CN118233387A - Message transmission method, vehicle-mounted gateway and storage medium - Google Patents
Message transmission method, vehicle-mounted gateway and storage medium Download PDFInfo
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Abstract
The application relates to a message transmission method, a vehicle-mounted gateway and a storage medium, wherein the method comprises the following steps: under the condition that a message to be transmitted is required to be transmitted, a message identifier corresponding to the message to be transmitted is obtained; determining a target mask corresponding to a message to be transmitted according to the message identifier; determining a target filter channel corresponding to the target mask from N.M filter channels based on the pre-configured parameter information of each filter channel, wherein the pre-configured parameter information of each filter channel is used for representing the mask corresponding to each filter channel; and transmitting the message to be transmitted by using the target filtering channel. Therefore, the number of channels for transmitting messages is increased from N to N.M, so that the message transmission quantity of each filtering channel is reduced, the problem of packet loss caused by overlarge number of messages in the same channel in the prior art is solved, important data loss is effectively prevented on the premise of not increasing the hardware cost of the vehicle-mounted gateway, and the safety of vehicles is improved.
Description
Technical Field
The present application relates to the field of bus communications technologies, and in particular, to a message transmission method, a vehicle gateway, and a storage medium.
Background
At present, messages among electronic control units (Electronic Control Unit, ECU for short) on a vehicle are mainly transmitted through a vehicle-mounted gateway, and the whole vehicle control can be realized in this way.
However, in the prior art, physical channels of each controller area network (Controller Area Network, abbreviated as CAN) in the vehicle gateway are respectively set corresponding to one logic channel, and when the vehicle gateway needs to transmit a message, one logic channel is selected from the plurality of logic channels for transmission. However, because the number of the logic channels is small, when the vehicle-mounted gateway receives a large number of messages or needs to send a large number of messages, the number of the messages in the same logic channel is easily excessive to cause congestion, so that a large number of packet losses occur, important data are easily lost, and the safety of a vehicle is reduced. Therefore, on the premise of not increasing the hardware cost of the vehicle-mounted gateway, how to effectively prevent data loss is a technical problem to be solved.
Disclosure of Invention
The application provides a message transmission method, a vehicle-mounted gateway and a storage medium, which are used for solving the problem that the existing message transmission mode is extremely easy to cause important data loss, so that the safety of a vehicle is reduced.
In a first aspect, an embodiment of the present application provides a message transmission method, applied to a vehicle gateway, where the vehicle gateway is provided with N logic channels and n×m filter channels, where each logic channel in the N logic channels is set corresponding to M filter channels, and N and M are integers greater than 1, and the method includes:
Under the condition that a message to be transmitted is required to be transmitted, a message identifier corresponding to the message to be transmitted is obtained;
Determining a target mask corresponding to the message to be transmitted according to the message identifier;
Determining a target filter channel corresponding to the target mask from the n×m filter channels based on pre-configured parameter information of each filter channel, where the pre-configured parameter information of each filter channel is used to characterize the mask corresponding to each filter channel;
And transmitting the message to be transmitted by using the target filtering channel.
Optionally, the determining, according to the message identifier, a target mask corresponding to the message to be transmitted includes:
Traversing each mask in the N x M masks in sequence, and performing AND operation on the mask traversed currently and the message identifier to obtain a first operation result, wherein the N x M masks are in one-to-one correspondence with the N x M filter channels, and each mask in the N x M masks and the message identifier have the same data length;
Determining whether the first operation result is matched with a mask traversed currently;
And determining the mask traversed currently as the target mask under the condition that the first operation result is matched with the mask traversed currently.
Optionally, before determining, from the n×m filter channels, a target filter channel corresponding to the target mask based on the parameter information of each preconfigured filter channel, the method further includes:
Determining the total number of all first messages from a target logic channel from preconfigured first routing information, and determining the total number of all second messages from the target logic channel from preconfigured second routing information, wherein the target logic channel is any one channel of the N logic channels, the first messages are messages needing to be analyzed by the vehicle-mounted gateway, and the second messages are messages directly forwarded by the vehicle-mounted gateway;
Acquiring the total number of first filtering channels and the total number of second filtering channels corresponding to the target logic channels, wherein the first filtering channels are used for transmitting the first message, and the second filtering channels are used for transmitting the second message;
Determining the message identification of the first message corresponding to each first filtering channel according to the total number of the first messages and the total number of the first filtering channels, and determining the message identification of the second message corresponding to each second filtering channel according to the total number of the second messages and the total number of the second filtering channels;
calculating to obtain a mask corresponding to each first filtering channel by using a message identifier of a first message corresponding to each first filtering channel, and calculating to obtain a mask corresponding to each second filtering channel by using a message identifier of a second message corresponding to each second filtering channel;
and configuring and obtaining parameter information of each filtering channel corresponding to the target logic channel based on the mask corresponding to each first filtering channel and the mask corresponding to each second filtering channel.
Optionally, the determining, according to the total number of the first messages and the total number of the first filtering channels, a message identifier of a first message corresponding to each first filtering channel includes:
determining whether the total number of the first messages can be divided by the total number of the first filtering channels;
determining the number of the first messages contained in each first filtering channel as a first numerical value under the condition that the total number of the first messages is divided by the total number of the first filtering channels, wherein the first numerical value is the quotient of the total number of the first messages and the total number of the first filtering channels;
determining the number of the first messages contained in each first filtering channel as a second value under the condition that the total number of the first messages is not divided by the total number of the first filtering channels, wherein the second value is the quotient of the total number of the first messages and the total number of the first filtering channels plus 1;
and sequentially distributing the first message to each first filtering channel according to the first value or the second value to obtain a message identifier of the first message corresponding to each first filtering channel.
Optionally, the calculating, by using the packet identifier of the first packet corresponding to each first filtering channel, a mask corresponding to each first filtering channel includes:
k message identifiers corresponding to k first messages contained in a third filtering channel are obtained, wherein the third filtering channel is any filtering channel in the first filtering channels, and k is equal to the first numerical value or the second numerical value;
Performing exclusive OR operation on a first message identifier in the k message identifiers and other k-1 message identifiers respectively to obtain k-1 second operation results;
Performing inverse operation on each second operation result in the k-1 second operation results to obtain k-1 third operation results;
and performing AND operation on the k-1 third operation results to obtain a fourth operation result, and determining the fourth operation result as a mask corresponding to the third filtering channel.
Optionally, the determining, according to the total number of the second messages and the total number of the second filtering channels, a message identifier of a second message corresponding to each second filtering channel includes:
Determining whether the total number of the second messages can be divided by the total number of the second filtering channels;
Determining the number of the second messages contained in each second filtering channel as a third value under the condition that the total number of the second messages is divided by the total number of the second filtering channels, wherein the third value is the quotient of the total number of the second messages and the total number of the second filtering channels;
Determining the number of the second messages contained in each second filtering channel as a fourth value under the condition that the total number of the second messages is not divided by the total number of the second filtering channels, wherein the fourth value is the quotient of the total number of the second messages and the total number of the second filtering channels plus 1;
And distributing the second message to each second filtering channel in turn according to the third value or the fourth value to obtain a message identifier of the second message corresponding to each second filtering channel.
Optionally, the calculating, by using the packet identifier of the second packet corresponding to each second filtering channel, a mask corresponding to each second filtering channel includes:
H message identifiers corresponding to h second messages contained in a fourth filtering channel are obtained, wherein the fourth filtering channel is any filtering channel in the second filtering channels, and h is equal to the third numerical value or the fourth numerical value;
performing exclusive OR operation on the first message identifier in the h message identifiers and other h-1 message identifiers respectively to obtain h-1 fifth operation results;
Performing inverse operation on each fifth operation result in the h-1 fifth operation results to obtain h-1 sixth operation results;
And performing AND operation on the h-1 sixth operation results to obtain a seventh operation result, and determining the seventh operation result as a mask corresponding to the fourth filtering channel.
Optionally, after the transmitting the message to be transmitted by using the target filtering channel, the method further includes:
under the condition that the transmission of the message to be transmitted fails, storing the message to be transmitted into a preset storage area;
Extracting the messages in the preset storage area at each interval for a preset time length, and transmitting the extracted messages again by utilizing a filtering channel matched with the message identification of the extracted messages, wherein the messages in the preset storage area comprise the messages to be transmitted.
In a second aspect, an embodiment of the present application further provides a vehicle-mounted gateway, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
A memory for storing a computer program;
And the processor is used for realizing the message transmission method according to any one of the first aspect when executing the program stored in the memory.
In a third aspect, an embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, the computer program implementing the method for transmitting a message according to any one of the first aspects when being executed by a processor.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: according to the method provided by the embodiment of the application, under the condition that the message to be transmitted is required to be transmitted, the message identifier corresponding to the message to be transmitted is obtained; determining a target mask corresponding to the message to be transmitted according to the message identifier; determining a target filter channel corresponding to the target mask from the n×m filter channels based on pre-configured parameter information of each filter channel, where the pre-configured parameter information of each filter channel is used to characterize the mask corresponding to each filter channel; and transmitting the message to be transmitted by using the target filtering channel. By the method, the number of channels for transmitting the messages is increased from N to N, so that the message transmission quantity of each filtering channel is reduced, the problem of packet loss caused by overlarge number of messages in the same channel in the prior art is solved, important data loss is effectively prevented on the premise of not increasing the hardware cost of the vehicle-mounted gateway, and the safety of vehicles is improved. In addition, as the number M of the filtering channels corresponding to each logic channel can be flexibly adjusted according to actual needs, the expandability is strong; in addition, the scheme mainly improves the application layer of the vehicle-mounted gateway, can be decoupled with the driving layer of the vehicle-mounted gateway, reduces the coupling, has good platform compatibility, and can realize cross-platform compatibility.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
Fig. 1 is a flow chart of a message transmission method according to an embodiment of the present application;
fig. 2 is a schematic diagram of a vehicle gateway according to an embodiment of the present application;
Fig. 3 is a schematic diagram of a vehicle gateway provided in the prior art;
Fig. 4 is a schematic flow chart of determining a target mask corresponding to a message to be transmitted according to an embodiment of the present application;
FIG. 5 is a schematic diagram of determining parameter information of each first filtering channel according to an embodiment of the present application;
FIG. 6 is a schematic diagram of determining parameter information of each second filtering channel according to an embodiment of the present application;
FIG. 7 is a schematic diagram of determining a mask corresponding to each second filtering channel according to an embodiment of the present application;
fig. 8 is a flow chart of another message transmission method according to an embodiment of the present application;
Fig. 9 is a schematic structural diagram of a message transmission device according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a vehicle gateway according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The following disclosure provides many different embodiments, or examples, for implementing different structures of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
In order to solve the problem that the existing message transmission mode is extremely easy to cause important data loss and reduce the safety of a vehicle, the application provides a message transmission method, a vehicle-mounted gateway and a storage medium, which can prevent data loss and improve the safety of the vehicle.
Referring to fig. 1, fig. 1 is a schematic flow chart of a message transmission method according to an embodiment of the present application. As shown in fig. 1, the message transmission method is applied to a vehicle gateway, the vehicle gateway is provided with N logic channels and n×m filter channels, where each logic channel in the N logic channels is set corresponding to the M filter channels, and N and M are integers greater than 1, and the method may include the following steps:
Step 101, under the condition that a message to be transmitted needs to be transmitted, a message identifier corresponding to the message to be transmitted is obtained.
It should be noted that, the message transmission method provided by the embodiment of the present application is applied to a vehicle gateway, where the vehicle gateway is provided with N logic channels and n×m filtering channels, where each logic channel in the N logic channels is configured corresponding to M filtering channels, and each logic channel in the N logic channels is configured corresponding to one physical channel, as shown in fig. 2. The values of N and M may be set according to practical situations, and the embodiment of the present application is not specifically limited. In the conventional vehicle gateway, each of the N logic channels is set corresponding to one physical channel, and n×m filtering channels are not involved, as shown in fig. 3. Therefore, the vehicle-mounted gateway has more channels compared with the traditional vehicle-mounted gateway.
Specifically, the message to be transmitted may be any data message flowing through the vehicle gateway, and the message identifier corresponding to the message to be transmitted refers to unique identifier information of the message, such as CAN ID. When the message identifier corresponding to the message to be transmitted is obtained, the message to be transmitted can be analyzed, and the message identifier corresponding to the identifier bit of the message to be transmitted is obtained.
Step 102, determining a target mask corresponding to the message to be transmitted according to the message identifier.
In this step, the message identifier corresponding to the message to be transmitted may be calculated according to a preset calculation rule, so as to obtain a target mask corresponding to the message to be transmitted, and further facilitate the subsequent determination of the filtering channel for transmitting the message to be transmitted by using the target mask corresponding to the message to be transmitted.
And 103, determining a target filter channel corresponding to the target mask from the N x M filter channels based on the pre-configured parameter information of each filter channel, wherein the pre-configured parameter information of each filter channel is used for representing the mask corresponding to each filter channel.
Specifically, each filtering channel corresponds to a mask, and each filtering channel may be used to transmit a plurality of packets identified by the packet. The above-described parameter information of each filter channel configured in advance may be used to characterize a mask corresponding to each filter channel.
In this step, the target mask may be matched with a mask in parameter information of each pre-configured filter channel, so as to determine a target filter channel corresponding to the target mask.
Step 104, transmitting the message to be transmitted by using the target filtering channel.
After the target filtering channel is determined, the message to be transmitted can be transmitted by using the target filtering channel.
In this embodiment, the number of channels for transmitting the message is increased from N to n×m, so that the message transmission amount of each filtering channel is reduced, and further the problem of packet loss caused by too large number of messages in the same channel in the prior art is solved, so that important data loss is effectively prevented on the premise of not increasing the hardware cost of the vehicle-mounted gateway, and thus the safety of the vehicle is improved.
Further, the step 102 of determining, according to the message identifier, a target mask corresponding to the message to be transmitted includes:
Traversing each mask in the N.M masks in sequence, and performing AND operation on the mask traversed currently and the message identifier to obtain a first operation result, wherein the N.M masks are in one-to-one correspondence with the N.M filter channels, and each mask in the N.M masks and the message identifier have the same data length;
Determining whether the first operation result is matched with the mask traversed currently;
And determining the mask traversed currently as a target mask in the case that the first operation result is determined to be matched with the mask traversed currently.
In an embodiment, as shown in fig. 4, when determining a target mask corresponding to a message to be transmitted, each mask of the n×m masks may be traversed in turn, and a first operation result is obtained by performing an and operation on a message identifier corresponding to the message to be transmitted and a currently traversed mask, then, whether the first operation result matches the currently traversed mask (i.e., whether the first operation result is equal to the currently traversed mask is determined), if the first operation result matches the currently traversed mask (i.e., the first operation result is equal to the currently traversed mask), it indicates that the matching between the message to be transmitted and the currently traversed mask is successful, and the currently traversed mask may be determined as the target mask. If the first operation result is not matched with the mask which is currently traversed (i.e. the first operation result is not equal to the mask which is currently traversed), the fact that the matching between the message to be transmitted and the mask which is currently traversed fails is indicated, the next mask is continuously traversed, and the next mask and the message identifier corresponding to the message to be transmitted are subjected to AND operation to obtain a new first operation result, then whether the new first operation result is matched with the next mask is judged, and the steps are sequentially circulated until the target mask corresponding to the message to be transmitted is found out from N.M masks.
For example, assuming that the message identifier corresponding to the message to be transmitted is converted into a binary string 11110101110101110101111101111111 with 32 bits, and the binary string corresponding to the mask currently traversed is 11110101110101010101111100001111, after the two are subjected to the and operation, the first operation result is 11110101110101010101111100001111 (the same as the mask currently traversed), the first operation result is matched with the mask currently traversed. For another example, assume that the message identifier corresponding to the message to be transmitted is converted into a binary string 11110101110101010101111100001110 with 32 bits, and the binary string corresponding to the mask currently traversed is 11110101110101010101111100001111, and after the two are subjected to the and operation, the first operation result is 11110101110101010101111100001110 (different from the mask currently traversed), which indicates that the first operation result is not matched with the mask currently traversed.
Through the mode, the vehicle-mounted gateway can rapidly and accurately determine the mask corresponding to each message, and further determine the filter channels corresponding to each message according to the mask, so that the vehicle-mounted gateway can conveniently and subsequently transmit all messages to be transmitted by using each filter channel, important data loss is effectively prevented, and the safety of a vehicle is improved.
Further, before determining the target filter channel corresponding to the target mask from the n×m filter channels based on the pre-configured parameter information of each filter channel in step 103, the method further includes:
Determining the total number of all first messages from a target logic channel from preconfigured first routing information, and determining the total number of all second messages from the target logic channel from preconfigured second routing information, wherein the target logic channel is any one of N logic channels, the first messages are messages needing to be analyzed by a vehicle gateway, and the second messages are messages directly forwarded by the vehicle gateway;
acquiring the total number of first filtering channels and the total number of second filtering channels corresponding to the target logic channels, wherein the first filtering channels are used for transmitting first messages, and the second filtering channels are used for transmitting second messages;
Determining the message identification of the first message corresponding to each first filtering channel according to the total number of the first messages and the total number of the first filtering channels, and determining the message identification of the second message corresponding to each second filtering channel according to the total number of the second messages and the total number of the second filtering channels;
Calculating to obtain masks corresponding to the first filtering channels by using the message identifications of the first messages corresponding to the first filtering channels, and calculating to obtain masks corresponding to the second filtering channels by using the message identifications of the second messages corresponding to the second filtering channels;
and configuring and obtaining parameter information of each filtering channel corresponding to the target logic channel based on the mask corresponding to each first filtering channel and the mask corresponding to each second filtering channel.
In an embodiment, the filtering channels in each logic channel may be divided into a first filtering channel and a second filtering channel according to different message types, so that the first filtering channel is used to transmit a first message, and the second filtering channel is used to transmit a second message. Specifically, the total number of all the first messages from the target logic channel can be determined from the preconfigured first routing information, the total number of all the second messages from the target logic channel can be determined from the preconfigured second routing information, the total number of the first filtering channels and the total number of the second filtering channels corresponding to the target logic channel can be obtained, then the message identification of the first messages corresponding to each first filtering channel can be determined according to the total number of the first messages and the total number of the first filtering channels, and the message identification of the second messages corresponding to each second filtering channel can be determined according to the total number of the second messages and the total number of the second filtering channels. Then, the mask corresponding to each first filtering channel can be obtained by calculating the message identifier of the first message corresponding to each first filtering channel, and the mask corresponding to each second filtering channel can be obtained by calculating the message identifier of the second message corresponding to each second filtering channel. Finally, the parameter information of each filtering channel corresponding to the target logic channel can be configured and obtained based on the mask corresponding to each first filtering channel and the mask corresponding to each second filtering channel.
It should be noted that the sum of the total number of the first filtering channels and the total number of the second filtering channels is less than or equal to n×m. For example, assuming that 32 filter channels are provided for a certain logic channel, 22 filter channels of the 32 filter channels may be used as a first filter channel and 10 filter channels of the 32 filter channels may be used as a second filter channel for each logic channel; it is also possible to take 20 of these 32 filter channels as the first filter channel, 8 of these 32 filter channels as the second filter channel, etc. The total number of the first filtering channels and the total number of the second filtering channels are set by a developer according to requirements in the early stage of configuration.
The parameter information of each filter channel may be represented by a form of a structure. As an alternative embodiment, the following codes may be used to define the structure body of each filtering channel at the application layer and the driving layer of the vehicle gateway, which is specifically as follows:
structure of filtering channel of application layer
typedef struct
{
Uint 32_tcan_ fileter _id;// Filter channel ID
Uint 32_tcan_filter_ maskid;// mask
Uin8_tcan_filter_num;// filter channel sequence number
Uin8_tid;// frame format 0 standard frame, 1 extended frame
Uint8_ttype;// frame type: 0. a data frame; 1. remote frames
Bootca_filter_activation;// whether the filter channel is enabled, default to enabled
} can_filter_cfg_t;
Structure of filtering channel of driving layer
typedef struct {
Uint 32_tid;/. Times.filter channel ID
Boolean isused if/ID is configured
} filter_t;
typedef struct {
Filter t idcbt spc5_can_max_ RCVMB;// ID parameter attribute///spc5_can_ RCVMB
Uint32_ tscreenid _last;/as a reserved one-way filter mask id
} can_filter_t;
It can be seen that the mask corresponding to the filtering channel and other information such as the filtering channel ID, the filtering channel number, the frame format, the frame type, etc. are defined in the structure.
Through the method, the parameter information of each filtering channel corresponding to each logic channel can be determined, the filtering channel corresponding to each message can be conveniently determined by using the parameter information, and the message transmission is performed by using the corresponding filtering channel.
Further, the step of determining the message identifier of the first message corresponding to each first filtering channel according to the total number of the first messages and the total number of the first filtering channels includes:
determining whether the total number of the first messages can be divided by the total number of the first filtering channels;
Under the condition that the total number of the first messages is determined to be divisible by the total number of the first filtering channels, determining the number of the first messages contained in each first filtering channel as a first numerical value, wherein the first numerical value is the quotient of the total number of the first messages and the total number of the first filtering channels;
Under the condition that the total number of the first messages is not divided by the total number of the first filtering channels, determining the number of the first messages contained in each first filtering channel as a second numerical value, wherein the second numerical value is the quotient of the total number of the first messages and the total number of the first filtering channels plus 1;
And sequentially distributing the first messages to each first filtering channel according to the first numerical value or the second numerical value to obtain message identifiers of the first messages corresponding to each first filtering channel.
In an embodiment, the message identifier of the first message corresponding to each first filtering channel may be determined according to the total number of the first messages and the total number of the first filtering channels. Specifically, it may be determined whether the total number of the first packets is divisible by the total number of the first filtering channels, if the total number of the first packets is divisible by the total number of the first filtering channels, the number of the first packets contained in each first filtering channel may be determined as the first value, and if the total number of the first packets is not divisible by the total number of the first filtering channels, the number of the first packets contained in each first filtering channel may be determined as the second value. And finally, according to the first numerical value or the second numerical value, sequentially distributing the first messages to each first filtering channel to obtain message identifiers of the first messages corresponding to each first filtering channel.
For example, as shown in fig. 5, assuming that the total number of the first filtering channels is 22, it may be determined whether the total number of the first packets is divisible by 22, and if the total number of the first packets is divisible by 22, the number of the first packets allocable to each filtering channel corresponding to the target logical channel= (total number of the first packets/22); if the total number of the first messages is not divisible by 22, the number of the first messages allocable for each filtering channel corresponding to the target logic channel= (total number of the first messages/22) +1. And then distributing each first message to the corresponding first filtering channel in sequence, so that the message identification of the first message corresponding to each first filtering channel can be obtained.
By the method, the message identification of the first messages corresponding to the first filtering channels can be rapidly determined according to the total number of the first messages and the total number of the first filtering channels, and the number of the first messages distributed to each first filtering channel is relatively average, so that the first messages from the target logic channel are distributed to each first filtering channel evenly for transmission, and congestion is avoided.
Further, the step of calculating, by using the packet identifier of the first packet corresponding to each first filtering channel, a mask corresponding to each first filtering channel includes:
K message identifiers corresponding to k first messages contained in a third filtering channel are obtained, wherein the third filtering channel is any filtering channel in the first filtering channels, and k is equal to a first numerical value or a second numerical value;
performing exclusive OR operation on a first message identifier in the k message identifiers and other k-1 message identifiers respectively to obtain k-1 second operation results;
Performing inverse operation on each second operation result in the k-1 second operation results to obtain k-1 third operation results;
and performing AND operation on the k-1 third operation results to obtain a fourth operation result, and determining the fourth operation result as a mask corresponding to the third filtering channel.
In an embodiment, k message identifications corresponding to k first messages contained in a certain first filtering channel can be obtained, then the first message identifications in the k message identifications are respectively exclusive-ored with other k-1 message identifications to obtain k-1 second operation results, then each second operation result in the k-1 second operation results is subjected to inverse operation to obtain k-1 third operation results, then k-1 third operation results are subjected to AND operation to obtain a fourth operation result, and the fourth operation result is used as a mask of the first filtering channel. For example, assuming that 4 message identifiers are corresponding to a certain first filtering channel and are respectively represented by CAN ID1, CAN ID2, CAN ID3 and CAN ID4, at this time, CAN ID1 and CAN ID2, CAN ID3 and CAN ID4 may be first xored, then the results of the 3 xored operations are respectively inverted, so as to obtain 3 third operation results, and then the 3 third operation results are subjected to and operation, so as to obtain a mask.
By the method, the mask corresponding to each first filtering channel can be determined by using the message identifier corresponding to each first filtering channel.
Further, the step of determining the message identifier of the second message corresponding to each second filtering channel according to the total number of the second messages and the total number of the second filtering channels includes:
determining whether the total number of the second messages can be divided by the total number of the second filtering channels;
under the condition that the total number of the second messages is determined to be divisible by the total number of the second filtering channels, determining the number of the second messages contained in each second filtering channel as a third numerical value, wherein the third numerical value is the quotient of the total number of the second messages and the total number of the second filtering channels;
Under the condition that the total number of the second messages is not divided by the total number of the second filtering channels, determining the number of the second messages contained in each second filtering channel as a fourth value, wherein the fourth value is the quotient of the total number of the second messages and the total number of the second filtering channels plus 1;
And sequentially distributing the second messages to each second filtering channel according to the third numerical value or the fourth numerical value to obtain message identifiers of the second messages corresponding to each second filtering channel.
In an embodiment, the message identifier of the second message corresponding to each second filtering channel may be determined according to the total number of the second messages and the total number of the second filtering channels. Specifically, it may be determined whether the total number of the second packets is divisible by the total number of the second filtering channels, if the total number of the second packets is divisible by the total number of the second filtering channels, the number of the second packets included in each second filtering channel may be determined as the third value, and if the total number of the second packets is not divisible by the total number of the second filtering channels, the number of the second packets included in each second filtering channel may be determined as the fourth value. And finally, sequentially distributing the second messages to each second filtering channel according to the third numerical value or the fourth numerical value to obtain message identifiers of the second messages corresponding to each second filtering channel.
For example, as shown in fig. 6, assuming that the total number of second filtering channels is 10, it may be determined whether the total number of second packets is divisible by 10, and if the total number of second packets is divisible by 10, the number of second packets allocable per second filtering channel corresponding to the target logical channel= (total number of second packets/10); if the total number of the second messages is not divisible by 10, the number of second messages allocable for each second filtering channel corresponding to the target logic channel= (total number of second messages/10) +1. And then distributing each second message to the corresponding second filtering channels in sequence, so that the message identification of the second message corresponding to each second filtering channel can be obtained.
By the method, the message identification of the second messages corresponding to the second filtering channels can be rapidly determined according to the total number of the second messages and the total number of the second filtering channels, and the second messages from the target logic channels are distributed to be more evenly distributed to the second filtering channels for transmission, so that congestion is avoided.
Further, using the message identifier of the second message corresponding to each second filtering channel, calculating to obtain a mask corresponding to each second filtering channel, including:
H message identifiers corresponding to h second messages contained in a fourth filtering channel are obtained, wherein the fourth filtering channel is any filtering channel in the second filtering channels, and h is equal to a third numerical value or a fourth numerical value;
performing exclusive OR operation on the first message identifier in the h message identifiers and other h-1 message identifiers respectively to obtain h-1 fifth operation results;
inverting each fifth operation result in the h-1 fifth operation results to obtain h-1 sixth operation results;
And performing AND operation on the h-1 sixth operation results to obtain a seventh operation result, and determining the seventh operation result as a mask corresponding to the fourth filtering channel.
In an embodiment, h message identifications corresponding to h second messages included in a certain second filtering channel can be obtained, then exclusive-or operation is performed on a first message identification in the h message identifications and other h-1 message identifications respectively to obtain h-1 fifth operation results, then inverse operation is performed on each fifth operation result in the h-1 fifth operation results to obtain h-1 sixth operation results, and then AND operation is performed on the h-1 sixth operation results to obtain a seventh operation result, and the seventh operation result is determined as a mask corresponding to the second filtering channel, as shown in fig. 7. For example, assuming that 4 message identifiers are corresponding to a certain second filtering channel and are respectively represented by CAN ID1, CAN ID2, CAN ID3 and CAN ID4, at this time, CAN ID1 and CAN ID2, CAN ID3 and CAN ID4 may be first xored, then the results of the 3 xored operations are respectively inverted, so as to obtain 3 third operation results, and then the 3 third operation results are subjected to and operation, so as to obtain a mask.
By the method, the mask corresponding to each second filtering channel can be determined by using the message identifier corresponding to each second filtering channel.
Further, after the step 104 of transmitting the message to be transmitted by using the target filtering channel, the method further includes:
under the condition that the transmission of the message to be transmitted fails, the message to be transmitted is stored in a preset storage area;
extracting messages in a preset storage area at intervals of preset time length, and transmitting the extracted messages again by utilizing a filtering channel matched with the message identification of the extracted messages, wherein the messages in the preset storage area comprise messages to be transmitted.
In an embodiment, when the message is transmitted by using the filtering channel, if the message is failed to be transmitted, the message with the failed transmission may be stored in a preset storage area (such as a memory of the vehicle gateway, or other storage areas, etc.). And extracting the messages in the preset storage area at intervals of preset time length, and transmitting the extracted messages again by utilizing a filtering channel matched with the message identification of the extracted messages, wherein the filtering channel is used for filtering the messages in the preset storage area. In this way, important data can be further prevented from being lost, and the safety of the vehicle is improved.
Referring to fig. 8, fig. 8 is a flow chart of another message transmission method according to an embodiment of the present application. As shown in fig. 8, the method includes the steps of:
step 801, after receiving a message of a specific logic channel, performing characteristic function processing on the message.
The characteristic function processing comprises CAN conversion LIN, DOCAN conversion DOIP, overtime processing and the like.
Step 802, when the message is ready to be sent, a message identification determination mask of the message is calculated.
Step 803, determining a filtering channel according to the mask.
Step 804, transmitting the message through the filtering channel.
Step 805, determine whether the message is successfully transmitted.
If the message transmission is successful, ending the flow; if the message transmission fails, step 806 is performed.
Step 806, storing the message in a flash.
Step 807, turning on the message sending timing function.
The duration of the timing function may be set according to actual needs, such as 10 ms.
Step 808, judging whether a message exists in the flash.
If there is a message in the flash, step 809 is performed. If there is no message in the flash, step 809 is ignored.
Step 809, extracting the messages from the flash in turn.
In the embodiment, by configuring a plurality of filtering channels for each logic channel, the filtering channels are rapidly positioned in a mask mode, the time complexity is low, the flash is written in the message with the failure transmission, and the timer calls the transmission method, so that the risk of data loss of CAN communication is greatly reduced, meanwhile, the hardware cost is not consumed, and the economic timeliness is high. Specifically, the method has the following beneficial effects:
(1) High efficiency performance: the application CAN reduce the probability of CAN communication packet loss by a method of adding a filter on a software level on the basis of not changing hardware.
(2) The expandability is strong: the method CAN adapt to the CAN communication channels of the multipath vehicle-mounted gateway, has no influence on CAN routing, and is easy to add new functions and modify.
(3) Has good modularization and structuring: because the functional point of the application is embodied in the application layer of the software layer, the functional point can be decoupled with the driving layer, the coupling property is reduced, and the cohesiveness is improved.
(4) Cross-platform compatibility: the application has good platform compatibility and can operate on different hardware chips.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a message transmission device according to an embodiment of the present application. As shown in fig. 9, the message transmission device 900 is applied to a vehicle gateway, the vehicle gateway is provided with N logic channels and n×m filter channels, where each logic channel in the N logic channels is set corresponding to the M filter channels, and N and M are integers greater than 1, and the device 900 includes:
The first obtaining module 901 is configured to obtain a message identifier corresponding to a message to be transmitted when the message to be transmitted is required to be transmitted;
a first determining module 902, configured to determine, according to the message identifier, a target mask corresponding to a message to be transmitted;
a second determining module 903, configured to determine, from n×m filter channels, a target filter channel corresponding to the target mask, where the parameter information of each filter channel is configured to characterize the mask corresponding to each filter channel;
a transmitting module 904, configured to transmit a message to be transmitted by using the target filtering channel.
Further, the first determining module 902 includes:
the traversal submodule is used for traversing each mask in the N x M masks in sequence, performing AND operation on the mask currently traversed and the message identifier to obtain a first operation result, wherein the N x M masks are in one-to-one correspondence with the N x M filter channels, and each mask in the N x M masks and the message identifier have the same data length;
the first determining submodule is used for determining whether a first operation result is matched with a mask traversed currently;
and the second determining submodule is used for determining the mask which is currently traversed as the target mask under the condition that the first operation result is determined to be matched with the mask which is currently traversed.
Further, the apparatus 900 further includes:
the third determining module is configured to determine the total number of all first messages from the target logic channels from the preconfigured first routing information, and determine the total number of all second messages from the target logic channels from the preconfigured second routing information, where the target logic channels are any one of the N logic channels, the first messages are messages that need to be parsed by the vehicle gateway, and the second messages are messages that are directly forwarded by the vehicle gateway;
The second acquisition module is used for acquiring the total number of the first filtering channels and the total number of the second filtering channels corresponding to the target logic channels, wherein the first filtering channels are used for transmitting the first message, and the second filtering channels are used for transmitting the second message;
a fourth determining module, configured to determine, according to the total number of the first messages and the total number of the first filtering channels, a message identifier of a first message corresponding to each first filtering channel, and determine, according to the total number of the second messages and the total number of the second filtering channels, a message identifier of a second message corresponding to each second filtering channel;
The computing module is used for computing to obtain masks corresponding to the first filtering channels by using the message identifications of the first messages corresponding to the first filtering channels, and computing to obtain masks corresponding to the second filtering channels by using the message identifications of the second messages corresponding to the second filtering channels;
The configuration module is used for configuring and obtaining parameter information of each filtering channel corresponding to the target logic channel based on the mask corresponding to each first filtering channel and the mask corresponding to each second filtering channel.
Further, the fourth determining module includes:
A third determining submodule, configured to determine whether the total number of the first packets is divisible by the total number of the first filtering channels;
A fourth determining submodule, configured to determine, when it is determined that the total number of the first packets is divisible by the total number of the first filtering channels, the number of the first packets included in each first filtering channel as a first numerical value, where the first numerical value is a quotient of the total number of the first packets and the total number of the first filtering channels;
a fifth determining submodule, configured to determine, when it is determined that the total number of the first packets is not divisible by the total number of the first filtering channels, the number of the first packets included in each first filtering channel as a second numerical value, where the second numerical value is a quotient of the total number of the first packets and the total number of the first filtering channels plus 1;
The first distribution sub-module is used for sequentially distributing the first messages to each first filtering channel according to the first numerical value or the second numerical value to obtain message identifiers of the first messages corresponding to each first filtering channel.
Further, the computing module includes:
the first acquisition sub-module is used for acquiring k message identifications corresponding to k first messages contained in a third filtering channel, wherein the third filtering channel is any filtering channel in the first filtering channels, and k is equal to a first numerical value or a second numerical value;
the first operation submodule is used for carrying out exclusive OR operation on a first message identifier in the k message identifiers and other k-1 message identifiers respectively to obtain k-1 second operation results;
the second operation sub-module is used for carrying out inverse operation on each second operation result in the k-1 second operation results to obtain k-1 third operation results;
And the sixth determining submodule is used for performing AND operation on the k-1 third operation results to obtain a fourth operation result, and determining the fourth operation result as a mask corresponding to the third filtering channel.
Further, the fourth determining module further includes:
A seventh determining submodule, configured to determine whether the total number of the second packets is divisible by the total number of the second filtering channels;
An eighth determining submodule, configured to determine, when it is determined that the total number of the second packets is divisible by the total number of the second filtering channels, the number of the second packets included in each second filtering channel as a third numerical value, where the third numerical value is a quotient of the total number of the second packets and the total number of the second filtering channels;
A ninth determining submodule, configured to determine, when it is determined that the total number of the second packets is not divisible by the total number of the second filtering channels, the number of the second packets included in each second filtering channel as a fourth numerical value, where the fourth numerical value is a quotient of the total number of the second packets and the total number of the second filtering channels plus 1;
and the second allocation submodule is used for sequentially allocating the second messages to each second filtering channel according to the third numerical value or the fourth numerical value to obtain message identifiers of the second messages corresponding to each second filtering channel.
Further, the computing module further includes:
The second obtaining submodule is used for obtaining h message identifiers corresponding to h second messages contained in a fourth filtering channel, wherein the fourth filtering channel is any filtering channel in the second filtering channels, and h is equal to the third numerical value or the fourth numerical value;
The third operation sub-module is used for performing exclusive OR operation on the first message identifier in the h message identifiers and other h-1 message identifiers respectively to obtain h-1 fifth operation results;
The fourth operation sub-module is used for carrying out inverse operation on each fifth operation result in the h-1 fifth operation results to obtain h-1 sixth operation results;
And the tenth determination submodule is used for performing AND operation on the h-1 sixth operation results to obtain a seventh operation result, and determining the seventh operation result as a mask corresponding to the fourth filtering channel.
Further, the apparatus 900 further includes:
the storage module is used for storing the message to be transmitted to a preset storage area under the condition that the message to be transmitted fails to be transmitted;
The extraction and transmission module is used for extracting the messages in the preset storage area at intervals of preset time length, and transmitting the extracted messages again by utilizing a filtering channel matched with the message identification of the extracted messages, wherein the messages in the preset storage area comprise the messages to be transmitted.
It should be noted that, the apparatus 900 may implement the message transmission method provided in any of the foregoing method embodiments, and achieve the same technical effects, which are not described herein in detail.
As shown in fig. 10, the embodiment of the present application further provides an in-vehicle gateway, which includes a processor 1011, a communication interface 1012, a memory 1013, and a communication bus 1014, wherein the processor 1011, the communication interface 1012, and the memory 1013 perform communication with each other through the communication bus 1014,
A memory 1013 for storing a computer program;
In one embodiment of the present application, the processor 1011 is configured to implement the message transmission method provided in any of the foregoing method embodiments when executing the program stored in the memory 1013.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the message transmission method provided by any one of the foregoing method embodiments.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the respective embodiments or some parts of the embodiments.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The message transmission method is characterized by being applied to a vehicle-mounted gateway, wherein the vehicle-mounted gateway is provided with N logic channels and N.times.M filtering channels, each logic channel in the N logic channels is correspondingly arranged with the M filtering channels, and N and M are integers larger than 1, and the method comprises the following steps:
Under the condition that a message to be transmitted is required to be transmitted, a message identifier corresponding to the message to be transmitted is obtained;
Determining a target mask corresponding to the message to be transmitted according to the message identifier;
Determining a target filter channel corresponding to the target mask from the n×m filter channels based on pre-configured parameter information of each filter channel, where the pre-configured parameter information of each filter channel is used to characterize the mask corresponding to each filter channel;
And transmitting the message to be transmitted by using the target filtering channel.
2. The method according to claim 1, wherein the determining, according to the message identifier, a target mask corresponding to the message to be transmitted includes:
Traversing each mask in the N x M masks in sequence, and performing AND operation on the mask traversed currently and the message identifier to obtain a first operation result, wherein the N x M masks are in one-to-one correspondence with the N x M filter channels, and each mask in the N x M masks and the message identifier have the same data length;
Determining whether the first operation result is matched with a mask traversed currently;
And determining the mask traversed currently as the target mask under the condition that the first operation result is matched with the mask traversed currently.
3. The method according to claim 1, wherein before determining the target filter channel corresponding to the target mask from the n×m filter channels based on the parameter information of each filter channel configured in advance, the method further comprises:
Determining the total number of all first messages from a target logic channel from preconfigured first routing information, and determining the total number of all second messages from the target logic channel from preconfigured second routing information, wherein the target logic channel is any one channel of the N logic channels, the first messages are messages needing to be analyzed by the vehicle-mounted gateway, and the second messages are messages directly forwarded by the vehicle-mounted gateway;
Acquiring the total number of first filtering channels and the total number of second filtering channels corresponding to the target logic channels, wherein the first filtering channels are used for transmitting the first message, and the second filtering channels are used for transmitting the second message;
Determining the message identification of the first message corresponding to each first filtering channel according to the total number of the first messages and the total number of the first filtering channels, and determining the message identification of the second message corresponding to each second filtering channel according to the total number of the second messages and the total number of the second filtering channels;
calculating to obtain a mask corresponding to each first filtering channel by using a message identifier of a first message corresponding to each first filtering channel, and calculating to obtain a mask corresponding to each second filtering channel by using a message identifier of a second message corresponding to each second filtering channel;
and configuring and obtaining parameter information of each filtering channel corresponding to the target logic channel based on the mask corresponding to each first filtering channel and the mask corresponding to each second filtering channel.
4. The method of claim 3, wherein determining the message identifier of the first message corresponding to each first filtering channel according to the total number of the first messages and the total number of the first filtering channels includes:
determining whether the total number of the first messages can be divided by the total number of the first filtering channels;
determining the number of the first messages contained in each first filtering channel as a first numerical value under the condition that the total number of the first messages is divided by the total number of the first filtering channels, wherein the first numerical value is the quotient of the total number of the first messages and the total number of the first filtering channels;
determining the number of the first messages contained in each first filtering channel as a second value under the condition that the total number of the first messages is not divided by the total number of the first filtering channels, wherein the second value is the quotient of the total number of the first messages and the total number of the first filtering channels plus 1;
and sequentially distributing the first message to each first filtering channel according to the first value or the second value to obtain a message identifier of the first message corresponding to each first filtering channel.
5. The method of claim 4, wherein the calculating the mask corresponding to each first filtering channel using the packet identifier of the first packet corresponding to each first filtering channel includes:
k message identifiers corresponding to k first messages contained in a third filtering channel are obtained, wherein the third filtering channel is any filtering channel in the first filtering channels, and k is equal to the first numerical value or the second numerical value;
Performing exclusive OR operation on a first message identifier in the k message identifiers and other k-1 message identifiers respectively to obtain k-1 second operation results;
Performing inverse operation on each second operation result in the k-1 second operation results to obtain k-1 third operation results;
and performing AND operation on the k-1 third operation results to obtain a fourth operation result, and determining the fourth operation result as a mask corresponding to the third filtering channel.
6. The method of claim 3, wherein determining the message identifier of the second message corresponding to each second filtering channel according to the total number of the second messages and the total number of the second filtering channels includes:
Determining whether the total number of the second messages can be divided by the total number of the second filtering channels;
Determining the number of the second messages contained in each second filtering channel as a third value under the condition that the total number of the second messages is divided by the total number of the second filtering channels, wherein the third value is the quotient of the total number of the second messages and the total number of the second filtering channels;
Determining the number of the second messages contained in each second filtering channel as a fourth value under the condition that the total number of the second messages is not divided by the total number of the second filtering channels, wherein the fourth value is the quotient of the total number of the second messages and the total number of the second filtering channels plus 1;
And distributing the second message to each second filtering channel in turn according to the third value or the fourth value to obtain a message identifier of the second message corresponding to each second filtering channel.
7. The method of claim 6, wherein the calculating, using the packet identifier of the second packet corresponding to each second filtering channel, to obtain the mask corresponding to each second filtering channel includes:
H message identifiers corresponding to h second messages contained in a fourth filtering channel are obtained, wherein the fourth filtering channel is any filtering channel in the second filtering channels, and h is equal to the third numerical value or the fourth numerical value;
performing exclusive OR operation on the first message identifier in the h message identifiers and other h-1 message identifiers respectively to obtain h-1 fifth operation results;
Performing inverse operation on each fifth operation result in the h-1 fifth operation results to obtain h-1 sixth operation results;
And performing AND operation on the h-1 sixth operation results to obtain a seventh operation result, and determining the seventh operation result as a mask corresponding to the fourth filtering channel.
8. The method of claim 1, wherein after said transmitting said message to be transmitted using said target filtering channel, said method further comprises:
under the condition that the transmission of the message to be transmitted fails, storing the message to be transmitted into a preset storage area;
Extracting the messages in the preset storage area at each interval for a preset time length, and transmitting the extracted messages again by utilizing a filtering channel matched with the message identification of the extracted messages, wherein the messages in the preset storage area comprise the messages to be transmitted.
9. The vehicle-mounted gateway is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
A memory for storing a computer program;
a processor configured to implement the message transmission method according to any one of claims 1 to 8 when executing a program stored on a memory.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the message transmission method of any of claims 1-8.
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