WO2014079092A1 - Real time data transmission method and node device - Google Patents

Real time data transmission method and node device Download PDF

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Publication number
WO2014079092A1
WO2014079092A1 PCT/CN2012/085600 CN2012085600W WO2014079092A1 WO 2014079092 A1 WO2014079092 A1 WO 2014079092A1 CN 2012085600 W CN2012085600 W CN 2012085600W WO 2014079092 A1 WO2014079092 A1 WO 2014079092A1
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WIPO (PCT)
Prior art keywords
node
group
time slot
length
physical link
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PCT/CN2012/085600
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French (fr)
Chinese (zh)
Inventor
马化一
薛百华
丁杰
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北京东土科技股份有限公司
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Application filed by 北京东土科技股份有限公司 filed Critical 北京东土科技股份有限公司
Publication of WO2014079092A1 publication Critical patent/WO2014079092A1/en

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40143—Bus networks involving priority mechanisms
    • H04L12/4015—Bus networks involving priority mechanisms by scheduling the transmission of messages at the communication node
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/403—Bus networks with centralised control, e.g. polling
    • H04L12/4035—Bus networks with centralised control, e.g. polling in which slots of a TDMA packet structure are assigned based on a contention resolution carried out at a master unit
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/16—Time-division multiplex systems in which the time allocation to individual channels within a transmission cycle is variable, e.g. to accommodate varying complexity of signals, to vary number of channels transmitted
    • H04J3/1682—Allocation of channels according to the instantaneous demands of the users, e.g. concentrated multiplexers, statistical multiplexers

Definitions

  • the invention relates to a method for transmitting real-time data and a node device.
  • the present invention relates to the field of real-time data transmission technologies, and in particular, to a method and a node device for transmitting real-time data.
  • BACKGROUND In a network control system, according to different message transmission modes, it can be divided into an event trigger mode and a time trigger mode.
  • the event triggering method is mainly applied to the transmission of non-periodic messages such as alarms and management.
  • the time triggering method is mainly applied to the transmission of hard real-time periodic messages such as sensor data and control variables.
  • Time-triggered (TT) mechanism refers to dividing the time domain into a large number of discrete time intervals (becoming a time slice or a time window), and distributing the transmission of messages through a synchronization mechanism within a certain time slice, so The time trigger replaces the event triggering, and the communication task is triggered by a reasonable scheduling timing.
  • the traffic is triggered by time, the data frame can be avoided to compete for the physical link, thereby ensuring real-time data transmission.
  • the time-triggered mechanism based on CAN bus is widely used in the field of automation and industrial control.
  • the time triggering scheme of the message is designed by introducing a time triggering mechanism, so that the message management and scheduling in the network can be better. , to ensure the performance of the control system, improve the bandwidth utilization of the network.
  • the above solutions are very mature in the two fields of aerospace electronic control and automotive networks, such as: Honeywell's aviation bus control SAFEbusm on Boeing777, and BMW and other automotive companies for automotive control FlexRay.
  • the existing time trigger mechanism is based on establishing a global time schedule, and ensuring the real-time performance of data transmission of each node by uniformly allocating time slices for each node. Because each node uses the entire link separately in the time slice allocated to itself, even if the data transmission of the node only occupies a small part of the entire link, other nodes still need to wait in the time slice allocated to the node. Therefore, this causes a great waste of network bandwidth.
  • the time trigger mechanism in order to ensure the real-time performance of data transmission, the time trigger mechanism must ensure that the real-time data of all nodes in the network needs to be transmitted within one scheduling period, but the total network bandwidth.
  • the resources are limited.
  • the network size of the network is severely limited.
  • FIG. 1 is a schematic diagram of data transmission based on TTE in the prior art.
  • Packaged in the network It includes multiple PCs (nodes) and multiple switches.
  • the switches are switch 1 (switch1), switch 2 (switch2), switch 3 (switch3), and switch 4 (switch4).
  • the PC is divided into 'J1' and P1 ⁇ P4. Among them, real-time data transmission between PCI and PC2 is required, real-time data transmission between PC2 and PC3 is required, and real-time data transmission between PC3 and PC4 is required.
  • the master node allocates time slots for each node, and the node monopolizes the entire physical link of the local area network in which it is located in its assigned time slot.
  • the embodiments of the present invention provide a method for transmitting real-time data and a node device, which are used to solve the problem of waste of network bandwidth resources caused by data transmission based on the TTE mechanism in the prior art.
  • the embodiment of the invention provides a method for transmitting real-time data, and the method comprises the following steps:
  • the master node receives a message sending request sent by each node
  • each node sending its physical link the nodes with different physical links are grouped into one group, and each node is only uniquely located in one group;
  • the time slots of each group are determined, and each node is notified to perform data transmission according to the time slot in which the group is allocated.
  • the embodiment of the invention provides a real-time data transmission node device, and the node device includes:
  • a receiving module configured to receive a message sending request sent by each node
  • a grouping module configured to send source address information and a destination address letter that are sent by the packet according to the packet sending request Determine the physical link that sends the packet. According to the physical link that each node sends its packet, the nodes with different physical links are grouped into one group, and each node is only uniquely located in one group.
  • a time slot determining module configured to determine, according to the total byte information included in the message to be sent by the node in a scheduling period, the length of the time slot to be allocated to the node according to the packet sending request; Determining the length of the time slot to be allocated by each node, determining the time slot of each group;
  • the notification module is configured to notify each node to perform data transmission according to the time slot in which the group is allocated.
  • An embodiment of the present invention provides a method for transmitting real-time data and a node device.
  • the method determines a physical link that each node sends a packet, and the physical link is different.
  • the nodes are divided into a group, each node is only uniquely located in one group, and the length of the time slot allocated to each node in each group is determined, the time slot of each group is determined, and each node is notified according to the The group is allocated time slots for data transmission. Since the nodes with different physical links are divided into one group in the present invention, the time slots allocated by the group are the same, that is, each node in the group simultaneously transmits data according to the allocated time slots, thereby effectively saving.
  • FIG. 1 is a schematic diagram of data transmission based on TTE in the prior art
  • FIG. 2 is a schematic diagram of a transmission process of the real-time data according to an embodiment of the present invention
  • FIG. 3 is a specific transmission process of the real-time data provided by the present invention.
  • FIG. 5 is a schematic structural diagram of a real-time data transmission node device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION In order to effectively improve the utilization of network bandwidth, the present invention provides a real-time data transmission method and node device.
  • FIG. 2 is a schematic diagram of a transmission process of the real-time data according to an embodiment of the present invention, where the process includes the following steps:
  • Step 201 The master node receives a message sending request sent by each node.
  • the MASTER node in a local area network or a plurality of local area networks, and the MASTER node may be generated by election or determined at the beginning of configuration.
  • the MASTER node determines that each node in its local area needs to send data, it needs to The master node requests to allocate a time slot for data transmission.
  • each node sends a message sending request to the master node, where the message sending request carries the total information to be sent by the node in a scheduling period. Byte information, and source address information and destination address information sent by the message.
  • Step 202 Determine the total length of the time slot to be sent by the node to be sent in a scheduling period, and determine the length of the time slot to be allocated to the node.
  • the message sending request carries the total byte information included in the message to be sent by the node in a scheduling period, and according to the total byte information, the master node may determine to send the message of the byte information.
  • Step 203 Determine, according to the source address information and the destination address information sent by the packet carried in the packet sending request, the physical link that sends the packet.
  • the source address information and the destination address information sent by the packet are also carried in the packet sending request received by the master node, and the physical link for sending the message is determined.
  • Step 204 According to the physical link that each node sends its packet, the nodes with different physical links are grouped into one group, and each node is only uniquely located in one group.
  • dividing a node having a different physical link into a group includes:
  • each node For each node, according to the physical link that the node sends its message, and the physical link that other nodes send its message, compare whether each node included in the physical link corresponding to the other node is the same; When any one of the physical links corresponding to the node is not at the same time as any of the physical links corresponding to the other nodes, the node and the other nodes are divided into one group.
  • the physical link that node A sends its packet is ABC
  • the physical link that node a sends its packet is abc. Since any one of the two physical links is different, nodes A and A can be used.
  • the physical link of the packet sent by the node A is ABC
  • the physical link of the packet sent by the node A is c-AB. Since both physical links include the A and B nodes, Node A and node c are divided into different groups. That is, the physical link corresponding to each node divided into each group is different. And in order to avoid repeated transmission of messages, each node can only be in one group.
  • Step 205 Determine a time slot of each group according to the length of the time slot to be allocated by each node in each group, and notify each node to perform data transmission according to the time slot in which the group is allocated.
  • the two nodes when the physical links of the two nodes transmitting their messages are different, the two nodes can be divided into one group, and the nodes in the group are occupied by the physical chain occupied by the message.
  • the routes are different, so nodes in the group can simultaneously send their messages at the same time.
  • the length of the time slot to be allocated to each node can be determined according to the number of bytes included in the message sent by each node. .
  • all the nodes in each group can be assigned the same time slot, that is, each group is assigned a fixed time slot, and all the nodes in the group are allocated time slots in the group. Sending messages within give away.
  • the transmission of the message can be completed in the allocated time slot of the group.
  • the length of the time slot allocated to each node in the group can be compared for each group. The maximum value of the time slot length is determined, and the maximum value of the time slot length determines the time slot length of the group.
  • the time slots allocated by the group are the same, that is, each node in the group simultaneously transmits data according to the allocated time slots, thereby effectively saving.
  • the time when the data is sent in the network is different. Because the physical links of the nodes in the group are different, the physical links do not conflict even when data is transmitted simultaneously, and the utilization of bandwidth resources is effectively improved.
  • each node when the master node allocates time slots for each node, each node does not occupy a physical link in its assigned time slot, and the time slot is also allocated to the physical chain occupied by the node.
  • the primary node after the primary node determines, whether the primary node determined by the election method or the primary node determined by the pre-configured manner, the primary node is responsible for each of the networkings in which the primary node is determined, as long as the primary node determines The allocation of time slots of nodes.
  • the primary node When the primary node allocates a time slot for each node, it actually allocates a time slice for the node to send its time, and the time slice allocated for the node may include the start time and the end time of the time slice (or Corresponding length of the time slice).
  • the master node After the master node determines, the master node broadcasts the packet to the master network before the time slot is allocated, and each node in the network to which the master node is located sends a packet sending request to the master node, where the packet sending request carries the packet sending request.
  • the source address information and the destination address information the master node determines the physical link for sending the packet according to the information carried in the packet sending request.
  • the master node After receiving the packet sending request sent by each node, the master node determines the physical link of each node to send the node packet. In order to improve the utilization of the network bandwidth, in the present invention, after the primary node determines the physical link of each node to send its message, for each node, determine the physical link between the node and other nodes to send their messages. Whether they are the same, the nodes with different physical links are divided into one group, each node is uniquely located in one group, and the physical links of any two nodes in each group are different.
  • each node in the group can transmit in the same time slice. Specifically, when determining the length of the time slice of each group in the invention, determining the length of the allocated time slot of each node according to the total byte information carried in the message request sent by each node in the group . Specifically, according to the length of the time slot allocated by each node in the group, the maximum value of the time slot length is determined, and the maximum value of the time slot length is determined as the time slot length of the group.
  • FIG. 3 is a specific transmission process of the real-time data provided by the present invention, and the process includes the following steps:
  • S301 The master node receives a request for sending a message sent by each node.
  • S302 The master node determines, according to the source address information and the destination address information carried in the packet sending request sent by each node, the physical link that each node sends its packet.
  • S303 According to the determined physical link that each node sends its packet, the nodes with different physical links are grouped into one group, and each node is only uniquely located in one group.
  • S304 The master node determines, according to the total byte information included in the to-be-sent message, the length of the time slot allocated to the node, according to the total number of bytes of the message to be sent by the node carried in the packet sending request sent by each node.
  • S305 Determine, according to the length of the time slot allocated by each node in each group, the maximum value of the time slot length in the node in the group, and determine the maximum value of the time slot length as the time slot length of the group, according to determining The length of the time slot of the group determines the time slot of the group.
  • S306 Notifying each determined time slot of each group to each node of the group, and each node sends a message according to the allocated time slot.
  • the node PC1 PC4 is included in the network, wherein real-time data transmission exists between PC1 and PC2, real-time data transmission exists between PC2 and PC 1, and real-time data transmission exists between PC3 and PC4, P4 There is real-time data transmission between P1 and P1.
  • the master node can broadcast to the network in which the master node is located.
  • each node After receiving the broadcast of the master node, each node sends a message sending request to the master node, where the packet sending request carries the node in one cycle.
  • the source address information and destination address information sent by each node are as described above.
  • the physical link that each node determines to send its packet is: PC1 sends its message.
  • the physical link of the text is switch1 ⁇ switch2.
  • the physical link for PC2 to send its packets is switch2 ⁇ switchl.
  • the physical link for PC3 to send its packets is switch 3 ⁇ switch 4.
  • the physical link for PC4 to send its packets is Switch 4 ⁇ switch 3 ⁇ switch 2 ⁇ switch 1.
  • the master node divides the physical links of the packets whose packets are sent according to the determined physical link of each node, and each node is uniquely located in one group. Specifically, since PC1 and PC2 and PC4 have the same node in the physical link for transmitting the packet, PC1 and PC3 transmit different physical links of the packet, so PC1 and PC3 can be divided into the first group. PC2 and PC4 have the same node in the physical link for transmitting their messages, so PC2 and PC4 are divided into the second group and the third group, respectively.
  • the length of the time slot determined by the total byte information contained in the message to be transmitted transmitted by the PC 2 and the PC 4 in one cycle is determined directly.
  • the length of the time slot determined by the PC 1 and the PC 3 transmitting the total byte information contained in the message in one cycle is determined, for example, the determined length of the time slot in which the PC 1 transmits its message. For 20ms, the length of the time slot in which the PC3 sends its message is 32ms, then the length of the longest slot can be determined to be 32ms.
  • the master node determines the length of the first group of slots as 32ms.
  • the time slots of each group may be determined in chronological order, for example, determining that the time slot sequence in the cycle is the first group, the second group, the third group, or may be Second group, third group, first group, when However, it can also be the third group, the second group, and the first group.
  • the determined time slots of each group are notified to the nodes of each group, so that the nodes of each group perform the transmission of the message according to the determined time slot.
  • the time slots of the first group need to be located before the second group of time slots, that is, may be the third group, the first group, the second group, or may be the first group, the second group, the third group, or the first One group, the third group, the second group.
  • the foregoing nodes when the foregoing nodes are present, when a message is sent, only a time slot may be allocated to each node in time sequence, when the real-time mode provided by the present invention is used.
  • the node PC1 and the node PC3 can simultaneously send packets, which saves the time for a node to send packets, and effectively improves the bandwidth utilization.
  • the effect is more obvious.
  • the newly added node when there is a newly added node in the network, the newly added node sends a request to the master node, wherein the message sending request carries the newly added node in a scheduling period.
  • the total byte information contained in the message to be sent and carries the source address information and destination address information sent by the message.
  • the master node receives the packet sending request, determines the physical link that sends the packet according to the source address information and the destination address information carried in the packet sending request, and according to the saved physical chain of each node in each group.
  • Path determining the group in which the newly joined node is located, wherein in the group, the newly joined node sends its physical link, and sends a physical link of the user to any node in the group.
  • the roads are different.
  • the master node determines, according to the total byte information contained in the message to be sent by the node in the packet sending request sent by the newly added node, the length of the time slot allocated to the node.
  • the master node determines the maximum length of the two time slots according to the determined time slot length of the newly added node and the time slot length of the group in which the newly added node is located, and the maximum value of the time slot length is used as the The adjusted time slot length of the group in which the newly added node is located, and determining the adjusted time slot of the group in which the newly added node is located, notifying each node in the group to participate in the adjusted time slot. Send.
  • the time slot of the group of the newly added node is adjusted according to the time slot requirement of the newly added node and the nodes in the other group, and The time slots of this other group.
  • FIG. 4 is a schematic diagram of a process for transmitting real-time data when a newly added node is provided according to an embodiment of the present invention, where the process includes the following steps:
  • S401 When there is a newly added node in the networking, the newly joined node sends a request for sending the message to the primary node.
  • S402 The master node determines, according to the received source address information and destination address information sent by the packet sending request sent by the newly added node, the newly added node sends the physical chain of the ⁇ ⁇ ⁇ road.
  • S403 Determine, according to the determined physical link that the newly added node sends the packet, and the saved physical link of each node in each group, determine the group where the newly added node is located, where in the group, The newly added node sends its physical link, which is different from the physical link that any node in the group sends its message.
  • S404 The master node determines, according to the total byte information contained in the message to be sent by the node in the packet sending request sent by the newly added node, the length of the time slot allocated to the node.
  • the master node determines a maximum length of the two time slots according to the determined time slot length of the newly added node and a time slot length of the group in which the newly joined node is located, and the maximum value of the time slot length is used as the The length of the time slot of the group in which the newly added node is located.
  • the master node determines whether the newly added node has a timing requirement with the nodes in the other group. When there is a timing requirement, determining, according to the timing requirement, the time zone of the newly added node and the time slot of the other group, when When there is no timing requirement, the time slot of the group in which the newly joined node is located is determined.
  • a newly added node PC5 is added to the current networking, and the PC5 is connected to switch5, which is connected to switch4.
  • the newly added node PC5 sends a packet to the PC3.
  • the physical link is the switch5 ⁇ switch4 ⁇ switch3.
  • the master node receives the packet sending request from the PC5, and determines the physical link occupied by the PC5 when the packet is sent.
  • the node PC5 sends a message sending request to the master node.
  • the physical link of the node transmitting the message is determined as: switch5 ⁇ switch4 ⁇ switch3.
  • the first group includes PC1 and PC3, the second group includes PC2, and the third group includes PC4.
  • the primary node sends PC5 the physical link of its packet and the physical chain of each node in the first group to send its message.
  • the path is compared, because the physical link that PC5 sends its message has the same node as the physical link that PC3 sends its message; PC5 sends its physical link and PC4 sends the fourth message in the third group.
  • the physical link has the same node; the physical link that PC5 sends its message is different from the physical link that PC2 sends its message in the second group, so PC5 can be divided into the second group.
  • the master node determines, according to the time slot length of the time slot currently allocated to each node in the second group, and the total byte information contained in the packet to be sent in one cycle carried in the packet sending request sent by the PC 5,
  • the length of the time slot allocated by the node determining the maximum length of the second group of time slots and the length of the time slot of the PC 5, and using the maximum value as the time slot length of the second group; determining whether the PC 5 is in the node of the other group
  • There is a timing requirement When there is a timing requirement, the time slot of the group and the other group is determined according to the timing requirement. When there is no timing requirement, the current timing may be maintained, and the group is determined according to the determined length of the time slot. Time slot.
  • FIG. 5 is a schematic structural diagram of a real-time data transmission node device according to an embodiment of the present disclosure, where the node device includes:
  • the receiving module 51 is configured to receive a message sending request sent by each node
  • the grouping module 52 is configured to determine, according to the source address information and the destination address information that the packet is sent in the packet sending request, the physical link that sends the packet, and the physical link that each node sends the packet according to, Dividing nodes with different physical links into a group, where each node is uniquely located in only one group;
  • the time slot determining module 53 is configured to determine, according to the total byte information included in the message to be sent by the node in a scheduling period, the length of the time slot to be allocated to the node according to the packet sending request; Each node in the group is to be divided The length of the allocated time slot, determining the time slot of each group;
  • the notification module 54 is configured to notify each node to perform data transmission according to the time slot in which the group is allocated.
  • the grouping module 52 is specifically configured to: according to the physical link of the node, the physical link of the packet, and the physical link of the other node to send the packet, and compare the physical link of the node with the other node. Whether each node included in the node is the same; when any node in the physical link corresponding to the node is not at the same time as any node in the physical link corresponding to the other node, the node and the other node are divided
  • the time slot determining module 53 is configured to compare, for each node in the group, a length of a time slot to be allocated by each node, determine a maximum value of the time slot length, and determine a maximum value of the time slot length as the group The length of the time slot, and the time slot of the group is determined according to the length of the time slot.
  • the time slot determining module 53 is further configured to determine whether a message request of a node included in a different group has a timing requirement; and according to a sequence in which the two nodes with timing requirements are located, according to a timing requirement of the two nodes to send a message, The time slots of the two groups are determined.
  • the receiving module 51 is further configured to: when a newly added node exists in the networking, receive a packet sending request sent by the newly added node;
  • the grouping module 52 is further configured to determine a physical link of the newly added node to send a message, and determine, according to the saved physical link of each node in each group, a group in which the newly added node is located;
  • the time slot determining module 53 is further configured to determine, according to the length of the time slot to be allocated by the newly added node, and the time slot length of the group in which the newly added node is located, determine the adjusted group of the newly added node.
  • the notification module 54 is further configured to notify each node in the group to send a message according to the adjusted time slot of the group.
  • An embodiment of the present invention provides a method for transmitting real-time data and a node device. When the primary node receives a packet sending request sent by each node, the method determines a physical link that each node sends a packet, and the physical link is different. The nodes are divided into a group, each node is only uniquely located in one group, and the length of the time slot allocated to each node in each group is determined, the time slot of each group is determined, and each node is notified according to the The group is allocated time slots for data transmission.
  • the time slots allocated by the group are the same, that is, each node in the group simultaneously transmits data according to the allocated time slots, thereby effectively saving.
  • the time when data is sent in the network is different. Because the physical links of the nodes in the group are different, the physical links do not conflict even if data is transmitted at the same time, which effectively improves the utilization of bandwidth resources.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the present invention can be embodied in the form of a computer program product embodied on one or more computer-usable storage interfaces (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.
  • computer-usable storage interfaces including but not limited to disk storage, CD-ROM, optical storage, etc.
  • the present invention is directed to a flowchart of a method, apparatus (system), and computer program product according to an embodiment of the present invention. And / or block diagram to describe. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG.
  • These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

A real time data transmission method and node device, solving the problem of wasting network bandwidth resources in the prior art during TTE-based data transmission; the method comprising: when a main node receives a packet transmission request transmitted by a node, determining the packet transmission physical link of each node; dividing the nodes using different physical links by group, each node being uniquely located in only one group; determining the time slot of each group according to the time slot length allocated to each node in each group; and notifying each node to transmit data according to the time slot allocated to the group to which the node belongs. The nodes using different physical links are placed in one group, and each group is allocated the same time slot, therefore the nodes in the group can transmit data at the same time according to the allocated time slot, thus effectively saving the data transmission time in a network, and effectively improving bandwidth resource utilization rate.

Description

一种实时数据的传输方法及节点设备 本申请要求在 2012年 11月 23日提交中国专利局、 申请号为 201210484893.2、 发明名称为一 种实时数据的传输方法及节点设备的中国专利申请的优先权，其全部内容通过引用结合在本申 请中。 技术领域 本发明涉及实时数据传输技术领域， 尤其涉及一种实时数据的传输方法及节点设备。 背景技术 在网络控制系统中， 根据消息传输方式的不同， 可以分为事件触发方式和时间触发方 式。 事件触发方式主要适用于报警、 管理等非周期性消息的传输； 时间触发方式主要适用 于传感器数据、 控制变量等硬实时周期性消息的传输。  The invention relates to a method for transmitting real-time data and a node device. The application claims to be submitted to the Chinese Patent Office on November 23, 2012, the application number is 201210484893.2, the invention name is a real-time data transmission method and the priority of the Chinese patent application of the node device The entire content of which is incorporated herein by reference. The present invention relates to the field of real-time data transmission technologies, and in particular, to a method and a node device for transmitting real-time data. BACKGROUND In a network control system, according to different message transmission modes, it can be divided into an event trigger mode and a time trigger mode. The event triggering method is mainly applied to the transmission of non-periodic messages such as alarms and management. The time triggering method is mainly applied to the transmission of hard real-time periodic messages such as sensor data and control variables.
时间触发（ Time-Triggered , TT )机制， 是指将时间域分成大量的离散时间间隔 （成 为时间片或者时间窗口）， 通过同步机制将消息的传输分配在一定的时间片内完成， 因此 通过以时间触发代替事件触发， 将通信任务通过合理的调度定时触发发送， 通过时间触发 流量， 可避免数据帧争用物理链路， 从而保证数据传输的实时性。  Time-triggered (TT) mechanism refers to dividing the time domain into a large number of discrete time intervals (becoming a time slice or a time window), and distributing the transmission of messages through a synchronization mechanism within a certain time slice, so The time trigger replaces the event triggering, and the communication task is triggered by a reasonable scheduling timing. When the traffic is triggered by time, the data frame can be avoided to compete for the physical link, thereby ensuring real-time data transmission.
目前基于 CAN总线的时间触发机制广泛的应用于自动化和工业控制领域，基于 CAN的 底层协议， 通过引入时间触发机制， 设计消息的时间触发方案， 从而能更好地对网络中消 息进行管理与调度， 保证控制系统的性能， 提高了网络的带宽利用率。 上述方案在航空航 天电子控制及汽车网络两大领域已经非常成熟， 如： Honeywell公司的在 Boeing777上的航 空总线控制 SAFEbusm, 及 BMW等汽车公司应用于汽车控制 FlexRay等。  At present, the time-triggered mechanism based on CAN bus is widely used in the field of automation and industrial control. Based on the underlying protocol of CAN, the time triggering scheme of the message is designed by introducing a time triggering mechanism, so that the message management and scheduling in the network can be better. , to ensure the performance of the control system, improve the bandwidth utilization of the network. The above solutions are very mature in the two fields of aerospace electronic control and automotive networks, such as: Honeywell's aviation bus control SAFEbusm on Boeing777, and BMW and other automotive companies for automotive control FlexRay.
近年来， 随着自动化及工业控制领域的飞速发展， 数据传输网络的拓朴越来越复杂和 庞大， 这就为时间触发机制的时间调度能力提出了更高的要求。 现有的时间触发机制是基 于建立全局时间调度表， 通过为每个节点统一分配时间片来保证每个节点的数据传输的实 时性的。 因为每个节点在分配给自身的时间片内单独使用整个链路， 即使该节点的数据传 输只占用了整个链路的一小部分， 在门配给该节点的时间片内其他节点仍然需要等待， 所 以这就造成了网络带宽的极大浪费； 同时为了保证数据传输的实时性， 时间触发机制必须 保证在一个调度周期内组网内的所有节点的实时数据都需要传输完成， 但是总的网络带宽 资源是有限的， 当网络中存在大量传输路径较短的节点时， 就会严重限制该网络的组网规 模。  In recent years, with the rapid development of automation and industrial control, the topology of data transmission networks has become more and more complex and large, which puts higher requirements on the time scheduling capability of time-triggered mechanisms. The existing time trigger mechanism is based on establishing a global time schedule, and ensuring the real-time performance of data transmission of each node by uniformly allocating time slices for each node. Because each node uses the entire link separately in the time slice allocated to itself, even if the data transmission of the node only occupies a small part of the entire link, other nodes still need to wait in the time slice allocated to the node. Therefore, this causes a great waste of network bandwidth. At the same time, in order to ensure the real-time performance of data transmission, the time trigger mechanism must ensure that the real-time data of all nodes in the network needs to be transmitted within one scheduling period, but the total network bandwidth. The resources are limited. When there are a large number of nodes with short transmission paths in the network, the network size of the network is severely limited.
下面结合示图进行说明， 图 1为现有技术中基于 TTE的数据传输示意图。在该网络中包 括多台 PC (节点）和多台交换机，其中交换机分别为交换机 1 ( switchl )、交换机 2 ( switch2 )、 交换机 3 ( switch3 )和交换机 4 ( switch4 ), PC分另' J为 P1~P4。 其中， PCI和 PC2之间需要进 行实时数据传输， PC2和 PC3之间需要进行实时数据传输， PC3和 PC4之间需要进行实时数 据传输。 在每个调度周期内， 主节点为每个节点分配时隙， 节点在其被分配的时隙内， 独 占其所在的局域网的整个物理链路。 The following is described in conjunction with the drawings. FIG. 1 is a schematic diagram of data transmission based on TTE in the prior art. Packaged in the network It includes multiple PCs (nodes) and multiple switches. The switches are switch 1 (switch1), switch 2 (switch2), switch 3 (switch3), and switch 4 (switch4). The PC is divided into 'J1' and P1~P4. Among them, real-time data transmission between PCI and PC2 is required, real-time data transmission between PC2 and PC3 is required, and real-time data transmission between PC3 and PC4 is required. In each scheduling period, the master node allocates time slots for each node, and the node monopolizes the entire physical link of the local area network in which it is located in its assigned time slot.
例如， PC1和 PC2之间、 PC2和 PC3之间以及 PC3和 PC4之间需要进行实时数据传输， 分 别通过 switchl~switch2、 switch2~switch3以及 switch3~switch4实现。 主节点在每个调度周期 内， 按照时间先后顺序分别为 PC1、 PC2和 PC3分配了时隙。 PC1在进行数据的发送时， 在 其被分配的时隙内通过物理链路 switchl~switch2实现。  For example, real-time data transmission between PC1 and PC2, between PC2 and PC3, and between PC3 and PC4 is required, which is implemented by switchl~switch2, switch2~switch3, and switch3~switch4. The master node allocates time slots for PC1, PC2, and PC3 in chronological order in each scheduling period. When transmitting data, PC1 implements the physical link switch1~switch2 in its assigned time slot.
在 TTE机制中， 针对同一主节点， 在一个时隙只能调度一个节点， 即使其他节点当前 所在的物理链路没被占用， 因为当前其他节点没被分配时隙， 其物理链路也只能空闲。 例 如此时 PC1占用 了物理链路 switchl~switch2 , 其所在的局域网的整个物理链路 switch l~switch2~ switch3~switch4被其 占 用 ， 因 α¾ α¾时 即使 switch2~switch3和 switch3~switch4空闲， 但是其他节点也不能使用， 从而造成极大的网络带宽的浪费， 并且 当局域网的物理链路中的节点较多时， 网络带宽的浪费表现的更加的严重。 发明内容 本发明实施例提供一种实时数据的传输方法及节点设备， 用以解决现有技术中基于 TTE机制在进行数据传输时， 造成的网络带宽资源浪费的问题。  In the TTE mechanism, only one node can be scheduled in one time slot for the same primary node, even if the physical link of the other node is not occupied, because the other nodes are not allocated time slots, the physical link can only be idle. For example, at this time, PC1 occupies the physical link switchl~switch2, and the entire physical link switch l~switch2~switch3~switch4 of the local area network is occupied by it. Even if switch2~switch3 and switch3~switch4 are idle, other than α3⁄4 α3⁄4 Nodes cannot be used, resulting in a huge waste of network bandwidth, and when there are many nodes in the physical link of the local area network, the waste of network bandwidth is more serious. SUMMARY OF THE INVENTION The embodiments of the present invention provide a method for transmitting real-time data and a node device, which are used to solve the problem of waste of network bandwidth resources caused by data transmission based on the TTE mechanism in the prior art.
本发明实施例提供了一种实时数据的传输方法， 该方法包括以下步骤：  The embodiment of the invention provides a method for transmitting real-time data, and the method comprises the following steps:
主节点接收各节点发送的报文发送请求；  The master node receives a message sending request sent by each node;
根据所述报文发送请求中携带报文发送的源地址信息及目的地址信息， 确定发送该报 文的物理链路；  Determining, according to the source address information and the destination address information, the packet sent by the packet sending request, the physical link for sending the packet;
根据每个节点发送其 ·ί艮文的物理链路， 将物理链路不同的节点划分在一组， 其中每个 节点只唯一位于一个组中；  According to each node sending its physical link, the nodes with different physical links are grouped into one group, and each node is only uniquely located in one group;
根据所述报文发送请求中携带的该节点在一个调度周期内待发送报文包含的总字节 信息， 确定待分配给该节点的时隙长度；  Determining, according to the total byte information included in the message to be sent by the node in the packet sending request, in a scheduling period, determining the length of the time slot to be allocated to the node;
根据每个组中每个节点待分配的时隙长度， 确定每个组的时隙， 并通知每个节点根据 其所在组被分配的时隙进行数据传输。  According to the length of the time slot to be allocated by each node in each group, the time slots of each group are determined, and each node is notified to perform data transmission according to the time slot in which the group is allocated.
本发明实施例提供一种实时数据的传输节点设备， 所述节点设备包括：  The embodiment of the invention provides a real-time data transmission node device, and the node device includes:
接收模块， 用于接收各节点发送的报文发送请求；  a receiving module, configured to receive a message sending request sent by each node;
分组模块， 用于根据所述报文发送请求中携带报文发送的源地址信息及目的地址信 息， 确定发送该报文的物理链路； 根据每个节点发送其报文的物理链路， 将物理链路不同 的节点划分在一组， 其中每个节点只唯一位于一个组中； a grouping module, configured to send source address information and a destination address letter that are sent by the packet according to the packet sending request Determine the physical link that sends the packet. According to the physical link that each node sends its packet, the nodes with different physical links are grouped into one group, and each node is only uniquely located in one group.
时隙确定模块， 用于根据所述报文发送请求中携带的该节点在一个调度周期内待发送 报文包含的总字节信息， 确定待分配给该节点的时隙长度； 根据每个组中每个节点待分配 的时隙长度， 确定每个组的时隙；  a time slot determining module, configured to determine, according to the total byte information included in the message to be sent by the node in a scheduling period, the length of the time slot to be allocated to the node according to the packet sending request; Determining the length of the time slot to be allocated by each node, determining the time slot of each group;
通知模块， 用于通知每个节点根据其所在组被分配的时隙进行数据传输。  The notification module is configured to notify each node to perform data transmission according to the time slot in which the group is allocated.
本发明实施例提供了一种实时数据的传输方法及节点设备， 该方法当主节点接收到各 节点发送的报文发送请求时， 确定每个节点发送报文的物理链路， 将物理链路不同的节点 划分在一个组中， 每个节点只唯一位于一个组中， 并才 居每个组中每个节点被分配的时隙 长度， 确定每个组的时隙， 并通知每个节点根据其所在组被分配的时隙进行数据传输。 由 于在本发明中将物理链路不同的节点划分为了一组， 该组分配的时隙相同， 即该组中每个 节点按照该被分配的时隙同时进行数据的发送， 从而可以有效的节省该组网中数据发送的 时间， 另外由于位于该组中的节点的物理链路不同， 因此即使同时进行数据发送其物理链 路也不相冲突， 反而有效提高了带宽资源的利用率。 附图说明 图 1为现有技术中基于 TTE的数据传输示意图；  An embodiment of the present invention provides a method for transmitting real-time data and a node device. When the primary node receives a packet sending request sent by each node, the method determines a physical link that each node sends a packet, and the physical link is different. The nodes are divided into a group, each node is only uniquely located in one group, and the length of the time slot allocated to each node in each group is determined, the time slot of each group is determined, and each node is notified according to the The group is allocated time slots for data transmission. Since the nodes with different physical links are divided into one group in the present invention, the time slots allocated by the group are the same, that is, each node in the group simultaneously transmits data according to the allocated time slots, thereby effectively saving. The time when data is sent in the network is different. Because the physical links of the nodes in the group are different, the physical links do not conflict even if data is transmitted at the same time, which effectively improves the utilization of bandwidth resources. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of data transmission based on TTE in the prior art;
图 2为本发明一具体实施例提供的该实时数据的传输过程示意图；  2 is a schematic diagram of a transmission process of the real-time data according to an embodiment of the present invention;
图 3为本发明提供的该实时数据的具体传输过程；  FIG. 3 is a specific transmission process of the real-time data provided by the present invention;
图 4为本发明实施例提供的存在新加入节点时， 该实时数据的传输过程；  4 is a transmission process of the real-time data when a newly added node is provided according to an embodiment of the present invention;
图 5为本发明实施例提供的一种实时数据的传输节点设备结构示意图。 具体实施方式 本发明为了有效的提高网络带宽的利用率， 提供了一种实时数据的传输方法及节点设 备。  FIG. 5 is a schematic structural diagram of a real-time data transmission node device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION In order to effectively improve the utilization of network bandwidth, the present invention provides a real-time data transmission method and node device.
下面结合说明书附图， 对本发明进行详细说明。  The present invention will be described in detail below with reference to the accompanying drawings.
图 2为本发明一具体实施例提供的该实时数据的传输过程示意图， 该过程包括以下步 骤：  2 is a schematic diagram of a transmission process of the real-time data according to an embodiment of the present invention, where the process includes the following steps:
步骤 201： 主节点接收各节点发送的报文发送请求。  Step 201: The master node receives a message sending request sent by each node.
具体的在本发明的该实施例中根据网络拓朴结构， 在一个局域网或者多个局域网中存 在一个主（MASTER )节点， 该 MASTER节点可以通过选举的方式产生， 或者在配置之初 确定。 当 MASTER节点确定后， 其所在局域中的每个节点需要进行数据发送时， 需要向该 主节点请求分配进行数据发送的时隙。 Specifically, in this embodiment of the present invention, according to the network topology structure, there is a MASTER node in a local area network or a plurality of local area networks, and the MASTER node may be generated by election or determined at the beginning of configuration. When the MASTER node determines that each node in its local area needs to send data, it needs to The master node requests to allocate a time slot for data transmission.
为了能够为该进行数据发送的节点分配时隙， 在本发明中各节点向主节点发送报文发 送请求， 其中该报文发送请求中携带该节点在一个调度周期内待发送报文包含的总字节信 息， 以及该报文发送的源地址信息和目的地址信息。  In order to be able to allocate a time slot to the node that performs the data transmission, in the present invention, each node sends a message sending request to the master node, where the message sending request carries the total information to be sent by the node in a scheduling period. Byte information, and source address information and destination address information sent by the message.
步骤 202: 针对每个报文发送请求中携带的该节点在一个调度周期内待发送报文包含 的总字节信息， 确定待分配给该节点的时隙长度。  Step 202: Determine the total length of the time slot to be sent by the node to be sent in a scheduling period, and determine the length of the time slot to be allocated to the node.
在本发明实施例中该报文发送请求中携带有该节点在一个调度周期内待发送报文包 含的总字节信息，根据该总字节信息，主节点可以确定发送该字节信息的报文所需的时间， 即可以确定待分配给该节点的时隙长度。  In the embodiment of the present invention, the message sending request carries the total byte information included in the message to be sent by the node in a scheduling period, and according to the total byte information, the master node may determine to send the message of the byte information. The time required for the text to determine the length of the time slot to be assigned to the node.
步骤 203： 根据所述报文发送请求中携带的报文发送的源地址信息及目的地址信息， 确定发送该 4艮文的物理链路。  Step 203: Determine, according to the source address information and the destination address information sent by the packet carried in the packet sending request, the physical link that sends the packet.
主节点接收到的该报文发送请求中还携带有报文发送的源地址信息和目的地址信息， 即可确定发送该 4艮文的物理链路。  The source address information and the destination address information sent by the packet are also carried in the packet sending request received by the master node, and the physical link for sending the message is determined.
步骤 204: 根据每个节点发送其报文的物理链路， 将物理链路不同的节点划分在一组， 其中每个节点只唯一位于一个组中。  Step 204: According to the physical link that each node sends its packet, the nodes with different physical links are grouped into one group, and each node is only uniquely located in one group.
具体的， 在本发明中将物理链路不同的节点划分在一组包括：  Specifically, in the present invention, dividing a node having a different physical link into a group includes:
针对每个节点， 根据该节点发送其报文的物理链路， 及其他节点发送其报文的物理链 路， 比较该节点与该其他节点对应的物理链路中包含的每个节点是否相同； 当该节点对应 的物理链路中的任何一个节点与其他节点对应的物理链路中的任何节点都不同时， 将该节 点及该其他节点划分在一个组。  For each node, according to the physical link that the node sends its message, and the physical link that other nodes send its message, compare whether each node included in the physical link corresponding to the other node is the same; When any one of the physical links corresponding to the node is not at the same time as any of the physical links corresponding to the other nodes, the node and the other nodes are divided into one group.
例如节点 A发送其报文的物理链路为 A-B-C, 节点 a发送其报文的物理链路为 a-b-c, 由 于该两条物理链路中的任何一个节点都不相同， 则可以将节点 A和 a划分在一组； 而当节点 A发送其报文的物理链路为 A-B-C, 节点 c发送其报文物理链路为 c -A-B, 由于该两条物理 链路中都包括 A、 B节点， 因此将节点 A和节点 c划分在不同的组中。 即划分到每组的每个 节点对应的物理链路都不同。并且为了避免报文的重复发送，每个节点只能位于一个组中。  For example, the physical link that node A sends its packet is ABC, and the physical link that node a sends its packet is abc. Since any one of the two physical links is different, nodes A and A can be used. The physical link of the packet sent by the node A is ABC, and the physical link of the packet sent by the node A is c-AB. Since both physical links include the A and B nodes, Node A and node c are divided into different groups. That is, the physical link corresponding to each node divided into each group is different. And in order to avoid repeated transmission of messages, each node can only be in one group.
步骤 205: 根据每个组中每个节点待分配的时隙长度， 确定每个组的时隙， 并通知每 个节点根据其所在组被分配的时隙进行数据传输。  Step 205: Determine a time slot of each group according to the length of the time slot to be allocated by each node in each group, and notify each node to perform data transmission according to the time slot in which the group is allocated.
在本发明中因为当两个节点发送其 ·ί艮文的物理链路不同时， 可以将该两个节点划分在 一个组中， 该组中的节点由于其发送 4艮文时占用的物理链路不同， 因此该组中的节点就可 以在同一时刻同时发送其报文。 但是为了保证该组中的每个节点在对应的时隙内都能完成 报文的发送， 可以根据每个节点发送的报文包含的字节数， 确定待分配给每个节点的时隙 长度。 但是为了便于管理， 在本发明中可以针对每个组中的所有节点分配相同的时隙， 即 分配给每个组一个固定的时隙， 该组中的所有节点在该组被分配的时隙内进行报文的发 送。 In the present invention, when the physical links of the two nodes transmitting their messages are different, the two nodes can be divided into one group, and the nodes in the group are occupied by the physical chain occupied by the message. The routes are different, so nodes in the group can simultaneously send their messages at the same time. However, in order to ensure that each node in the group can complete the transmission of the message in the corresponding time slot, the length of the time slot to be allocated to each node can be determined according to the number of bytes included in the message sent by each node. . However, for ease of management, in the present invention, all the nodes in each group can be assigned the same time slot, that is, each group is assigned a fixed time slot, and all the nodes in the group are allocated time slots in the group. Sending messages within give away.
为了保证每个组中的节点，在该组被分配的时隙内能够完成报文的发送，在本发明中， 可以针对每个组， 比较该组中每个节点被分配的时隙长度， 确定时隙长度的最大值， 将该 时隙长度的最大值确定该组的时隙长度。  In order to ensure the nodes in each group, the transmission of the message can be completed in the allocated time slot of the group. In the present invention, the length of the time slot allocated to each node in the group can be compared for each group. The maximum value of the time slot length is determined, and the maximum value of the time slot length determines the time slot length of the group.
由于在本发明中将物理链路不同的节点划分为了一组， 该组分配的时隙相同， 即该组 中每个节点按照该被分配的时隙同时进行数据的发送， 从而可以有效的节省该组网中数据 发送的时间， 另外由于位于该组中的节点的物理链路不同， 因此即使同时进行数据发送其 物理链路也不相冲突， 并且也有效提高了带宽资源的利用率。  Since the nodes with different physical links are divided into one group in the present invention, the time slots allocated by the group are the same, that is, each node in the group simultaneously transmits data according to the allocated time slots, thereby effectively saving. The time when the data is sent in the network is different. Because the physical links of the nodes in the group are different, the physical links do not conflict even when data is transmitted simultaneously, and the utilization of bandwidth resources is effectively improved.
在本发明中主节点在为各个节点分配时隙时， 每个节点在其被分配的时隙内， 并不是 单独占用物理链路， 该时隙同时还分配给了与该节点占用的物理链路不同的节点。 具体的 在本发明中当主节点确定后， 不管是通过选举的方式确定的主节点， 还是通过预先配置的 方式确定的主节点， 只要主节点确定后， 主节点即负责其所在组网中每个节点的时隙的分 配。 该主节点在为每个节点分配时隙时， 实际上是分配该节点发送其 ·ί艮文的时间片， 为节 点分配的该时间片可以包括该时间片的起始时间、 终止时间 （或相应的该时间片的长度）。  In the present invention, when the master node allocates time slots for each node, each node does not occupy a physical link in its assigned time slot, and the time slot is also allocated to the physical chain occupied by the node. Different nodes on the road. Specifically, in the present invention, after the primary node determines, whether the primary node determined by the election method or the primary node determined by the pre-configured manner, the primary node is responsible for each of the networkings in which the primary node is determined, as long as the primary node determines The allocation of time slots of nodes. When the primary node allocates a time slot for each node, it actually allocates a time slice for the node to send its time, and the time slice allocated for the node may include the start time and the end time of the time slice (or Corresponding length of the time slice).
当主节点确定后， 主节点在进行时隙分配之前， 向其所在组网广播， 其所在组网中的 各节点向主节点发送报文发送请求， 其中该报文发送请求中携带报文发送的源地址信息及 目的地址信息， 主节点根据该报文发送请求中携带的信息， 确定发送该报文的物理链接。  After the master node determines, the master node broadcasts the packet to the master network before the time slot is allocated, and each node in the network to which the master node is located sends a packet sending request to the master node, where the packet sending request carries the packet sending request. The source address information and the destination address information, the master node determines the physical link for sending the packet according to the information carried in the packet sending request.
主节点接收到每个节点发送的报文发送请求后， 确定每个节点发送该节点报文的物理 链路。 为了提高网络带宽的利用率， 在本发明中当主节点确定了每个节点发送其 ·ί艮文的物 理链路后， 针对每个节点， 判断该节点与其他节点发送其报文的物理链路是否相同， 将物 理链路不同的节点划分在一个组中， 每个节点唯一位于一个组中， 并且每个组中的任意两 个节点的物理链路都不同。  After receiving the packet sending request sent by each node, the master node determines the physical link of each node to send the node packet. In order to improve the utilization of the network bandwidth, in the present invention, after the primary node determines the physical link of each node to send its message, for each node, determine the physical link between the node and other nodes to send their messages. Whether they are the same, the nodes with different physical links are divided into one group, each node is uniquely located in one group, and the physical links of any two nodes in each group are different.
将节点进行分组后， 由于同一组中任意来两个节点发送其报文的物理链路都不同， 因 此该组中各个节点可以在同一个时间片内进行 ·ί艮文的发送。 具体的， 在发明中确定每个组 的时间片的长度时， 根据该组中每个节点发送的报文请求中携带的总字节信息， 确定的每 个节点被分配的时隙长度来确定。 具体的根据该组中每个节点被分配的时隙长度， 确定时 隙长度的最大值， 将该时隙长度的最大值确定为该组的时隙长度。  After the nodes are grouped, the physical links of the two nodes in the same group sending different packets are different. Therefore, each node in the group can transmit in the same time slice. Specifically, when determining the length of the time slice of each group in the invention, determining the length of the allocated time slot of each node according to the total byte information carried in the message request sent by each node in the group . Specifically, according to the length of the time slot allocated by each node in the group, the maximum value of the time slot length is determined, and the maximum value of the time slot length is determined as the time slot length of the group.
图 3为本发明提供的该实时数据的具体传输过程 , 该过程包括以下步骤：  FIG. 3 is a specific transmission process of the real-time data provided by the present invention, and the process includes the following steps:
S301 : 主节点接收各节点发送的 4艮文发送请求。  S301: The master node receives a request for sending a message sent by each node.
S302: 主节点根据接收到的每个节点发送的报文发送请求中携带的源地址信息及目的 地址信息， 确定每个节点发送其报文的物理链路。  S302: The master node determines, according to the source address information and the destination address information carried in the packet sending request sent by each node, the physical link that each node sends its packet.
S303 : 根据确定的每个节点发送其报文的物理链路， 将物理链路不同的节点划分在一 组， 其中每个节点只唯一位于一个组中。 S304: 主节点根据每个节点发送的报文发送请求中的携带的该节点在一个调度周期 内， 待发送报文包含的总字节信息， 确定分配给该节点的时隙长度。 S303: According to the determined physical link that each node sends its packet, the nodes with different physical links are grouped into one group, and each node is only uniquely located in one group. S304: The master node determines, according to the total byte information included in the to-be-sent message, the length of the time slot allocated to the node, according to the total number of bytes of the message to be sent by the node carried in the packet sending request sent by each node.
S305: 根据每个组中每个节点被分配的时隙长度， 确定该组中的节点中时隙长度的最 大值， 将该时隙长度的最大值确定为该组的时隙长度， 根据确定的该组的时隙长度， 确定 该组的时隙。  S305: Determine, according to the length of the time slot allocated by each node in each group, the maximum value of the time slot length in the node in the group, and determine the maximum value of the time slot length as the time slot length of the group, according to determining The length of the time slot of the group determines the time slot of the group.
S306: 将确定的每个组的时隙通知给该组的每个节点， 每个节点根据其被分配的时隙 进行报文的发送。  S306: Notifying each determined time slot of each group to each node of the group, and each node sends a message according to the allocated time slot.
另外， 在本发明中位于不同组之间的节点之间存在时序要求时， 根据该时序要求， 确 定每个组的时隙时， 还需要考虑该两个组的时序要求。  In addition, in the present invention, when there are timing requirements between nodes located between different groups, according to the timing requirement, when determining the time slots of each group, it is also necessary to consider the timing requirements of the two groups.
下面通过一个具体的实时方式说明本发明提供的实时数据传输过程。  The real-time data transmission process provided by the present invention will be described below in a specific real-time manner.
如图 1所示，在该组网中包括节点 PC1 PC4,其中在 PC1和 PC2之间存在实时数据传输， PC2和 PC 1之间存在实时数据传输， PC3和 PC4之间存在实时数据传输， P4和 P 1之间存在实 时数据传输。 当主节点确定后， 该主节点可以向其所在的组网广播， 各节点接收到主节点 的广播后， 向主节点发送报文发送请求， 其中该报文发送请求中携带该节点在一个周期内 待发送报文包含的总字节信息， 并且还包括该报文的源地址信息和目的地址信息。 每个节 点发送的其发送 ·ί艮文的源地址信息和目的地址信息如上述描述。  As shown in FIG. 1, the node PC1 PC4 is included in the network, wherein real-time data transmission exists between PC1 and PC2, real-time data transmission exists between PC2 and PC 1, and real-time data transmission exists between PC3 and PC4, P4 There is real-time data transmission between P1 and P1. After the master node determines, the master node can broadcast to the network in which the master node is located. After receiving the broadcast of the master node, each node sends a message sending request to the master node, where the packet sending request carries the node in one cycle. The total byte information contained in the message to be sent, and also includes source address information and destination address information of the message. The source address information and destination address information sent by each node are as described above.
当主节点接收到节点 PC1 PC4发送的报文发送请求后， 根据每个节点发送其报文的物 理链路， 主节点确定的每个节点发送其报文的物理链路分别为： PC1发送其报文的物理链 路为 switchl~switch2, PC2发送其报文的物理链路为 switch2~switchl , PC3发送其报文的物 理链路为 switch 3~ switch 4, PC4发送其报文的物理链路为 switch 4~ switch 3~ switch 2~ switch 1。  After the master node receives the packet sending request sent by the node PC1 PC4, according to the physical link that each node sends its packet, the physical link that each node determines to send its packet is: PC1 sends its message. The physical link of the text is switch1~switch2. The physical link for PC2 to send its packets is switch2~switchl. The physical link for PC3 to send its packets is switch 3~switch 4. The physical link for PC4 to send its packets is Switch 4~ switch 3~ switch 2~ switch 1.
主节点根据确定的每个节点发送其报文的物理链路， 将发送其报文占用的物理链路不 同的节点划分在一组， 并且每个节点只唯一位于一个组中。 具体的由于 PC1和 PC2、 PC4发 送其报文的物理链路中存在相同的节点， PC1与 PC3发送其报文的物理链路不同， 因此可以 将 PC1和 PC3划分在第一组中。 PC2和 PC4发送其报文的物理链路中存在相同的节点， 因此 PC2和 PC4分别划分在第二组和第三组中。  The master node divides the physical links of the packets whose packets are sent according to the determined physical link of each node, and each node is uniquely located in one group. Specifically, since PC1 and PC2 and PC4 have the same node in the physical link for transmitting the packet, PC1 and PC3 transmit different physical links of the packet, so PC1 and PC3 can be divided into the first group. PC2 and PC4 have the same node in the physical link for transmitting their messages, so PC2 and PC4 are divided into the second group and the third group, respectively.
在确定第二组合第三组的时隙长度时，直接根据 PC2和 PC4在一个周期内发送待发送报 文包含的总字节信息确定的时隙长度确定。在确定第一分组的时隙长度时，根据 PC 1和 PC3 在一个周期内发送其报文包含的总字节信息确定的时隙长度确定， 例如确定的 PC 1发送其 报文的时隙长度为 20ms , PC3发送其报文的时隙长度为 32ms , 则可以确定最长的时隙长度 为 32ms, 则此时主节点将第一组的时隙长度确定为 32ms。  When determining the length of the time slot of the third group of the second combination, the length of the time slot determined by the total byte information contained in the message to be transmitted transmitted by the PC 2 and the PC 4 in one cycle is determined directly. When determining the length of the time slot of the first packet, the length of the time slot determined by the PC 1 and the PC 3 transmitting the total byte information contained in the message in one cycle is determined, for example, the determined length of the time slot in which the PC 1 transmits its message. For 20ms, the length of the time slot in which the PC3 sends its message is 32ms, then the length of the longest slot can be determined to be 32ms. At this time, the master node determines the length of the first group of slots as 32ms.
当确定了每个组的时隙长度后， 可以按照时间顺序确定每个组的时隙， 例如确定该周 期内的时隙顺序为第一组、 第二组、 第三组， 或者也可以是第二组、 第三组、 第一组， 当 然也可以是第三组、 第二组、 第一组。 并将确定的每个组的时隙通知给每个组的节点， 以 便每个组的节点根据确定的时隙进行报文的发送。另外，在本发明中如果第二组中节点 PC2 在进行报文的发送时， 与节点 PC1的报文发送存在时序要求， PC2需要位于 PC1之后进行报 文的发送， 则在确定时隙时， 第一组的时隙需要位于第二组时隙之前， 即可以为第三组、 第一组、 第二组， 或者也可以是第一组、 第二组、 第三组， 也可以是第一组、 第三组、 第 二组。 After determining the time slot length of each group, the time slots of each group may be determined in chronological order, for example, determining that the time slot sequence in the cycle is the first group, the second group, the third group, or may be Second group, third group, first group, when However, it can also be the third group, the second group, and the first group. The determined time slots of each group are notified to the nodes of each group, so that the nodes of each group perform the transmission of the message according to the determined time slot. In addition, in the present invention, if the node PC2 in the second group performs the packet transmission, there is a timing requirement for the packet transmission with the node PC1, and the PC2 needs to be located after the PC1 to perform the packet transmission, when determining the time slot, The time slots of the first group need to be located before the second group of time slots, that is, may be the third group, the first group, the second group, or may be the first group, the second group, the third group, or the first One group, the third group, the second group.
根据本发明的上述实施例可知， 现有技术中当存在上述各个节点时， 在进行报文发送 时， 只能是按照时间顺序为每个节点分配时隙， 当通过本发明提供的实时方式， 节点 PC1 和节点 PC3可以同时进行报文的发送， 节省了一个节点进行报文发送的时间， 同时有效的 提高了带宽的利用率， 当网络中的节点较多时， 该效果体现的更明显。  According to the foregoing embodiments of the present invention, when the foregoing nodes are present, when a message is sent, only a time slot may be allocated to each node in time sequence, when the real-time mode provided by the present invention is used. The node PC1 and the node PC3 can simultaneously send packets, which saves the time for a node to send packets, and effectively improves the bandwidth utilization. When there are many nodes in the network, the effect is more obvious.
在本发明中当该组网中存在新加入的节点时， 该新加入的节点向主节点发送 ·ί艮文发送 请求， 其中该报文发送请求中携带该新加入的节点在一个调度周期内待发送报文包含的总 字节信息， 并携带该报文发送的源地址信息及目的地址信息。  In the present invention, when there is a newly added node in the network, the newly added node sends a request to the master node, wherein the message sending request carries the newly added node in a scheduling period. The total byte information contained in the message to be sent, and carries the source address information and destination address information sent by the message.
主节点接收该报文发送请求， 根据该报文发送请求中携带的源地址信息及目的地址信 息， 确定发送该报文的物理链路， 并根据保存的每个组中每个节点的物理链路， 确定该新 加入的节点所在的组， 其中在该组中， 该新加入的节点发送其 ·ί艮文的物理链路， 与该组中 任一节点发送其 ·ί艮文的物理链路都不同。  The master node receives the packet sending request, determines the physical link that sends the packet according to the source address information and the destination address information carried in the packet sending request, and according to the saved physical chain of each node in each group. Path, determining the group in which the newly joined node is located, wherein in the group, the newly joined node sends its physical link, and sends a physical link of the user to any node in the group. The roads are different.
主节点根据该新加入的节点发送的报文发送请求中携带的， 该节点在一个调度周期内 待发送报文包含的总字节信息， 确定分配给该节点的时隙长度。 主节点根据确定的该新加 入的节点的时隙长度， 及该新加入的节点所在的组的时隙长度， 确定该两个时隙长度的最 大值， 将该时隙长度的最大值作为该新加入的节点所在组的调整后的时隙长度， 并确定调 整后的该新加入的节点所在组的时隙， 通知该组中的每个节点才 居该调整后的时隙进行 4艮 文的发送。  The master node determines, according to the total byte information contained in the message to be sent by the node in the packet sending request sent by the newly added node, the length of the time slot allocated to the node. The master node determines the maximum length of the two time slots according to the determined time slot length of the newly added node and the time slot length of the group in which the newly added node is located, and the maximum value of the time slot length is used as the The adjusted time slot length of the group in which the newly added node is located, and determining the adjusted time slot of the group in which the newly added node is located, notifying each node in the group to participate in the adjusted time slot. Send.
另外， 当该新加入的节点与其他组中的节点存在时序要求时， 根据该新加入的节点与 其他组中的节点的时隙要求， 调整该新加入的节点的所在组的时隙， 及该其他组的时隙。  In addition, when there is a timing requirement for the newly added node and the nodes in the other group, the time slot of the group of the newly added node is adjusted according to the time slot requirement of the newly added node and the nodes in the other group, and The time slots of this other group.
图 4为本发明实施例提供的存在新加入节点时， 该实时数据的传输过程， 该过程包括 以下步骤：  FIG. 4 is a schematic diagram of a process for transmitting real-time data when a newly added node is provided according to an embodiment of the present invention, where the process includes the following steps:
S401 : 当组网中存在新加入的节点时， 新加入的节点向主节点发送 4艮文发送请求。 S402: 主节点根据接收到的该新加入的节点发送的报文发送请求中携带的， 报文发送 的源地址信息和目的地址信息， 确定该新加入的节点发送其 ·ί艮文的物理链路。  S401: When there is a newly added node in the networking, the newly joined node sends a request for sending the message to the primary node. S402: The master node determines, according to the received source address information and destination address information sent by the packet sending request sent by the newly added node, the newly added node sends the physical chain of the 艮 艮 艮road.
S403 : 根据确定的该新加入的节点发送其报文的物理链路， 及保存的每个组中每个节 点的物理链路， 确定该新加入的节点所在的组， 其中在该组中， 该新加入的节点发送其 4艮 文的物理链路， 与该组中任一节点发送其 ·ί艮文的物理链路都不同。 S404: 主节点根据该新加入的节点发送的报文发送请求中携带的， 该节点在一个调度 周期内待发送报文包含的总字节信息， 确定分配给该节点的时隙长度。 S403: Determine, according to the determined physical link that the newly added node sends the packet, and the saved physical link of each node in each group, determine the group where the newly added node is located, where in the group, The newly added node sends its physical link, which is different from the physical link that any node in the group sends its message. S404: The master node determines, according to the total byte information contained in the message to be sent by the node in the packet sending request sent by the newly added node, the length of the time slot allocated to the node.
S405: 主节点根据确定的该新加入的节点的时隙长度， 及该新加入节点所在组的时隙 长度， 确定该两个时隙长度的最大值， 将该时隙长度的最大值作为该新加入的节点所在组 的时隙长度。  S405: The master node determines a maximum length of the two time slots according to the determined time slot length of the newly added node and a time slot length of the group in which the newly joined node is located, and the maximum value of the time slot length is used as the The length of the time slot of the group in which the newly added node is located.
S406: 主节点判断该新加入的节点， 与其他组中的节点是否存在时序要求， 当存在时 序要求时， 根据该时序要求， 确定该新加入的节点所在组与该其他组的时隙， 当不存在时 序要求时， 确定该新加入的节点所在的组的时隙。  S406: The master node determines whether the newly added node has a timing requirement with the nodes in the other group. When there is a timing requirement, determining, according to the timing requirement, the time zone of the newly added node and the time slot of the other group, when When there is no timing requirement, the time slot of the group in which the newly joined node is located is determined.
例如，如图 1所示， 当前组网中增加新加入的节点 PC5 ,该 PC5与 switch5连接，该 switch5 与 switch4连接。 新加入的节点 PC5向 PC3发送报文， 占用的物理链路为 switch5~ switch4~ switch3 , 主节点接收到 PC5发送的报文发送请求， 确定该 PC5在进行报文发送时占用的物 理链路为 switch5~ switch4~ switch3。  For example, as shown in FIG. 1, a newly added node PC5 is added to the current networking, and the PC5 is connected to switch5, which is connected to switch4. The newly added node PC5 sends a packet to the PC3. The physical link is the switch5~switch4~switch3. The master node receives the packet sending request from the PC5, and determines the physical link occupied by the PC5 when the packet is sent. Switch5~ switch4~ switch3.
节点 PC5向主节点发送报文发送请求，主节点根据节点 PC5发送的报文发送请求后，确 定该节点发送其 4艮文的物理链路为： switch5~ switch4~ switch3。 第一组中包括 PC1和 PC3 , 第二组中包括 PC2, 第三组中包括 PC4, 主节点将 PC5发送其报文的物理链路与第一组中每 个节点发送其报文的物理链路进行比较，由于 PC5发送其报文的物理链路与 PC3发送其报文 的物理链路存在相同的节点； PC5发送其 4艮文的物理链路与第三组中 PC4发送其 4艮文的物理 链路存在相同的节点； PC5发送其报文的物理链路与第二组中 PC2发送其报文的物理链路不 同， 因此可以将 PC5划分在第二组中。  The node PC5 sends a message sending request to the master node. After the master node sends a request according to the packet sent by the node PC5, the physical link of the node transmitting the message is determined as: switch5~switch4~switch3. The first group includes PC1 and PC3, the second group includes PC2, and the third group includes PC4. The primary node sends PC5 the physical link of its packet and the physical chain of each node in the first group to send its message. The path is compared, because the physical link that PC5 sends its message has the same node as the physical link that PC3 sends its message; PC5 sends its physical link and PC4 sends the fourth message in the third group. The physical link has the same node; the physical link that PC5 sends its message is different from the physical link that PC2 sends its message in the second group, so PC5 can be divided into the second group.
主节点根据当前为第二组中每个节点分配的时隙的时隙长度， 及根据该 PC5发送的报 文发送请求中携带的一个周期内待发送报文包含的总字节信息， 确定为该节点分配的时隙 长度， 确定该第二组的时隙长度及 PC5的时隙长度的最大值， 将该最大值作为该第二组的 时隙长度； 判断 PC5是否与其他组的节点中存在时序要求， 当存在时序要求时， 根据该时 序要求确定该组及该其他组的时隙， 当不存在时序要求时， 则可以保持当前的时序， 按照 确定的该时隙长度， 确定该组的时隙。  The master node determines, according to the time slot length of the time slot currently allocated to each node in the second group, and the total byte information contained in the packet to be sent in one cycle carried in the packet sending request sent by the PC 5, The length of the time slot allocated by the node, determining the maximum length of the second group of time slots and the length of the time slot of the PC 5, and using the maximum value as the time slot length of the second group; determining whether the PC 5 is in the node of the other group There is a timing requirement. When there is a timing requirement, the time slot of the group and the other group is determined according to the timing requirement. When there is no timing requirement, the current timing may be maintained, and the group is determined according to the determined length of the time slot. Time slot.
图 5为本发明实施例提供的一种实时数据的传输节点设备结构示意图， 所述节点设备 包括：  FIG. 5 is a schematic structural diagram of a real-time data transmission node device according to an embodiment of the present disclosure, where the node device includes:
接收模块 51 , 用于接收各节点发送的报文发送请求；  The receiving module 51 is configured to receive a message sending request sent by each node;
分组模块 52 , 用于根据所述报文发送请求中携带报文发送的源地址信息及目的地址信 息， 确定发送该报文的物理链路； 根据每个节点发送其报文的物理链路， 将物理链路不同 的节点划分在一组， 其中每个节点只唯一位于一个组中；  The grouping module 52 is configured to determine, according to the source address information and the destination address information that the packet is sent in the packet sending request, the physical link that sends the packet, and the physical link that each node sends the packet according to, Dividing nodes with different physical links into a group, where each node is uniquely located in only one group;
时隙确定模块 53 , 用于根据所述报文发送请求中携带的该节点在一个调度周期内待发 送报文包含的总字节信息， 确定待分配给该节点的时隙长度； 根据每个组中每个节点待分 配的时隙长度， 确定每个组的时隙； The time slot determining module 53 is configured to determine, according to the total byte information included in the message to be sent by the node in a scheduling period, the length of the time slot to be allocated to the node according to the packet sending request; Each node in the group is to be divided The length of the allocated time slot, determining the time slot of each group;
通知模块 54, 用于通知每个节点根据其所在组被分配的时隙进行数据传输。  The notification module 54 is configured to notify each node to perform data transmission according to the time slot in which the group is allocated.
所述分组模块 52, 具体用于针对每个节点， 根据该节点发送其报文的物理链路， 及其 他节点发送其报文的物理链路， 比较该节点与该其他节点对应的物理链路中包含的每个节 点是否相同； 当该节点对应的物理链路中的任何一个节点与其他节点对应的物理链路中的 任何节点都不同时， 将该节点及该其他节点划分  The grouping module 52 is specifically configured to: according to the physical link of the node, the physical link of the packet, and the physical link of the other node to send the packet, and compare the physical link of the node with the other node. Whether each node included in the node is the same; when any node in the physical link corresponding to the node is not at the same time as any node in the physical link corresponding to the other node, the node and the other node are divided
所述时隙确定模块 53 , 用于针对每个组中的节点， 比较每个节点待分配的时隙长度， 确定时隙长度的最大值， 将该时隙长度的最大值确定为该组的时隙长度， 根据该时隙长度 确定该组的时隙。  The time slot determining module 53 is configured to compare, for each node in the group, a length of a time slot to be allocated by each node, determine a maximum value of the time slot length, and determine a maximum value of the time slot length as the group The length of the time slot, and the time slot of the group is determined according to the length of the time slot.
所述时隙确定模块 53 , 还用于判断不同组包含的节点的报文发送是否存在时序要求； 针对有时序要求的两个节点所在的组， 按照该两个节点发送报文的时序要求， 确定该两个 组的时隙。  The time slot determining module 53 is further configured to determine whether a message request of a node included in a different group has a timing requirement; and according to a sequence in which the two nodes with timing requirements are located, according to a timing requirement of the two nodes to send a message, The time slots of the two groups are determined.
所述接收模块 51 , 还用于当该组网中存在新加入的节点时， 接收该新加入的节点发送 的报文发送请求；  The receiving module 51 is further configured to: when a newly added node exists in the networking, receive a packet sending request sent by the newly added node;
所述分组模块 52, 还用于确定该新加入的节点发送报文的物理链路， 并根据保存的每 个组中每个节点的物理链路 , 确定该新加入的节点所在的组；  The grouping module 52 is further configured to determine a physical link of the newly added node to send a message, and determine, according to the saved physical link of each node in each group, a group in which the newly added node is located;
所述时隙确定模块 53 , 还用于据该新加入的节点待分配的时隙长度， 及该新加入的节 点所在的组的时隙长度， 确定调整后的该新加入的节点所在组的时隙；  The time slot determining module 53 is further configured to determine, according to the length of the time slot to be allocated by the newly added node, and the time slot length of the group in which the newly added node is located, determine the adjusted group of the newly added node. Time slot
所述通知模块 54, 还用于通知该组中各节点根据该组调整后的时隙进行报文的发送。 本发明实施例提供了一种实时数据的传输方法及节点设备， 该方法当主节点接收到各 节点发送的报文发送请求时， 确定每个节点发送报文的物理链路， 将物理链路不同的节点 划分在一个组中， 每个节点只唯一位于一个组中， 并才 居每个组中每个节点被分配的时隙 长度， 确定每个组的时隙， 并通知每个节点根据其所在组被分配的时隙进行数据传输。 由 于在本发明中将物理链路不同的节点划分为了一组， 该组分配的时隙相同， 即该组中每个 节点按照该被分配的时隙同时进行数据的发送， 从而可以有效的节省该组网中数据发送的 时间， 另外由于位于该组中的节点的物理链路不同， 因此即使同时进行数据发送其物理链 路也不相冲突， 反而有效提高了带宽资源的利用率。  The notification module 54 is further configured to notify each node in the group to send a message according to the adjusted time slot of the group. An embodiment of the present invention provides a method for transmitting real-time data and a node device. When the primary node receives a packet sending request sent by each node, the method determines a physical link that each node sends a packet, and the physical link is different. The nodes are divided into a group, each node is only uniquely located in one group, and the length of the time slot allocated to each node in each group is determined, the time slot of each group is determined, and each node is notified according to the The group is allocated time slots for data transmission. Since the nodes with different physical links are divided into one group in the present invention, the time slots allocated by the group are the same, that is, each node in the group simultaneously transmits data according to the allocated time slots, thereby effectively saving. The time when data is sent in the network is different. Because the physical links of the nodes in the group are different, the physical links do not conflict even if data is transmitted at the same time, which effectively improves the utilization of bandwidth resources.
本领域内的技术人员应明白， 本发明的实施例可提供为方法、 系统、 或计算机程序产 品。 因此， 本发明可釆用完全硬件实施例、 完全软件实施例、 或结合软件和硬件方面的实 施例的形式。 而且， 本发明可釆用在一个或多个其中包含有计算机可用程序代码的计算机 可用存储介盾 （包括但不限于磁盘存储器、 CD-ROM、 光学存储器等）上实施的计算机程 序产品的形式。  Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the present invention can be embodied in the form of a computer program product embodied on one or more computer-usable storage interfaces (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.
本发明是参照根据本发明实施例的方法、 设备（系统）、 和计算机程序产品的流程图 和 /或方框图来描述的。 应理解可由计算机程序指令实现流程图和 /或方框图中的每一流 程和 /或方框、 以及流程图和 /或方框图中的流程和 /或方框的结合。 可提供这些计算机 程序指令到通用计算机、 专用计算机、 嵌入式处理机或其他可编程数据处理设备的处理器 以产生一个机器， 使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用 于实现在流程图一个流程或多个流程和 /或方框图一个方框或多个方框中指定的功能的 装置。 The present invention is directed to a flowchart of a method, apparatus (system), and computer program product according to an embodiment of the present invention. And / or block diagram to describe. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方 式工作的计算机可读存储器中， 使得存储在该计算机可读存储器中的指令产生包括指令装 置的制造品， 该指令装置实现在流程图一个流程或多个流程和 /或方框图一个方框或多个 方框中指定的功能。  The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上， 使得在计算机 或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理， 从而在计算机或其他 可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和 /或方框图一个 方框或多个方框中指定的功能的步骤。  These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
尽管已描述了本发明的优选实施例， 但本领域内的技术人员一旦得知了基本创造性概 念， 则可对这些实施例作出另外的变更和修改。 所以， 所附权利要求意欲解释为包括优选 实施例以及落入本发明范围的所有变更和修改。  Although the preferred embodiment of the invention has been described, it will be apparent to those of ordinary skill in the art that <RTIgt; Therefore, the appended claims are intended to be construed as including the preferred embodiments and the modifications
显然， 本领域的技术人员可以对本发明实施例进行各种改动和变型而不脱离本发明实 施例的精神和范围。 这样， 倘若本发明实施例的这些修改和变型属于本发明权利要求及其 等同技术的范围之内， 则本发明也意图包含这些改动和变型在内。  It is apparent that those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. Thus, it is intended that the present invention cover the modifications and modifications of the inventions

Claims

权 利 要 求 Rights request
1、 一种实时数据的传输方法， 其特征在于， 该方法包括以下步骤： A method for transmitting real-time data, characterized in that the method comprises the following steps:
主节点接收各节点发送的报文发送请求；  The master node receives a message sending request sent by each node;
根据所述报文发送请求中携带报文发送的源地址信息及目的地址信息， 确定发送该报 文的物理链路；  Determining, according to the source address information and the destination address information, the packet sent by the packet sending request, the physical link for sending the packet;
根据每个节点发送其 ·ί艮文的物理链路， 将物理链路不同的节点划分在一组， 其中每个 节点只唯一位于一个组中；  According to each node sending its physical link, the nodes with different physical links are grouped into one group, and each node is only uniquely located in one group;
根据所述报文发送请求中携带的该节点在一个调度周期内待发送报文包含的总字节 信息， 确定待分配给该节点的时隙长度；  Determining, according to the total byte information included in the message to be sent by the node in the packet sending request, in a scheduling period, determining the length of the time slot to be allocated to the node;
根据每个组中每个节点待分配的时隙长度， 确定每个组的时隙， 并通知每个节点根据 其所在组被分配的时隙进行数据传输。  According to the length of the time slot to be allocated by each node in each group, the time slots of each group are determined, and each node is notified to perform data transmission according to the time slot in which the group is allocated.
2、 如权利要求 1所述的方法， 其特征在于， 所述将物理链路不同的节点划分在一组包 括：  2. The method according to claim 1, wherein the dividing the nodes having different physical links into one group comprises:
针对每个节点， 根据该节点发送其报文的物理链路， 及其他节点发送其报文的物理链 路， 比较该节点与该其他节点对应的物理链路中包含的每个节点是否相同；  For each node, according to the physical link that the node sends its message, and the physical link that other nodes send its message, compare whether each node included in the physical link corresponding to the other node is the same;
当该节点对应的物理链路中的任何一个节点与其他节点对应的物理链路中的任何节 点都不同时， 将该节点及该其他节点划分在一个组。  When any node in the physical link corresponding to the node is not at the same time as any node in the physical link corresponding to the other node, the node and the other node are divided into one group.
3如权利要求 1所述的方法， 其特征在于， 所述根据每个组中每个节点待分配的时隙长 度， 确定每个组的时隙包括：  The method according to claim 1, wherein the determining the time slot of each group according to the length of the time slot to be allocated by each node in each group comprises:
针对每个组中的节点， 比较每个节点待分配的时隙长度， 确定时隙长度的最大值， 将 该时隙长度的最大值确定为该组的时隙长度 , 根据该时隙长度确定该组的时隙。  For each node in the group, compare the length of the time slot to be allocated by each node, determine the maximum value of the time slot length, determine the maximum value of the time slot length as the time slot length of the group, and determine according to the time slot length. The time slot of the group.
4、 如权利要求 1所述的方法， 其特征在于， 所述确定每个组的时隙还包括： 判断不同组包含的节点的报文发送是否存在时序要求；  The method according to claim 1, wherein the determining the time slot of each group further comprises: determining whether a message request of the node included in the different group has a timing requirement;
针对有时序要求的两个节点所在的组， 按照该两个节点发送报文的时序要求， 确定该 两个组的时隙。  For the group where the two nodes with timing requirements are located, the time slots of the two groups are determined according to the timing requirements of the packets sent by the two nodes.
5、 如权利要求 1所述的方法， 其特征在于， 所述方法还包括：  5. The method of claim 1, wherein the method further comprises:
当组网中存在新加入的节点时， 主节点接收该新加入的节点发送的报文发送请求； 主节点确定该新加入的节点发送 ·ί艮文的物理链路， 并才 居保存的每个组中每个节点的 物理链路 , 确定该新加入的节点所在的组；  When there is a newly added node in the networking, the primary node receives a message sending request sent by the newly joined node; the master node determines that the newly added node sends the physical link of the 艮 艮 , , The physical link of each node in the group, determining the group in which the newly added node is located;
根据该新加入的节点待分配的时隙长度， 及该新加入的节点所在的组的时隙长度， 确 定调整后的该新加入的节点所在组的时隙， 通知该组中各节点根据该组调整后的时隙进行 报文的发送。 6、 一种实时数据的传输节点设备， 其特征在于， 所述节点设备包括： 接收模块， 用于接收各节点发送的报文发送请求； Determining, according to the length of the time slot to be allocated by the newly added node, and the time slot length of the group in which the newly added node is located, determining the time slot of the group in which the newly added node is located, and notifying each node in the group according to the The adjusted time slot is used to send packets. A transmission node device for real-time data, the node device comprising: a receiving module, configured to receive a message sending request sent by each node;
分组模块， 用于根据所述报文发送请求中携带报文发送的源地址信息及目的地址信 息， 确定发送该报文的物理链路； 根据每个节点发送其报文的物理链路， 将物理链路不同 的节点划分在一组， 其中每个节点只唯一位于一个组中；  a packet module, configured to determine, according to the source address information and the destination address information that the packet is sent in the packet sending request, the physical link that sends the packet; according to the physical link that each node sends its packet, Nodes with different physical links are grouped into groups, each of which is uniquely located in only one group;
时隙确定模块， 用于根据所述报文发送请求中携带的该节点在一个调度周期内待发送 报文包含的总字节信息， 确定待分配给该节点的时隙长度； 根据每个组中每个节点待分配 的时隙长度， 确定每个组的时隙；  a time slot determining module, configured to determine, according to the total byte information included in the message to be sent by the node in a scheduling period, the length of the time slot to be allocated to the node according to the packet sending request; Determining the length of the time slot to be allocated by each node, determining the time slot of each group;
通知模块， 用于通知每个节点根据其所在组被分配的时隙进行数据传输。  The notification module is configured to notify each node to perform data transmission according to the time slot in which the group is allocated.
7、 如权利要求 6所述的节点设备， 其特征在于， 所述分组模块， 具体用于针对每个节 点， 根据该节点发送其报文的物理链路， 及其他节点发送其报文的物理链路， 比较该节点 与该其他节点对应的物理链路中包含的每个节点是否相同； 当该节点对应的物理链路中的 任何一个节点与其他节点对应的物理链路中的任何节点都不同时， 将该节点及该其他节点 划分在一个组。  The node device according to claim 6, wherein the grouping module is specifically configured to: for each node, according to a physical link that the node sends its message, and other nodes send the physical of the packet a link, comparing whether each node included in the physical link corresponding to the other node is the same; any node in the physical link corresponding to the node and any node in the physical link corresponding to the other node At the same time, the node and the other nodes are divided into one group.
8、 如权利要求 6所述的节点设备， 其特征在于， 所述时隙确定模块， 用于针对每个组 中的节点， 比较每个节点待分配的时隙长度， 确定时隙长度的最大值， 将该时隙长度的最 大值确定为该组的时隙长度 , 根据该时隙长度确定该组的时隙。  The node device according to claim 6, wherein the time slot determining module is configured to compare, for each node in the group, a length of a time slot to be allocated by each node, and determine a maximum time slot length. The value determines the maximum length of the time slot as the time slot length of the group, and determines the time slot of the group according to the length of the time slot.
9、 如权利要求 6所述的节点设备， 其特征在于， 所述时隙确定模块， 还用于判断不同 组包含的节点的报文发送是否存在时序要求； 针对有时序要求的两个节点所在的组， 按照 该两个节点发送 4艮文的时序要求， 确定该两个组的时隙。  The node device according to claim 6, wherein the time slot determining module is further configured to determine whether a message request of a node included in a different group has a timing requirement; The group, according to the timing requirements of the two nodes to send 4 艮, determine the time slots of the two groups.
10、 如权利要求 6所述的节点设备， 其特征在于， 所述接收模块， 还用于当该组网中 存在新加入的节点时， 接收该新加入的节点发送的 4艮文发送请求；  The node device according to claim 6, wherein the receiving module is further configured to: when a newly added node exists in the networking, receive a request for sending the message sent by the newly added node;
所述分组模块， 还用于确定该新加入的节点发送 4艮文的物理链路， 并根据保存的每个 组中每个节点的物理链路， 确定该新加入的节点所在的组；  The grouping module is further configured to determine a physical link that the newly added node sends, and determine, according to the saved physical link of each node in each group, a group in which the newly added node is located;
所述时隙确定模块， 还用于据该新加入的节点待分配的时隙长度， 及该新加入的节点 所在的组的时隙长度， 确定调整后的该新加入的节点所在组的时隙；  The time slot determining module is further configured to determine, according to the length of the time slot to be allocated by the newly added node, and the time slot length of the group in which the newly added node is located, when the adjusted group of the newly added node is determined Gap
所述通知模块， 还用于通知该组中各节点根据该组调整后的时隙进行 ·ί艮文的发送。  The notification module is further configured to notify each node in the group to perform transmission according to the adjusted time slot of the group.
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