WO2021051341A1 - 系统运行方法、系统、可移动平台及存储介质 - Google Patents

系统运行方法、系统、可移动平台及存储介质 Download PDF

Info

Publication number
WO2021051341A1
WO2021051341A1 PCT/CN2019/106630 CN2019106630W WO2021051341A1 WO 2021051341 A1 WO2021051341 A1 WO 2021051341A1 CN 2019106630 W CN2019106630 W CN 2019106630W WO 2021051341 A1 WO2021051341 A1 WO 2021051341A1
Authority
WO
WIPO (PCT)
Prior art keywords
configuration file
version
filled
storage area
field
Prior art date
Application number
PCT/CN2019/106630
Other languages
English (en)
French (fr)
Inventor
廖凯
齐贵宝
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980033902.6A priority Critical patent/CN112166410A/zh
Priority to PCT/CN2019/106630 priority patent/WO2021051341A1/zh
Publication of WO2021051341A1 publication Critical patent/WO2021051341A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/70—Software maintenance or management
    • G06F8/71—Version control; Configuration management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/445—Program loading or initiating
    • G06F9/44505—Configuring for program initiating, e.g. using registry, configuration files

Definitions

  • the embodiments of the present application relate to the field of data processing, and in particular, to a system operation method, system, removable platform, and storage medium.
  • the system configuration file needs to be upgraded.
  • the upgraded configuration file may add, delete or change some content, which brings the system downgrading to the old version.
  • Configuration information such as camera coding and sensor calibration parameters are all due to the locomotive/vehicle. Different, sometimes in order to downgrade to the old version, you have to manually configure these parameters, resulting in low downgrade efficiency, which is not conducive to the batch execution of drones or unmanned driving systems. Therefore, how to achieve the version update while ensuring the configuration
  • the forward and backward compatibility of the files, so that the firmware version of the drone or unmanned system can automatically switch back to the old version is an important technical problem that needs to be solved.
  • the embodiments of the present application provide a system operation method, system, removable platform, and storage medium, so that the firmware version of the system can be automatically rolled back to the old version.
  • the first aspect of the embodiments of the present application is to provide a system operation method, including: obtaining and running a first configuration file, the first configuration file including the difference information between the first configuration file and the configuration files of previous versions; Receive a version rollback instruction, the version rollback instruction includes the version information to which the target is rolled back; according to the version information, from the first configuration file, find the difference between the first configuration file and the second configuration file corresponding to the version Information; According to the difference information and the first configuration file, generate and run the second configuration file corresponding to the version to roll back from the version corresponding to the first configuration file to the version corresponding to the second configuration file.
  • the second aspect of the embodiments of the present application is to provide a control system, including: an instruction receiving component, a memory, and one or more processors, the one or more processors working alone or in cooperation, the instruction receiving component and the one or more processors Or a plurality of processors are in communication connection, a computer program is stored in the memory, and when the processor executes the program, it is used to: obtain and run a first configuration file, the first configuration file includes the first configuration file and previous versions
  • the instruction receiving component is used to: receive the version rollback instruction, the version rollback instruction includes the version information to which the target is rolled back; the processor is also used to: according to the version information, from the first configuration In the file, searching and obtaining difference information between the first configuration file and the second configuration file corresponding to the version; and generating and running the second configuration file corresponding to the version according to the difference information and the first configuration file, Roll back from the version corresponding to the first configuration file to the version corresponding to the second configuration file.
  • the third aspect of the embodiments of the present application is to provide a movable platform, including: the control system provided in the above-mentioned second aspect.
  • the fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect.
  • the target version can be rolled back from the first configuration file according to the information of the version to which the target is rolled back.
  • Find the difference information between the version of the configuration file and the first configuration file and then generate and run the second configuration file corresponding to the version based on the difference information and the first configuration file, thereby realizing the automatic firmware version Rollback does not require manual configuration of firmware parameters, which saves manpower operation and improves efficiency, especially on equipment that carries sensor equipment such as drones or unmanned driving systems, and the parameters of the sensor equipment vary from machine to machine.
  • the version rollback can be performed automatically, without the need to reconfigure personalized parameters for the sensors on each device, and it is easy to perform batch version rollback operations.
  • FIG. 1 is a flowchart of a system operation method provided by an embodiment of the application
  • Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of another application scenario provided by an embodiment of the present application.
  • 4a-4b are schematic diagrams of a user interaction interface provided by an embodiment of the present application.
  • Fig. 5a is a schematic diagram of exemplary difference information provided by an embodiment of the present application.
  • Fig. 5b is a schematic diagram of another exemplary difference information provided by an embodiment of the present application.
  • FIG. 5c is a schematic diagram of another exemplary difference information provided by an embodiment of the present application.
  • FIG. 6 is a flowchart of a method for obtaining a first configuration file according to an embodiment of the present application
  • FIG. 7a is a schematic diagram of comparison between a third configuration file provided by an embodiment of the present application and a configuration file to be filled in;
  • FIG. 7b is a schematic diagram of comparison between another third configuration file provided by an embodiment of the present application and the configuration file to be filled in;
  • FIG. 7c is a schematic diagram of comparison between another third configuration file provided by an embodiment of the present application and the configuration file to be filled in;
  • Fig. 8 is a schematic structural diagram of a control system provided by an embodiment of the present application.
  • a component when referred to as being "fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to the other component or there may be a centered component at the same time.
  • Fig. 1 is a flowchart of a system operation method provided by an embodiment of the application.
  • the execution subject of this method may be a control system of a device equipped with sensors such as a drone or an intelligent driving vehicle, and the parameters of the sensor vary from locomotive/vehicle.
  • the drone involved in this embodiment may include An unmanned ship or an unmanned aerial vehicle, correspondingly, the control system referred to in this embodiment can be a navigation control system of an unmanned ship or a flight control system of an unmanned aerial vehicle.
  • the intelligent driving vehicle involved in this embodiment refers to a vehicle that can pass through Sensors on the vehicle itself, vehicles that perform automatic vehicle control or auxiliary control, such as driverless cars or cars equipped with assisted driving systems.
  • the method in this embodiment may include:
  • Step 101 Obtain and run a first configuration file, where the first configuration file includes difference information between the first configuration file and configuration files of previous versions.
  • the naming of the "first configuration file” in this embodiment is only used to distinguish the configuration file from other configuration files, and has no other meaning.
  • the first configuration file can be exemplarily understood as the configuration file of the latest version of the firmware.
  • the configuration file can be obtained by using a template programming method (for example, protobuf), so that the configuration file can be used with this method before.
  • the obtained configuration file of the old version implements operations such as comparison and replacement, and at the same time enables the configuration file obtained by this method to have missing fields and/or include undefined fields.
  • the “difference information” referred to in this embodiment may be recorded in an undefined field of the first configuration file.
  • the difference information may include at least one of the following information: the configuration file of the later version is relative to the previous version. Fields and field values deleted from the configuration file, new fields and field data, fields whose data has been changed, and the value before and after the change of the field.
  • the process of acquiring and running the first configuration file in this embodiment can be exemplarily understood as a process of firmware upgrade.
  • FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present application, and the scenario includes a smart driving vehicle 21 and a server 22.
  • the intelligent driving vehicle 21 and the server 22 can use wireless communication for data transmission.
  • the server 22 configures the first configuration file and the configuration files of the previous versions. And record the difference information in the undefined field of the first configuration file.
  • the server 22 sends the first configuration file carrying the above difference information to the intelligent driving vehicle 21, and the intelligent driving The vehicle 21 uses the received first configuration file to overwrite the original configuration file.
  • the storage space of the control system as the execution subject of this embodiment can be saved, and space waste can be avoided, and since the difference information in the first configuration file is configured by the server, it can save
  • the operation of the control system to configure the difference information saves the processing resources of the control system, and at the same time allows the control system to roll back to the old version based on the difference information, which improves the efficiency of version rollback.
  • FIG. 3 is a schematic diagram of another application scenario provided by an embodiment of the present application.
  • the server 22 sends the configuration file of the latest version of the firmware to the intelligent driving vehicle 21.
  • the configuration file Does not contain the above difference information.
  • the intelligent driving vehicle 21 can compare the latest configuration file with the current version configuration file to obtain the current running version configuration file and the latest configuration The difference information between the files, and according to the difference information between the current version of the configuration file and the previous versions of the configuration file contained in the current version of the configuration file, the latest version of the configuration file and the version before the current version are obtained. Difference information between configuration files.
  • the first configuration file is generated by recording the difference information in the undefined field of the latest version of the configuration file.
  • the control system By generating the difference information between the latest version of the configuration file and the previous configuration files by the control system as the executive body of this embodiment, the amount of calculation on the server side can be reduced, and the efficiency of the server side for distributing new version configuration files can be improved. Accurately obtain the difference information between the previous configuration file and the latest configuration file to ensure that the version can be automatically rolled back based on the difference information in the scenario of version rollback, avoid manual configuration of the parameters of sensors and other devices, and improve the rollback operation effectiveness.
  • the intelligent driving vehicle 21 in Fig. 2 and Fig. 3 can also be replaced with a drone or other devices equipped with sensor devices, and the parameters of the sensor devices are different depending on the body of the device.
  • the server 22 in FIG. 2 and FIG. 3 can also be replaced with other devices with data processing and sending capabilities such as ground stations.
  • Step 102 Receive a version rollback instruction, where the version rollback instruction includes the version information to which the target is rolled back.
  • FIGS 4a-4b are schematic diagrams of a user interaction interface provided by an embodiment of the present application.
  • the control system can update the current version Vn and the previous version.
  • the version information of the old versions V1 to Vn-1 is displayed on the user interaction interface.
  • the user selects the version to which the target is rolled back through such methods as clicking, pressing, or voice commands, and then controls the system according to the operation instructions input by the user. Or the voice command obtains information about the version of the target rollback.
  • the control system may set an input area 421 on the user interaction interface, where the input area 421 may include a first sub-area 4211 for inputting the version information to which the target is rolled back. And the second sub-area area 4212 used to input the current version. In some scenarios, the input area 421 may not include the second sub-area area 4212.
  • the user can fill in the target in the input area 421 by touching or voice input. Roll back to the version, and generate a rollback instruction by manually or voice triggering the confirm key 422 on the interactive interface.
  • the rollback instruction referred to in this embodiment includes the version information to which the target is rolled back.
  • the version number to which the target is rolled back can be carried in the rollback command, and in other embodiments, the version number to which the target is rolled back can be included.
  • the current version number is used in the return instruction to point to the version number to which the target is rolled back.
  • it can be in the form of VB-VA
  • VB represents the current version number
  • VA represents the version number to which the target is rolled back.
  • any method can be used to indicate the version number to which the target is to be rolled back.
  • Step 103 According to the version information, search and obtain the difference information between the first configuration file and the second configuration file corresponding to the version from the first configuration file.
  • Figure 5a is a schematic diagram of an exemplary difference information provided by an embodiment of the present application.
  • the difference between the later version VB and the previous version VA is that the values of field A and field B have changed.
  • the version VA is the version to which the target is rolled back
  • the values aa and bb of the field A and the field B in the version VA are obtained.
  • FIG. 5b is a schematic diagram of another exemplary difference information provided by an embodiment of the present application. As shown in FIG. 5b, the difference between the later version VB and the previous version VA is that the new field C is added in the later version.
  • FIG. 5c is a schematic diagram of another exemplary difference information provided by an embodiment of the present application.
  • the difference between the later version VB and the previous version VA lies in the deletion of field D in the later version.
  • the value jj of the field D included in the configuration file of the version VA is obtained.
  • Step 104 Generate and run the second configuration file corresponding to the version according to the difference information and the first configuration file to roll back from the version corresponding to the first configuration file to the second configuration The version corresponding to the file.
  • the difference between the configuration file of the version to which the target is rolled back and the first configuration file is that the first configuration file deletes field D
  • the difference information when rolling back to the version to which the target is rolled back, the first The data of the field D deleted from the configuration file is added to the first configuration file to form a second configuration file.
  • the difference between the target rollback configuration file and the first configuration file is that the first configuration file modifies the value of field B
  • the difference information obtain the value of field B in the target rollback version, And change the value of field B in the first configuration file to this value to generate a second configuration file.
  • the second configuration file generated in this embodiment can still carry the difference information between the first configuration file and the configuration files of previous versions, or it can also be generated according to the second configuration file at the same time as the second configuration file.
  • the difference between the file and the first configuration file, and the difference between the first configuration file and other previous configuration files, the difference information between the second configuration file and the first configuration file, and the difference between the second configuration file and the previous configuration file And record the difference information in the undefined field of the second configuration file, so that the control system can upgrade to the version corresponding to the first configuration file again according to the difference information, or further reduce to the older one. version.
  • the target version can be rolled back from the first configuration file according to the information of the version to which the target is rolled back.
  • Find the difference information between the version of the configuration file and the first configuration file and then generate and run the second configuration file corresponding to the version based on the difference information and the first configuration file, thereby realizing the automatic firmware version Rollback does not require manual configuration of firmware parameters, which saves manpower operation and improves efficiency, especially on equipment that carries sensor equipment such as drones or unmanned driving systems, and the parameters of the sensor equipment vary from machine to machine.
  • the version rollback can be performed automatically, without the need to reconfigure personalized parameters for the sensors on each device, and it is easy to perform batch version rollback operations.
  • FIG. 6 is a flowchart of a method for obtaining a first configuration file provided by an embodiment of the present application. As shown in FIG. 6, the method includes the following steps:
  • Step 601 Receive update data, where the update data includes a configuration file to be filled in, and the configuration file to be filled in includes data of fields that are updated in this update relative to the currently running third configuration file.
  • the "third configuration file” referred to in this embodiment is used to indicate the configuration file of the currently running version. Its naming is only for the convenience of description and distinction, and does not have other meanings.
  • the third configuration file in this embodiment Stored in the first area of the control system, the configuration file can be run only when stored in the first area, and the third configuration file includes the difference information between it and the configuration files of the previous versions.
  • the configuration file to be filled in this embodiment is obtained using a template programming method (for example, protobuf), so that the configuration file can be implemented with the old version of the configuration file (such as the third configuration file) obtained by this method. Operations such as comparison and replacement can also enable the configuration file obtained by this method to have missing fields and/or include undefined fields.
  • a template programming method for example, protobuf
  • the configuration file of the latest version sent by the server 22 to the intelligent driving vehicle 21 in FIG. 3 can be specifically referred to as the configuration file to be filled in in this embodiment, and the configuration file includes the configuration file.
  • the second update is relative to the currently running third configuration file to update the field data.
  • FIG. 7a is a schematic diagram of comparison between a third configuration file provided by an embodiment of the present application and the configuration file to be filled, as shown in FIG. 7a
  • the latest version of the configuration file has changed the value of field B relative to the third configuration file, and fields A and C have not been changed.
  • the configuration file to be filled includes the updated value aa of field B, and the other fields are
  • FIG. 7b is a schematic diagram of comparison between another third configuration file and the configuration file to be filled in according to an embodiment of the present application.
  • the configuration file to be filled includes the value of field D, and the other fields are blank.
  • FIG. 7c is a schematic diagram of comparison between another third configuration file and the configuration file to be filled in according to an embodiment of the present application.
  • the latest version of the configuration file deletes the content of field C relative to the third configuration file , Then the content of field C will not be included in the configuration file to be filled in, where the symbol "" in Figure 7a- Figure 7c represents an omitted value.
  • Figs. 7a to 7c are merely illustrative and not the only limitation.
  • the form of the configuration file to be filled in in practice can be a combination of two or more situations in Figs. 7a to 7c.
  • Step 602 Based on the data of the updated field, configure the data in the third configuration file that has not been updated this time to the corresponding field of the configuration file to be filled in to generate a first configuration file.
  • Step 603 The difference between the data corresponding to the updated field in the first configuration file and the third configuration file, and the difference in the data that exists in the third configuration file but is in the first configuration file Data of non-existent fields is recorded in the first configuration file, and difference information between the first configuration file and the third configuration file is generated.
  • an implementation manner of this embodiment may copy the third configuration file from the first storage area to the second storage area before receiving the update data, and After the update data is received, the configuration file to be filled in is stored in the first area, and the third configuration file in the first area is overwritten, where the second storage area is used to store the backup file.
  • the third configuration file can be obtained from the second storage area first, and then the third configuration file can be traversed through the traversal method. If the traversed field is included in the configuration file to be filled in, And the value of this field in the configuration file to be filled is empty, then the value of the field in the third configuration file is configured to the configuration file to be filled, if the third configuration file includes some For fields that are not included in the configuration file to be filled, fill in the information and values of these fields into the undefined fields of the configuration file to be filled in to obtain the first difference information, and further, traverse the configuration file to be filled, If the configuration file to be filled includes fields not included in the third configuration file and/or the value of a certain field of the configuration file to be filled is different from the value of the corresponding field in the third configuration file, then the information and values of these fields Fill in the undefined field of the configuration file to be filled to obtain the second difference information, and then obtain the first configuration file.
  • the third configuration file in the second area can be deleted to save storage space.
  • the received configuration file to be filled in may also be stored in the second area. Then use a method similar to the first method to obtain the first configuration file, and after obtaining the first configuration file, use the first configuration file to overwrite the third configuration file in the first area, and delete the first configuration in the second area file.
  • the fields contained in the configuration file to be filled in are compared with the fields in the currently running third configuration file, and the empty fields in the configuration file to be filled in are adopted as corresponding in the third configuration file.
  • the configuration file of the old version can be automatically obtained based on the difference information, without the need to manually change the firmware parameters, which improves efficiency, especially in drones or unmanned systems.
  • the parameters of the sensors carried by the drone or the unmanned driving system are different. In this case, the method according to this embodiment can avoid the complicated operation of manually reconfiguring the sensor parameters after the version is downgraded. Batches of unmanned aerial vehicles or unmanned systems carry out version rollbacks or upgrades.
  • FIG. 8 is a schematic structural diagram of a control system provided by an embodiment of the present application.
  • the system can be used to execute the method of any of the foregoing embodiments.
  • the control system 80 includes: an instruction receiving component 81, a memory 82, and a Or multiple processors 83, the one or more processors 83 work individually or cooperatively, the instruction receiving component 81 and the one or more processors 83 are communicatively connected, and the memory 82 stores a computer program,
  • the processor executes the program, it is configured to: obtain and run a first configuration file, where the first configuration file includes difference information between the first configuration file and the configuration files of previous versions;
  • the instruction receiving component is configured to: receive a version rollback instruction, where the version rollback instruction includes version information to which the target is rolled back; and the processor is further configured to: according to the version information, download from the first configuration file , Searching and obtaining the difference information between the first configuration file and the second configuration file corresponding to the version; and generating and running the
  • the system further includes a transceiving component 84.
  • the processor 83 performs the operation of obtaining and running the first configuration file, it includes performing the following operations:
  • the update data is received through the transceiver component, the update data includes a configuration file to be filled in, and the configuration file to be filled in includes data of fields that are updated in this update relative to the currently running third configuration file; For the data of the updated field, configure the data in the third configuration file that has not been updated this time to the corresponding field of the configuration file to be filled in to generate a first configuration file; The difference between the data corresponding to the fields in the first configuration file and the third configuration file, and the data of the fields that exist in the third configuration file but do not exist in the first configuration file are recorded in In the first configuration file, difference information between the first configuration file and the third configuration file is generated.
  • the processor 83 before generating the first configuration file, is further configured to perform the following operation: copy the third configuration file from the first storage area storing the third configuration file to In the second storage area.
  • the processor 83 is further configured to perform the following operations after copying the third configuration file from the first storage area storing the third configuration file to the second storage area: Using the received configuration file to be filled in to overwrite the third configuration file in the first storage area.
  • the processor 83 executes the operation of generating the first configuration file, it is configured to: search and obtain the third configuration file from the second storage area; traverse the third configuration file If the traversed field is included in the configuration file to be filled, and the value of the field on the configuration file to be filled is empty, then the field is listed in the third configuration file The value above is configured to the configuration file to be filled.
  • the processor 83 after the processor 83 receives the update data through the transceiver component, it is further configured to store the received configuration file to be filled in the second storage area.
  • the processor is further configured to:
  • the generated first configuration file is used to overwrite the third configuration file stored in the first storage area.
  • the generated second configuration file includes difference information between the second configuration file and the first configuration file, and the second configuration file and the second configuration file Information about the differences between the previous versions of the configuration files.
  • control system provided in this embodiment can be used to execute the method of any one of the foregoing embodiments, and its execution mode and beneficial effects are similar, and will not be repeated here.
  • the embodiment of the present application also provides a movable platform.
  • the movable bottle cap includes the control system as described in the embodiment of FIG. 8.
  • the movement should include intelligent driving vehicles or drones.
  • UAVs or intelligent driving vehicles are equipped with sensors, and the parameters of the sensors are different from the machine/vehicle to the control system of the equipment.
  • the UAV involved in this embodiment may include an unmanned ship or an unmanned aerial vehicle.
  • the control system referred to in this embodiment may be the navigation control system of an unmanned ship or the flight control system of an unmanned aerial vehicle.
  • the intelligent driving vehicle involved in this embodiment refers to the ability to perform vehicle automation through the sensors mounted on the vehicle itself. Controlled or assisted controlled vehicles, such as unmanned vehicles or vehicles equipped with assisted driving systems.
  • the drone includes: an unmanned ship or an unmanned aerial vehicle.
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in any of the foregoing embodiments.
  • the disclosed device and method can be implemented in other ways.
  • the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute the method described in the various embodiments of the present invention. Part of the steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Landscapes

  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Information Retrieval, Db Structures And Fs Structures Therefor (AREA)
  • Stored Programmes (AREA)

Abstract

本申请实施例提供一种系统运行方法、系统、可移动平台及存储介质，该方法通过获得并运行包含有与在前各版本的配置文件之间的差异信息的第一配置文件，当接收到版本回退指令时，可以根据目标回退到的版本的信息，从第一配置文件中查找获得该版本的配置文件与第一配置文件之间的差异信息，从而根据该差异信息和第一配置文件，生成并运行该版本所对应的第二配置文件，进而实现了固件版本的自动回退，不需要人为手动配置固件参数，节省了人力操作，提高了效率。

Description

系统运行方法、系统、可移动平台及存储介质 技术领域
本申请实施例涉及数据处理领域，尤其涉及一种系统运行方法、系统、可移动平台及存储介质。
背景技术
在相关技术中无人机或无人驾驶系统在进行固件更新时，需要升级系统的配置文件，升级后的配置文件可能新增、删除或者更改了一些内容，这为系统降级到旧版本带来了困难，然而实际场景中，回退到旧版本的需求是真实存在的，尤其是在无人机或无人驾驶系统中，诸如相机编码、传感器标定参数等配置信息都是因机/车而异的，有时为了降级到旧版本不得不人工手动去配置这些参数，从而导致降级效率较低，不利于无人机或无人驾驶系统的批量执行，因此如何在实现版本更新的同时，确保配置文件的前后向兼容，使得无人机或无人驾驶系统的固件版本可以自动切换回旧版本是需要解决的重要技术问题。
发明内容
本申请实施例提供一种系统运行方法、系统、可移动平台及存储介质，用以使得系统的固件版本可以自动回退到旧版本。
本申请实施例的第一方面是提供一种系统运行方法，包括：获得并运行第一配置文件，第一配置文件中包括第一配置文件与在前各版本的配置文件之间的差异信息；接收版本回退指令，版本回退指令包括目标回退到的版本信息；根据版本信息，从第一配置文件中，查找获得第一配置文件与所述版本对应的第二配置文件之间的差异信息；根据所述差异信息和第一配置文件，生成并运行所述版本对应的第二配置文件，以从第一配置文件对应的版本回退到第二配置文件对应的版本。
本申请实施例的第二方面是提供一种控制系统，包括：指令接收组件、存储器和一个或多个处理器，所述一个或多个处理器单独或协同工作，指 令接收组件和所述一个或多个处理器通讯连接，存储器中存储有计算机程序，处理器在执行所述程序时，用于：获得并运行第一配置文件，第一配置文件中包括第一配置文件与在前各版本的配置文件之间的差异信息；指令接收组件用于：接收版本回退指令，版本回退指令包括目标回退到的版本信息；处理器还用于：根据所述版本信息，从第一配置文件中，查找获得第一配置文件与所述版本对应的第二配置文件之间的差异信息；以及根据所述差异信息和第一配置文件，生成并运行所述版本对应的第二配置文件，以从第一配置文件对应的版本回退到第二配置文件对应的版本。
本申请实施例的第三方面是提供一种可移动平台，包括：上述第二方面提供的控制系统。
本发明实施例的第四方面是提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行以实现第一方面所述的方法。
通过获得并运行包含有与在前各版本的配置文件之间的差异信息的第一配置文件，当接收到版本回退指令时，可以根据目标回退到的版本的信息，从第一配置文件中查找获得该版本的配置文件与第一配置文件之间的差异信息，从而根据该差异信息和第一配置文件，生成并运行该版本所对应的第二配置文件，进而实现了固件版本的自动回退，不需要人为手动配置固件参数，节省了人力操作，提高了效率，尤其在诸如无人机或无人驾驶系统等携带有传感器设备，且传感器设备的参数因机而异的设备上，基于不同版本间配置文件的差异信息，能够自动执行版本回退，不用另外为每个设备上的传感器重新配置个性化参数，易于执行批量的版本回退操作。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种系统运行方法的流程图；
图2是本申请实施例提供的一应用场景的示意图；
图3是本申请实施例提供的另一应用场景的示意图；
图4a-图4b是本申请实施例提供的一种用户交互界面的示意图；
图5a是本申请实施例提供的一种示例性的差异信息的示意图；
图5b是本申请实施例提供的另一种示例性的差异信息的示意图；
图5c是本申请实施例提供的又一种示例性的差异信息的示意图；
图6是本申请实施例提供的一种获取第一配置文件的方法的流程图；
图7a是本申请实施例提供的一种第三配置文件与待填写的配置文件之间的对比示意图；
图7b是本申请实施例提供的另一种第三配置文件与待填写的配置文件之间的对比示意图；
图7c是本申请实施例提供的又一种第三配置文件与待填写的配置文件之间的对比示意图；
图8是本申请实施例提供的一种控制系统的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本申请实施例提供一种系统运行方法。图1为本申请实施例提供的一 种系统运行方法的流程图。该方法的执行主体可以是诸如无人机或智能驾驶车辆等搭载有传感器，且传感器的参数因机/车而异的设备的控制系统，示例的，本实施例所涉及的无人机可以包括无人船或无人飞行器，相应地，本实施例所称的控制系统可以是无人船的航行控制系统或者无人飞行器的飞行控制系统，本实施例所涉及的智能驾驶车辆是指可以通过车辆本身搭载的传感器，执行车辆自动控制或辅助控制的车辆，比如无人驾驶汽车或搭载有辅助驾驶系统的汽车等。如图1所示，本实施例中的方法，可以包括：
步骤101、获得并运行第一配置文件，所述第一配置文件中包括所述第一配置文件与在前各版本的配置文件之间的差异信息。
本实施例中对“第一配置文件”的命名仅用于将该配置文件与其他配置文件进行区分，而不具有其他含义。为了便于理解，可将第一配置文件示例性的理解为固件的最新版本的配置文件，该配置文件可以采用模板编程方法(比如，protobuf)得到，使得该配置文件可以和在此之前采用该方法得到的旧版本的配置文件实现对比和替换等操作，同时使得采用该方法得到的配置文件可以缺失字段和/或包括未定义的字段。
本实施例中所称的“差异信息”可以记录在第一配置文件的未定义字段上，示例的，差异信息可以包括如下信息中的至少一种：在后版本的配置文件相对于在前版本的配置文件删减的字段和字段数值、新增的字段和字段数据、数据发生更改的字段以及该字段更改前的数值和更改后的数值。
本实施例获取并运行第一配置文件的过程可示例性的理解为固件升级的过程。
示例的，图2是本申请实施例提供的一应用场景的示意图，该场景包括智能驾驶车辆21和服务器22。如图2所示，在一种实施方式中智能驾驶车辆21和服务器22之间可以采用无线通信的方式进行数据传输，在升级之前服务器22配置第一配置文件与在前各版本的配置文件之间的差异信息，并将该差异信息记录到第一配置文件的未定义的字段中，在升级的过程中服务器22将携带有上述差异信息的第一配置文件发送给智能驾驶车辆21，智能驾驶车辆21采用接收到的第一配置文件覆盖原配置文件。
通过采用第一配置文件覆盖原配置文件，能够节约本实施例作为执行 主体的控制系统的存储空间，避免空间浪费，并且由于第一配置文件中的差异信息是由服务器配置的，因此，能够节省控制系统配置差异信息的操作，节约控制系统的处理资源，同时又允许控制系统根据该差异信息回退到旧版本，提高了版本回退的效率。
示例的，图3是本申请实施例提供的另一应用场景的示意图，如图3所示，在另一实施例方式中服务器22向智能驾驶车辆21发送固件最新版本的配置文件，该配置文件中不包含上述差异信息，智能驾驶车辆21在接收到固件最新版本的配置文件后，可以将最新的配置文件与当前版本的配置文件进行比对，得到当前运行的版本的配置文件与最新的配置文件之间的差异信息，以及根据当前版本的配置文件中包含的，当前版本的配置文件与之前各版本的配置文件之间的差异信息，得到最新版本的配置文件与当前版本之前的各版本的配置文件之间的差异信息。进而通过将该些差异信息记录到最新版本的配置文件的未定义的字段中，生成第一配置文件。
通过作为本实施例执行主体的控制系统生成最新版本的配置文件与在前各配置文件之间的差异信息，能够降低服务器端的计算量，提高服务器端配发新版本配置文件的效率，同时又能够准确获得在前配置文件与最新配置文件之间的差异信息，确保能够在版本回退的场景中，根据差异信息进行自动回退，避免人工手动配置传感器等设备的参数，提高了回退操作的效率。
当然上述仅是以图2和图3作为示例进行说明，并不是对本实施例所适用的应用场景，以及获取第一配置文件的方式进行限定。实际上，在一些实施例中，图2和图3中的智能驾驶车辆21还可以替换为无人机或者其他搭载有传感器设备，且传感器设备的参数因搭载的本体不同而不同的设备，实际上，图2和图3中的服务器22也可以替换为其他诸如地面站等具有数据处理和发送能力的设备。
步骤102、接收版本回退指令，所述版本回退指令包括目标回退到的版本信息。
示例的，用户可以通过地面站、手机或其他设备向本实施例的执行主体控制系统发送版本回退指令，或者，在其他实施方式中，控制系统可以通过提供用户交互界面，接收用户通过交互界面输入的回退指令，比如， 图4a-图4b是本申请实施例提供的一种用户交互界面的示意图，如图4a所示，在一些场景中，控制系统可以将当前版本Vn以及在前的各旧版本V1到Vn-1的版本信息显示在用户交互界面上，用户通过诸如点击、按压或者语音指令等方式从交互界面上选择目标回退到的版本，进而控制系统根据用户输入的操作指令或者语音指令获得目标回退的版本的信息。或者，如图4b所示，在另一些场景中，控制系统可以在用户交互界面上设置输入区域421，其中输入区域421可以包括用于输入目标回退到的版本信息的第一子区域4211，以及用于输入当前版本的第二子区域区域4212，其中，在一些场景中输入区域421也可以不包括第二子区域区域4212，用户可以通过触摸或者语音输入的方式在输入区域421中填写目标回退到的版本，并通过手动或语音触发交互界面上的确认键422生成回退指令。
本实施例所称的回退指令中包括目标回退到的版本信息，比如，在一些实施方式中可以在回退指令中携带目标回退到的版本号，在另一些实施方式中可以在回退指令中用当前版本号指向目标回退到的版本号，其形式比如可以是VB-VA，VB表示当前版本号，VA表示目标回退到的版本号，当然这里仅为示例说明并不是对本实施例的唯一限定，实际上，在实际应用中，可以采用任意的方式表明目标要回退到的版本号。
步骤103、根据所述版本信息，从所述第一配置文件中，查找获得所述第一配置文件与所述版本对应的第二配置文件之间的差异信息。
比如，图5a是本申请实施例提供的一种示例性的差异信息的示意图，在图5a中，在后版本VB与在前版本VA的差异在于字段A和字段B的数值发生了变化，当确定版本VA为目标回退到的版本时，获取字段A和字段B在版本VA中的数值aa和bb。再比如，图5b是本申请实施例提供的另一种示例性的差异信息的示意图，如图5b所示，在后版本VB与在前版本VA的差异在于在后版本新增字段C，当确定版本VA为目标回退到的版本时，获取版本VA的配置文件不包括字段C的信息。还比如，图5c是本申请实施例提供的又一种示例性的差异信息的示意图，在图5c中，在后版本VB与在前版本VA的差异在于在后版本删除字段D，那么，在确定版本VA为目标回退到的版本时，获取版本VA的配置文件中包括字段D的数值jj。
当然这里虽然仅是通过图5a、图5b、图5c对单独更改数值、增加字段，删除字段的情况进行了示例性说明，但是并不排除在后版本的配置文件与在前版本的配置文件之间还可以同时存在上述两种或两种以上差异的情况，当在后版本的配置文件与在前版本的配置文件之间包括上述两种或两种以上的差异时，差异信息的获取可以分别参照图5a、图5b、图5c中相应的差异情况，在这里不再赘述。
步骤104、根据所述差异信息和所述第一配置文件，生成并运行所述版本对应的所述第二配置文件，以从所述第一配置文件对应的版本回退到所述第二配置文件对应的版本。
比如，当目标回退到的版本的配置文件与第一配置文件的差异在于，第一配置文件删除了字段D，那么根据差异信息，在回退到目标回退到的版本时，将第一配置文件删除的字段D的数据添到第一配置文件中形成第二配置文件。
或者当目标回退到的版本的配置文件与第一配置文件的差异在于，第一配置文件增加了字段C，则在回退到目标版本时，从第一配置文件中删除字段C，生成第二配置文件。
或者当目标回退到版本的配置文件与第一配置文件的差异在于，第一配置文件对字段B的数值进行了修改，那么根据差异信息，获取字段B在目标回退到版本中的数值，并将第一配置文件中字段B的数值更改为该数值，生成第二配置文件。
进一步的，本实施例生成的第二配置文件中仍旧可以携带第一配置文件与在前各版本的配置文件之间的差异信息，或者也可以在生成第二配置文件的同时，根据第二配置文件与第一配置文件的差异，以及第一配置文件与其他在前配置文件的差异，生成第二配置文件与第一配置文件之间的差异信息，以及第二配置文件与其之前的配置文件之间的差异信息，并将该些差异信息记录到第二配置文件的未定义字段上，从而使得控制系统能够根据该差异信息重新升级到第一配置文件对应的版本，或者进一步降低到更旧的版本。
通过获得并运行包含有与在前各版本的配置文件之间的差异信息的第一配置文件，当接收到版本回退指令时，可以根据目标回退到的版本的 信息，从第一配置文件中查找获得该版本的配置文件与第一配置文件之间的差异信息，从而根据该差异信息和第一配置文件，生成并运行该版本所对应的第二配置文件，进而实现了固件版本的自动回退，不需要人为手动配置固件参数，节省了人力操作，提高了效率，尤其在诸如无人机或无人驾驶系统等携带有传感器设备，且传感器设备的参数因机而异的设备上，基于不同版本间配置文件的差异信息，能够自动执行版本回退，不用另外为每个设备上的传感器重新配置个性化参数，易于执行批量的版本回退操作。
图6是本申请实施例提供的一种获取第一配置文件的方法的流程图，如图6所示，该方法包括如下步骤：
步骤601、接收更新数据，所述更新数据中包括待填写的配置文件，所述待填写的配置文件中包括本次更新相对于当前运行的第三配置文件作出更新的字段的数据。
本实施例中所称的“第三配置文件”用于表示当前运行的版本的配置文件，其命名仅是为了叙述方便和便于区分，并不具有其他含义，本实施例中的第三配置文件存储在控制系统的第一区域，配置文件存放在第一区域中才可以被运行，第三配置文件包括其与在前各版本的配置文件之间的差异信息。
本实施例中所称的待填写的配置文件采用模板编程方法(比如，protobuf)得到，使得该配置文件可以和在此之前采用该方法得到的旧版本的配置文件(比如第三配置文件)实现对比和替换等操作，同时使得采用该方法得到的配置文件可以缺失字段和/或包括未定义的字段。
以图3所示的场景为例，图3中服务器22向智能驾驶车辆21发送的最新版本的配置文件可以被具体为本实施例中所称的待填写的配置文件，该配置文件中包括本次更新相对于当前运行的第三配置文件作出更新的字段的数据，比如，图7a是本申请实施例提供的一种第三配置文件与待填写的配置文件之间的对比示意图，如图7a所示，最新版本的配置文件相对于第三配置文件对字段B的数值进行了更改，字段A和字段C没有更改，那么待填写的配置文件中包括字段B更新后的数值aa，其他字段为空； 再比如，图7b是本申请实施例提供的另一种第三配置文件与待填写的配置文件之间的对比示意图，当最新版本的配置文件相对于第三配置文件增加了字段D的内容dd时，待填写的配置文件中包括字段D的数值，其他字段为空。再比如，图7c是本申请实施例提供的又一种第三配置文件与待填写的配置文件之间的对比示意图，当最新版本的配置文件相对于第三配置文件删除了字段C的内容时，那么在待填写的配置文件中将不包括字段C的内容，其中，图7a-图7c中的符号“…”代表省略数值。
当然上述图7a-图7c的情况仅为示例说明而不是唯一限定，实际上，实际中待填写的配置文件的形式可以是图7a-图7c中两种或两种以上的情况的组合。
步骤602、基于所述作出更新的字段的数据，将所述第三配置文件中本次更新未作出更新的数据配置到所述待填写的配置文件的相应字段上，生成第一配置文件。
步骤603、将所述作出更新的字段在所述第一配置文件和所述第三配置文件上对应的数据的差异，以及所述第三配置文件中存在的但在所述第一配置文件中不存在的字段的数据记录到所述第一配置文件中，生成所述第一配置文件与所述第三配置文件之间的差异信息。
示例的，为了实现第一配置文件的生成和运行，本实施例的一种实施方式可以在接收到更新数据之前，将第三配置文件从第一存储区中复制到第二存储区中，并在接收到更新数据之后，将待填写的配置文件存储在第一区域中，并覆盖第一区域中的第三配置文件，其中第二存储区用于存放备份文件。
在生成第一配置文件的过程中，可以先从第二存储区中查找获得第三配置文件，再通过遍历的方法遍历第三配置文件，若遍历到的字段包含在待填写的配置文件上，且该字段在待填写的配置文件上的数值为空，则将该字段在所述第三配置文件上的数值配置到所述待填写的配置文件上，若第三配置文件中包括某些在待填写的配置文件中不包括的字段，则将该些字段的信息和数值填写到待填写的配置文件的未定义的字段上，得到第一差异信息，进一步的，遍历待填写的配置文件，若待填写的配置文件包括第三配置文件不包括的字段和/或待填写的配置文件的某个字段的数值与 第三配置文件中相应字段的数值不同，则将该些字段的信息和数值填写到待填写的配置文件的未定义的字段上，得到第二差异信息，进而得到第一配置文件。
得到第一配置文件后，可以删除第二区域中的第三配置文件，以节约存储空间。
或者，在本实施例的另一种实施方式中，还可以将接收到的待填写的配置文件存储在第二区域中。再采用和第一种方式类似的方法得到第一配置文件，并在得到第一配置文件后，采用第一配置文件覆盖第一区域中的第三配置文件，删除第二区域中的第一配置文件。
通过在固件版本更新的过程中，将待填写的配置文件中包含的字段与当前运行的第三配置文件中的字段进行对比，将待填写的配置文件中的空字段采用第三配置文件中相应字段的内容进行填写，并将待填写的配置文件相对于第三配置文件添加、删除、更改数值的字段的信息填写在待填写的配置文件的未定义字段中，生成差异信息，使得控制系统在进行版本回退操作时，能够根据该些差异信息自动得到旧版本的配置文件，不需要人工对固件参数进行更改，提高了效率，尤其在无人机或无人驾驶系统中，每个无人机或无人驾驶系统搭载的传感器的参数都不同，在这种情况下，根据本实施例的方法能够避免在版本降级后，手工重新配置传感器参数的复杂操作，提高了效率，可以同时对大批量的无人机或无人驾驶系统进行版本回退或升级操作。
图8是本申请实施例提供的一种控制系统的结构示意图，该系统可以用于执行上述任意实施例的方法，如图8所示，控制系统80包括：指令接收组件81、存储器82和一个或多个处理器83，所述一个或多个处理器83单独或协同工作，所述指令接收组件81和所述一个或多个处理器83通讯连接，所述存储器82中存储有计算机程序，所述处理器在执行所述程序时，用于：获得并运行第一配置文件，所述第一配置文件中包括所述第一配置文件与在前各版本的配置文件之间的差异信息；所述指令接收组件用于：接收版本回退指令，所述版本回退指令包括目标回退到的版本信息；所述处理器还用于：根据所述版本信息，从所述第一配置文件中，查 找获得所述第一配置文件与所述版本对应的第二配置文件之间的差异信息；以及根据所述差异信息和所述第一配置文件，生成并运行所述版本对应的所述第二配置文件，以从所述第一配置文件对应的版本回退到所述第二配置文件对应的版本。
在一种实施方式中，所述系统还包括：收发组件84，所述处理器83在执行获得并运行第一配置文件的操作时，包括执行如下操作：
通过所述收发组件接收更新数据，所述更新数据中包括待填写的配置文件，所述待填写的配置文件中包括本次更新相对于当前运行的第三配置文件作出更新的字段的数据；基于所述作出更新的字段的数据，将所述第三配置文件中本次更新未作出更新的数据配置到所述待填写的配置文件的相应字段上，生成第一配置文件；将所述作出更新的字段在所述第一配置文件和所述第三配置文件上对应的数据的差异，以及所述第三配置文件中存在的但在所述第一配置文件中不存在的字段的数据记录到所述第一配置文件中，生成所述第一配置文件与所述第三配置文件之间的差异信息。
在一种实施方式中，所述处理器83在生成第一配置文件之前，还用于执行如下操作：从存储所述第三配置文件的第一存储区中将所述第三配置文件复制到第二存储区中。
在一种实施方式中，所述处理器83在从存储所述第三配置文件的第一存储区中将所述第三配置文件复制到第二存储区中之后，还用于执行如下操作：采用接收到的所述待填写的配置文件覆盖所述第一存储区中的所述第三配置文件。
在一种实施方式中，所述处理器83在执行生成第一配置文件的操作时，用于：从所述第二存储区中查找获得所述第三配置文件；遍历所述第三配置文件的各字段，若遍历到的字段包含在所述待填写的配置文件上，且所述字段在所述待填写的配置文件上的数值为空，则将所述字段在所述第三配置文件上的数值配置到所述待填写的配置文件上。
在一种实施方式中，所述处理器83在通过所述收发组件接收到更新数据之后，还用于：将接收到的所述待填写的配置文件存储到第二存储区中。
在一种实施方式中，所述处理器在生成第一配置文件之后，还用于：
采用生成的第一配置文件覆盖存储在第一存储区中的所述第三配置文件。
在一种实施方式中，生成的所述第二配置文件中包括所述第二配置文件与所述第一配置文件之间的差异信息，以及所述第二配置文件与所述第二配置文件之前各版本的配置文件之间的差异信息。
本实施例提供的控制系统能够用于执行上述任一实施例的方法，其执行方式和有益效果类似，在这里不再赘述。
本申请实施例还提供一种可移动平台该移动瓶盖包括如图8实施例所述的控制系统。
其中，该移动应该可以包括智能驾驶车辆或无人机。无人机或智能驾驶车辆搭载有传感器，且传感器的参数因机/车而异的设备的控制系统，示例的，本实施例所涉及的无人机可以包括无人船或无人飞行器，相应地，本实施例所称的控制系统可以是无人船的航行控制系统或者无人飞行器的飞行控制系统，本实施例所涉及的智能驾驶车辆是指可以通过车辆本身搭载的传感器，执行车辆自动控制或辅助控制的车辆，比如无人驾驶汽车或搭载有辅助驾驶系统的汽车等。
示例的，所述无人机包括：无人船或无人飞行器。
本实施例提供的可移动平台的执行方式和有益效果与上述控制系统类似，在这里不再赘述。
另外，本实施例还提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行以实现上述任一实施例所述的方法。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (20)

  1. 一种系统运行方法，其特征在于，包括：
    获得并运行第一配置文件，所述第一配置文件中包括所述第一配置文件与在前各版本的配置文件之间的差异信息；
    接收版本回退指令，所述版本回退指令包括目标回退到的版本信息；
    根据所述版本信息，从所述第一配置文件中，查找获得所述第一配置文件与所述版本对应的第二配置文件之间的差异信息；
    根据所述差异信息和所述第一配置文件，生成并运行所述版本对应的所述第二配置文件，以从所述第一配置文件对应的版本回退到所述第二配置文件对应的版本。
  2. 根据权利要求1所述的方法，其特征在于，所述获得并运行第一配置文件，包括：
    接收更新数据，所述更新数据中包括待填写的配置文件，所述待填写的配置文件中包括本次更新相对于当前运行的第三配置文件作出更新的字段的数据；
    基于所述作出更新的字段的数据，将所述第三配置文件中本次更新未作出更新的数据配置到所述待填写的配置文件的相应字段上，生成第一配置文件；
    将所述作出更新的字段在所述第一配置文件和所述第三配置文件上对应的数据的差异，以及所述第三配置文件中存在的但在所述第一配置文件中不存在的字段的数据记录到所述第一配置文件中，生成所述第一配置文件与所述第三配置文件之间的差异信息。
  3. 根据权利要求2所述的方法，其特征在于，所述生成第一配置文件之前，所述方法还包括：
    从存储所述第三配置文件的第一存储区中将所述第三配置文件复制到第二存储区中。
  4. 根据权利要求3所述的方法，其特征在于，所述从存储所述第三配置文件的第一存储区中将所述第三配置文件复制到第二存储区中之后，所述方法还包括：
    采用接收到的所述待填写的配置文件覆盖所述第一存储区中的所述 第三配置文件。
  5. 根据权利要求3或4所述的方法，其特征在于，所述基于所述作出更新的字段的数据，将所述第三配置文件中本次更新未作出更新的数据配置到所述待填写的配置文件的相应字段上，生成第一配置文件，包括：
    从所述第二存储区中查找获得所述第三配置文件；
    遍历所述第三配置文件的各字段，若遍历到的字段包含在所述待填写的配置文件上，且所述字段在所述待填写的配置文件上的数值为空，则将所述字段在所述第三配置文件上的数值配置到所述待填写的配置文件上。
  6. 根据权利要求2所述的方法，其特征在于，所述接收更新数据之后，所述方法还包括：
    将接收到的所述待填写的配置文件存储到第二存储区中。
  7. 根据权利要求6所述的方法，其特征在于，所述生成第一配置文件之后，所述方法还包括：
    采用生成的第一配置文件覆盖存储在第一存储区中的所述第三配置文件。
  8. 根据权利要求1-7中任一项所述的方法，其特征在于，生成的所述第二配置文件中包括所述第二配置文件与所述第一配置文件之间的差异信息，以及所述第二配置文件与所述第二配置文件之前各版本的配置文件之间的差异信息。
  9. 一种控制系统，其特征在于，包括：指令接收组件、存储器和一个或多个处理器，所述一个或多个处理器单独或协同工作，所述指令接收组件和所述一个或多个处理器通讯连接，所述存储器中存储有计算机程序，所述处理器在执行所述程序时，用于：获得并运行第一配置文件，所述第一配置文件中包括所述第一配置文件与在前各版本的配置文件之间的差异信息；
    所述指令接收组件用于：接收版本回退指令，所述版本回退指令包括目标回退到的版本信息；
    所述处理器还用于：根据所述版本信息，从所述第一配置文件中，查找获得所述第一配置文件与所述版本对应的第二配置文件之间的差异信息；以及
    根据所述差异信息和所述第一配置文件，生成并运行所述版本对应的所述第二配置文件，以从所述第一配置文件对应的版本回退到所述第二配置文件对应的版本。
  10. 根据权利要求9所述的系统，其特征在于，所述系统还包括：收发组件，所述处理器在执行获得并运行第一配置文件的操作时，包括执行如下操作：
    通过所述收发组件接收更新数据，所述更新数据中包括待填写的配置文件，所述待填写的配置文件中包括本次更新相对于当前运行的第三配置文件作出更新的字段的数据；
    基于所述作出更新的字段的数据，将所述第三配置文件中本次更新未作出更新的数据配置到所述待填写的配置文件的相应字段上，生成第一配置文件；
    将所述作出更新的字段在所述第一配置文件和所述第三配置文件上对应的数据的差异，以及所述第三配置文件中存在的但在所述第一配置文件中不存在的字段的数据记录到所述第一配置文件中，生成所述第一配置文件与所述第三配置文件之间的差异信息。
  11. 根据权利要求10所述的系统，其特征在于，所述处理器在生成第一配置文件之前，还用于执行如下操作：
    从存储所述第三配置文件的第一存储区中将所述第三配置文件复制到第二存储区中。
  12. 根据权利要求11所述的系统，其特征在于，所述处理器在从存储所述第三配置文件的第一存储区中将所述第三配置文件复制到第二存储区中之后，还用于执行如下操作：
    采用接收到的所述待填写的配置文件覆盖所述第一存储区中的所述第三配置文件。
  13. 根据权利要求11或12所述的系统，其特征在于，所述处理器在执行生成第一配置文件的操作时，用于：
    从所述第二存储区中查找获得所述第三配置文件；
    遍历所述第三配置文件的各字段，若遍历到的字段包含在所述待填写的配置文件上，且所述字段在所述待填写的配置文件上的数值为空，则将 所述字段在所述第三配置文件上的数值配置到所述待填写的配置文件上。
  14. 根据权利要求10所述的系统，其特征在于，所述处理器在通过所述收发组件接收到更新数据之后，还用于：
    将接收到的所述待填写的配置文件存储到第二存储区中。
  15. 根据权利要求14所述的系统，其特征在于，所述处理器在生成第一配置文件之后，还用于：
    采用生成的第一配置文件覆盖存储在第一存储区中的所述第三配置文件。
  16. 根据权利要求9-15中任一项所述的系统，其特征在于，生成的所述第二配置文件中包括所述第二配置文件与所述第一配置文件之间的差异信息，以及所述第二配置文件与所述第二配置文件之前各版本的配置文件之间的差异信息。
  17. 一种可移动平台，其特征在于，包括如权利要求9-16中任一项所述的控制系统。
  18. 根据权利要求17所述的可移动平台，其特征在于，所述可移动平台，包括：智能驾驶车辆或无人机。
  19. 根据权利要求18所述的可移动平台，其特征在于，所述无人机包括：
    无人船或无人飞行器。
  20. 一种计算机可读存储介质，其特征在于，存储有计算机程序，所述计算机程序被处理器执行以实现权利要求1-8中任一项所述的方法。
PCT/CN2019/106630 2019-09-19 2019-09-19 系统运行方法、系统、可移动平台及存储介质 WO2021051341A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980033902.6A CN112166410A (zh) 2019-09-19 2019-09-19 系统运行方法、系统、可移动平台及存储介质
PCT/CN2019/106630 WO2021051341A1 (zh) 2019-09-19 2019-09-19 系统运行方法、系统、可移动平台及存储介质

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/106630 WO2021051341A1 (zh) 2019-09-19 2019-09-19 系统运行方法、系统、可移动平台及存储介质

Publications (1)

Publication Number Publication Date
WO2021051341A1 true WO2021051341A1 (zh) 2021-03-25

Family

ID=73859400

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/106630 WO2021051341A1 (zh) 2019-09-19 2019-09-19 系统运行方法、系统、可移动平台及存储介质

Country Status (2)

Country Link
CN (1) CN112166410A (zh)
WO (1) WO2021051341A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114153527A (zh) * 2021-12-02 2022-03-08 天地伟业技术有限公司 摄像机的配置文件修改方法、装置及电子设备
CN116701501B (zh) * 2022-11-21 2024-04-12 荣耀终端有限公司 相机标定数据的加载方法、装置及终端设备

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101420431A (zh) * 2008-11-28 2009-04-29 中兴通讯股份有限公司 Fota服务器、终端及其软件版本的处理方法和系统
CN102567053A (zh) * 2011-12-20 2012-07-11 云海创想信息技术（无锡）有限公司 一种软件版本回退的方法及装置
US20150220322A1 (en) * 2014-02-06 2015-08-06 Src, Inc. System and method for reinstalling, upgrading or downgrading an operating system
CN108170448A (zh) * 2017-12-26 2018-06-15 车智互联（北京）科技有限公司 一种自动化高效进行软件更新版本发布的系统
US10289401B1 (en) * 2016-12-30 2019-05-14 Juniper Networks, Inc Systems and methods for efficiently downgrading operating systems installed on network devices

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4864557B2 (ja) * 2006-06-15 2012-02-01 富士通株式会社 ソフトウェアの更新処理プログラム及び更新処理装置
CN102255761B (zh) * 2011-08-19 2014-05-07 迈普通信技术股份有限公司 基于文件的配置回滚系统及配置回滚方法
CN109542875B (zh) * 2018-11-20 2021-09-24 中国银行股份有限公司 一种配置文件的生成方法及装置
CN110221860A (zh) * 2019-06-11 2019-09-10 腾讯科技（深圳）有限公司 一种配置文件处理方法、装置、终端及介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101420431A (zh) * 2008-11-28 2009-04-29 中兴通讯股份有限公司 Fota服务器、终端及其软件版本的处理方法和系统
CN102567053A (zh) * 2011-12-20 2012-07-11 云海创想信息技术（无锡）有限公司 一种软件版本回退的方法及装置
US20150220322A1 (en) * 2014-02-06 2015-08-06 Src, Inc. System and method for reinstalling, upgrading or downgrading an operating system
US10289401B1 (en) * 2016-12-30 2019-05-14 Juniper Networks, Inc Systems and methods for efficiently downgrading operating systems installed on network devices
CN108170448A (zh) * 2017-12-26 2018-06-15 车智互联（北京）科技有限公司 一种自动化高效进行软件更新版本发布的系统

Also Published As

Publication number Publication date
CN112166410A (zh) 2021-01-01

Similar Documents

Publication Publication Date Title
CN106774421B (zh) 一种无人机轨迹规划系统
US20210126986A1 (en) Distributed processing system and method for the provision of location based services
WO2021051341A1 (zh) 系统运行方法、系统、可移动平台及存储介质
CN105653582A (zh) 一种电子设备的文件管理方法及电子设备
WO2021238301A1 (zh) 一种应用更新方法、装置、设备及介质
CN112887121B (zh) 一种管理网络服务的方法、设备及系统
CN111569427B (zh) 资源的处理方法、装置、存储介质和电子装置
CN110231945A (zh) 代码下载的方法、装置、电子设备及计算机存储介质
CN110187907A (zh) 飞行器的固件升级方法、装置、系统和存储介质
US20190095261A1 (en) Software resource management
US10373505B2 (en) Method and system for fast upload of autonomous mission plans in unmanned aerial vehicles
CN207611373U (zh) 一种基于主/从结构的控制系统
CN110286966B (zh) 嵌入式系统中多个子系统的对接方法及装置
US20090276779A1 (en) Job management apparatus
US11757474B2 (en) Base station station-type replacement method, SDR network management system, base station station-type replacement apparatus and computer-readable storage medium
CN115422277A (zh) 数据源连接池控制方法、装置及服务器
CN115480910A (zh) 多集群资源管理方法、装置及电子设备
CN104468671A (zh) 一种配置信息处理方法、装置及相关设备
CN111001157B (zh) 引用信息的生成方法和装置、存储介质及电子装置
CN110377298B (zh) 一种分布式集群升级方法及分布式集群
CN114691766A (zh) 数据采集方法、装置及电子设备
WO2023039763A1 (en) Configuration of automated guided vehicles
US11178047B2 (en) Tailored contact plan generation
KR102593232B1 (ko) IoT 플랫폼을 이용한 ML 학습 데이터셋 구축 방법
US20240168932A1 (en) System and Method for Integrated Multiple Pluggable Systems

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19946184

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19946184

Country of ref document: EP

Kind code of ref document: A1