater than or equal to the processing time of the mth message f _m at a certain TSN switch; wherein the processing time of the mth message f _m at a certain TSN switch takes into account the processing delay, transmission delay, and jitter of the mth message f _m at a certain TSN switch;

The third path scheduling constraint is: the difference between the link time slot of the m-th message f _m at the receiving terminal ingress port and the link time slot of the transmitting terminal egress port is less than the difference between the maximum delay of the m-th message f _m and the propagation delay of the m-th message f _m on the link (V _a,V_b);

The fourth path scheduling constraint is: when the priority of the mth message is higher than that of the nth message, considering the transmission times of the message in the overcycle, and ensuring that the nth message is transmitted after the transmission of the mth message is completed when the mth message is transmitted through the same link;

The controller configures a flow table for the TSN switch according to the route path of each message in the TT flow, configures a gating list for the TSN switch according to the transmission time slot of each message in the TT flow, and configures a scheduling time table for the sending terminal.

2. The method of claim 1, wherein the controller obtaining the TSN network topology according to a link layer discovery protocol comprises:

the controller sends a stream modification message to all TSN switches; the TSN switch sets a stream table item to match with the LLDP message and sends the matched LLDP message to the controller;

the controller constructs a detection frame containing the equipment number of the first TSN switch, constructs an LLDP message and sends the LLDP message to the first TSN switch;

Broadcasting the LLDP message after the first TSN switch receives the LLDP message; after the second TSN exchanger receives the LLDP message, the LLDP message is packaged into a report data packet, and the report data packet is uploaded to the controller;

The controller constructs a directed edge according to the uploaded report data packet, and marks the directed edge as a first TSN switch and a second TSN switch; and by analogy, the controller sends LLDP messages to all the switches, and builds TSN network topology according to the acquired report data packets.

3. The method for scheduling time-sensitive network routing according to claim 1, wherein the controller receives a TT stream transmitted by the transmitting terminal, denoted as f= (F ₁,f₂,f₃,……,f_m,……,f_N), m e 1, N being the number of messages; each message f _m includes: the sending terminal, the receiving terminal, the frame period of message f _m, the frame size of message f _m, the priority sp _m of message f _m, the maximum delay of message f _m and the maximum jitter acceptable to message f _m.

4. A time-sensitive network routing method according to claim 1 or 3, wherein configuring the transmission priority of each message according to the description information of the TT stream comprises:

when the priority of the m-th message is higher than that of the n-th message, the controller arranges the m-th message before the n-th message for transmission;

when the priority of the mth message is the same as that of the nth message, if the transmission period of the data frame corresponding to the mth message is greater than that of the data frame corresponding to the nth message, the controller arranges the mth message before the nth message for transmission;

When the priority of the mth message is the same as the priority of the nth message and the transmission period of the data frame corresponding to the mth message is the same as the transmission period of the data frame corresponding to the nth message, if the maximum delay of the data frame corresponding to the mth message is smaller than the maximum delay of the data frame corresponding to the nth message, the controller arranges the mth message before the nth message for transmission;

When the priority of the mth message is the same as that of the nth message, the transmission period of the data frame corresponding to the mth message is the same as that of the data frame corresponding to the nth message, the maximum delay of the data frame corresponding to the mth message is the maximum delay of the data frame corresponding to the nth message, and if the maximum jitter acceptable by the mth message is less than the maximum jitter acceptable by the nth message, the controller arranges the mth message in the stream before the nth message for transmission; if the maximum jitter acceptable by the mth message is the same as the maximum jitter acceptable by the nth message, the controller randomly selects a message to be transmitted first.

5. The method for scheduling time-sensitive network routing according to claim 1, wherein the routing path constraint is:

When the mth message f _m passes through the link (source network node, destination network node), the routing path variable of the mth message f _m corresponding to the current link is recorded as 1;

When the mth message f _m does not pass through a link (source network node, destination network node), the routing path variable of the mth message f _m corresponding to the current link is recorded as 0.

6. The method of claim 1, wherein the path link constraints include a first path link constraint, a second path link constraint, and a third path link constraint;

The first path link constraint is: when the TSN switch as the route flow node exists in the link corresponding to the mth message f _m, the number of the incoming port links of the TSN switch as the route flow node should be equal to the number of the outgoing port links;

the second path link constraint is: the number of the outgoing port links of the sending terminal should be equal to the number of the incoming port links of the receiving terminal and be 1;

the third path link constraint is: the selected link passes each message only once.

7. The method for scheduling time-sensitive network routing of claim 1, wherein the link transmission slot constraint is expressed as follows:

In the method, in the process of the invention, For the beginning time slot of the transmission of the mth message f _m over the link (V _a,V_b)/>For the cycle number time experienced by the mth message f _m on the link (V _a,V_b)/>Representing a natural number set.

8. An electronic device comprising a memory and a processor, wherein the memory is coupled to the processor; wherein the memory is configured to store program data and the processor is configured to execute the program data to implement the time-sensitive network routing scheduling method of any one of the preceding claims 1-7.

9. A computer readable storage medium having stored thereon a computer program, wherein the program when executed by a processor implements a time-sensitive network routing scheduling method according to any of claims 1-7.