WO2023116806A1 - 实时通道组的控制方法、网络系统及存储介质 - Google Patents

实时通道组的控制方法、网络系统及存储介质 Download PDF

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Publication number
WO2023116806A1
WO2023116806A1 PCT/CN2022/140894 CN2022140894W WO2023116806A1 WO 2023116806 A1 WO2023116806 A1 WO 2023116806A1 CN 2022140894 W CN2022140894 W CN 2022140894W WO 2023116806 A1 WO2023116806 A1 WO 2023116806A1
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Prior art keywords
real
channel group
node
time channel
nodes
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PCT/CN2022/140894
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English (en)
French (fr)
Inventor
战晓莉
石金博
沙琪
陈理辉
王红
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东莞市李群自动化技术有限公司
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Priority claimed from CN202111588872.0A external-priority patent/CN114466081B/zh
Priority claimed from CN202111588867.XA external-priority patent/CN114448801B/zh
Priority claimed from CN202111589777.2A external-priority patent/CN114465689B/zh
Application filed by 东莞市李群自动化技术有限公司 filed Critical 东莞市李群自动化技术有限公司
Publication of WO2023116806A1 publication Critical patent/WO2023116806A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/08—Configuration management of networks or network elements
    • H04L41/0803—Configuration setting
    • H04L41/0823—Configuration setting characterised by the purposes of a change of settings, e.g. optimising configuration for enhancing reliability
    • H04L41/0826—Configuration setting characterised by the purposes of a change of settings, e.g. optimising configuration for enhancing reliability for reduction of network costs
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/60—Scheduling or organising the servicing of application requests, e.g. requests for application data transmissions using the analysis and optimisation of the required network resources
    • H04L67/63—Routing a service request depending on the request content or context

Definitions

  • the embodiments of the present application relate to but are not limited to the technical field of communications, and in particular, relate to a method for controlling a real-time channel group, a network system, and a storage medium.
  • real-time channel groups are usually established so that the member nodes (such as equipment or robot arms) in each real-time channel group can cooperate with each other to complete a process.
  • multiple real-time channel groups are usually set up to process multiple processes at the same time. At this time, multiple real-time channel groups are independent of each other, resulting in a decrease in the control efficiency of the real-time channel group and an increase in control costs.
  • the master node of the real-time channel group issues control commands to each slave node to realize the synchronous processing of commands, due to the difference in network topology, the actual During operation, the accuracy of synchronization among the slave network nodes is low, and it is also difficult to select a master node for control from several nodes in the real-time channel group.
  • Embodiments of the present application provide a method for controlling a real-time channel group, a network system, and a storage medium, which can improve processing efficiency of the real-time channel group and reduce management and control costs of the real-time channel group.
  • the embodiment of the present application provides a real-time channel group control method, including:
  • a method for controlling a real-time channel group comprising:
  • Any node in the network domain joins the first real-time channel group after receiving the creation request of the first real-time channel group, and initiates system clock synchronization to the nodes in the first real-time channel group, so that the nodes in the first real-time channel group Nodes all use the same system clock;
  • Any node in the first real-time channel group joins the second real-time channel group as a shared node after receiving the creation request of the second real-time channel group;
  • the nodes of each real-time channel group determine the number of interrupts according to the corresponding execution cycle and interrupt duration of each real-time channel group, and trigger the message analysis request of each real-time channel group according to the number of interrupts corresponding to each real-time channel group; wherein the report
  • the text parsing request is used to extract the channel group messages of the real-time channel group for parsing and processing.
  • the method also includes:
  • the node that sends the leading channel group message is the master node, and the others are slave nodes;
  • a node in the network domain that does not belong to any real-time channel group is a transparent transmission node of any real-time channel group, and the transparent transmission The node is used to transparently transmit channel group messages initiated by member nodes of any real-time channel group.
  • the steps of self-election master node include:
  • Each node in the real-time channel group sends election messages to other nodes in the real-time channel group, and the transmission efficiency of each node to send election messages is obtained. According to the transmission efficiency of each node in sending election messages, the node with the highest transmission efficiency As the master node of the real-time channel group, other nodes act as the slave nodes of the real-time channel group.
  • the transmission efficiency of the node includes at least one of the following:
  • the number of transparent transmission nodes that the election message passes through during transmission wherein the transparent transmission nodes belong to the network domain and do not belong to the real-time channel group.
  • the method also includes:
  • each node in the real-time channel group Before sending the election message, each node in the real-time channel group performs the shortest path planning on the nodes through which the election message is transmitted according to the routing table to obtain the election transmission path, and uses the starting node of the election transmission path as the The source address of the election message, and the end node of the election transmission path is used as the destination address of the election message.
  • the method also includes:
  • Each node in the real-time channel group receives a topology update command, and re-sends an election message to other nodes in the real-time channel group to determine a new master node; wherein, the topology update command is used to request re-election of a master node.
  • the steps for the master node of the real-time channel group to process the signal instruction of the real-time channel group include:
  • the execution cycle of the signal instruction and the first transmission duration determine the first sending time period of the signal instruction, so that all the slave nodes receive the execution interrupt corresponding to the same execution cycle The signal instruction.
  • the obtaining the first transmission duration of the signal instruction reaching the end node includes:
  • the first transmission duration is calculated according to the packet length, the resident tact and the hardware transmission delay.
  • the obtaining the first transmission duration of the signal instruction to the end node further includes: obtaining the frame interval between two adjacent signal instructions and the preset first reserved duration;
  • the calculating and obtaining the first transmission duration according to the packet length, the resident tick, and the hardware transmission delay includes: according to the packet length, the resident tick, the hardware transmission delay, and the frame The interval and the first reserved duration are calculated to obtain the first transmission duration.
  • the master node is further configured to: obtain the cycle time generated by a unit interrupt, and determine the execution cycle according to the number of interrupts corresponding to the signal instruction .
  • the master node is located in multiple real-time channel groups, and each real-time channel group corresponds to a first sending time period.
  • the method also includes:
  • the plurality of sub-periods are divided according to the bandwidth allocation ratio in the bandwidth parameter, and a plurality of first bandwidths corresponding to the priorities of the plurality of channel group messages are obtained, wherein the first bandwidth includes sub-periods The number of cycles and the starting position.
  • the method also includes:
  • the embodiment of the present application further provides a network system, including a plurality of nodes, and each first node is configured to execute the steps of any one of the above methods.
  • an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein, when the processor executes the computer program, any one of the above-mentioned methods can be implemented. step.
  • an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the steps of any one of the above-mentioned methods are implemented.
  • an embodiment of the present application provides a computer program product or computer program, where the computer program product or computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium.
  • the processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the method provided in any of the above-mentioned various optional implementation manners of TCP transmission performance control.
  • the control method, network system, and storage medium of the real-time channel group provided by the embodiment of the present application share one or more nodes through multiple real-time channel groups to realize system clock synchronization, reduce the number of member nodes of the real-time channel group that need to be managed and realize
  • the efficient transmission of real-time messages can improve the processing efficiency of real-time channel groups and reduce the management and control costs of real-time channel groups.
  • FIG. 1 is a schematic structural diagram of a network system provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a method for controlling a real-time channel group provided in an embodiment of the present application
  • FIG. 3 is a schematic diagram of an execution trigger operation flow diagram of a real-time channel group provided in an embodiment of the present application
  • FIG. 4 is a schematic flow diagram of the real-time channel group election master node provided by the embodiment of the present application.
  • FIG. 5 is a schematic flow diagram of signal command synchronization performed by the master node of the real-time channel group provided by the embodiment of the present application;
  • FIG. 6 is a schematic flow diagram of signal command synchronization performed by slave nodes of a real-time channel group provided in an embodiment of the present application
  • FIG. 7 is a schematic diagram of the relationship between the sending time point and the execution cycle in the signal instruction synchronization processing method of the channel group provided by the embodiment of the present application;
  • FIG. 8 is a schematic flowchart of bandwidth priority setting of a real-time channel group provided by an embodiment of the present application.
  • the embodiment of the present application provides a network system, including a plurality of nodes, each node can respond to at least one real-time channel group creation request to join at least one real-time channel group, and send to each real-time channel group The other nodes of the node initiate system clock synchronization.
  • the real-time channel group creation request is used to request adding a node into a certain real-time channel group.
  • an additional control terminal for controlling the entire network system can be set up, which is independent of the network system. Managers can configure a member node of a real-time channel group through the control terminal, and send a real-time channel group creation request to these nodes ; A node in the network system can also send a real-time channel group creation request to each node that needs to set up a real-time channel group. Taking the robot as an example, the real-time channel group creation request can be sent by the controller of the robot.
  • the network system includes a total of 9 nodes from A to K.
  • node B receives the real-time channel group creation request from the real-time channel group G1 and the real-time channel group The real-time channel group creation request of G2, at this time, node B joins real-time channel group G1 and real-time channel group G2 as a shared node.
  • node B initiates system clock synchronization to nodes A and F that have joined the real-time channel group
  • the system clocks of all members of real-time channel group G1 and real-time channel group G2 are synchronized, and A ⁇ G are all time-synchronized at this time.
  • the trigger time points of the interrupts and timers of each member in the real-time channel group G1 and the real-time channel group G2 are synchronized, so that operations triggered by interrupts can be kept synchronized within a certain period of time.
  • shared node B may be a master node or a slave node of the real-time channel group.
  • shared node B can be the main node of real-time channel group G1, also can be the main node of real-time channel group G2;
  • shared node B can be the main node of real-time channel group G1, real-time channel or, the shared node B is the slave node of the real-time channel group G1, and the slave node of the real-time channel group G2; or, the shared node B is the slave node of the real-time channel group G1, and the master node of the real-time channel group G2 node.
  • the node B can act as a controller to simultaneously control the instruction processing of the member nodes in the real-time channel group G1 and the real-time channel group G2, thereby achieving the purpose of improving node utilization and reducing the cost of real-time channel group management and control.
  • node B can be a member node of real-time channel group G1 and real-time channel group G2, complete the first operation under the control of the master node of real-time channel group G1, and complete the first operation under the control of the master node of real-time channel group G2 The first operation is completed, thereby saving the number of nodes required to create real-time channel group G1 and real-time channel group G2, thereby improving node utilization and reducing the cost of node management and control.
  • the real-time channel group G1 and the real-time channel group G2 are located in the same network domain Q1.
  • node H will Assign node identification numbers to A ⁇ G.
  • each node A ⁇ H in the network domain Q1 has a routing function. After the network domain Q1 is successfully created, all nodes A ⁇ H in the network domain Q1 are assigned by node H The update is actively triggered to ensure that the messages sent by each node in the network domain Q1 are only transmitted in the network domain Q1.
  • topology of the network system shown in FIG. 1 does not limit the embodiment of the present application, and may include more or less nodes than shown in the figure, or the topology of nodes.
  • the embodiment of the present application provides a control method of a real-time channel group, including:
  • Any node in the network domain joins the first real-time channel group after receiving the creation request of the first real-time channel group, and initiates system clock synchronization to the nodes in the first real-time channel group, so that the nodes in the first real-time channel group Nodes all use the same system clock.
  • each node after each node joins a real-time channel group, it will initiate system clock synchronization to the nodes in the channel group. In this way, the system clocks of each member node in the real-time channel group are synchronized. After the system clock is synchronized, the interrupt trigger time and timer of each member node in the real-time channel group are synchronized, thereby ensuring the real-time performance of real-time messages.
  • member nodes in a real-time channel group as an example to trigger channel message processing through interrupts, referring to the embodiment shown in FIG. 1 , nodes A ⁇ E all generate interrupts at the same time.
  • any node in the network domain can join an established real-time channel group, or join a newly created real-time channel group.
  • the first real-time channel group when the node receives the first real-time channel group creation request, the first real-time channel group has been established, indicating that the system clocks of other nodes in the first real-time channel group have been synchronized.
  • the newly added node System clock synchronization may be initiated to any node in the first real-time channel group, so that the system clock of the newly added node is consistent with the system clocks of other nodes in the first real-time channel group.
  • the first real-time channel group when the node receives the first real-time channel group creation request, the first real-time channel group has not yet been established.
  • the specified node in the first real-time channel group for example, the master node of the first real-time channel group
  • any node sequentially initiate clock synchronization to other nodes, so that the system clocks of all nodes in the first real-time channel group are consistent.
  • the network domain Q1 includes a master clock node H, and when nodes A-E in the real-time channel group in the network domain initiate system clock synchronization, the nodes in the real-time channel group all synchronize their system clocks with The system clocks of the main clock node H in the network domain Q1 are synchronized so that the clocks of the nodes in the real-time channel group are consistent.
  • Any node in the first real-time channel group joins the second real-time channel group as a shared node after receiving the creation request of the second real-time channel group.
  • a shared node is a node that belongs to at least two real-time channel groups at the same time. Any node in a real-time channel group can join other real-time channel groups as a shared node.
  • the node of each real-time channel group determines the number of interruptions according to the execution cycle and the interruption duration corresponding to each real-time channel group, and triggers the channel group message parsing request of each real-time channel group according to the number of interruptions corresponding to each real-time channel group;
  • the message parsing request is used to extract the channel group messages of the real-time channel group for parsing and processing.
  • the second real-time channel group if the second real-time channel group has been established before the shared node joins the second real-time channel group, it indicates that the system clocks of other nodes in the second real-time channel group have been synchronized.
  • the newly added The shared node can initiate system clock synchronization to other nodes in the second real-time channel group, and each node in the second real-time channel group adjusts its own system clock according to the system clock of the shared node to ensure that the nodes in the second real-time channel group are consistent with the first real-time Nodes in a channel group share the same system clock.
  • the second real-time channel group if the second real-time channel group has not been established before the shared node joins the second real-time channel group, it indicates that the system clocks of the nodes in the second real-time channel group have not been synchronized, and at this time, the second real-time channel group can After the group is established, starting from the specified node (such as the master node of the second real-time channel group) or any node in the second real-time channel group, it will initiate clock synchronization to other nodes in turn, so that the systems of all nodes in the second real-time channel group The clocks are kept consistent.
  • the specified node such as the master node of the second real-time channel group
  • any node in the second real-time channel group it will initiate clock synchronization to other nodes in turn, so that the systems of all nodes in the second real-time channel group The clocks are kept consistent.
  • a node can belong to at least one real-time channel group.
  • multiple real-time channel groups can share at least one node.
  • the system clock synchronization of multiple real-time channel groups can be realized through shared nodes, so each real-time channel group can realize efficient transmission of real-time messages.
  • this application can share one or more nodes through multiple real-time channel groups, thereby reducing the number of member nodes of real-time channel groups that need to be managed. Therefore, the embodiments of this application can improve the processing of real-time channel groups Efficiency and reduced management and control costs for real-time channel groups.
  • the real-time channel group is established in the network domain, so each member node in the real-time channel group is in the same network domain, and the routing table is updated through the master node of the network domain.
  • the network domain is used to limit the exchange of messages between multiple nodes within the domain.
  • the message initiated by any node in the network domain Q1 can only be in transmission.
  • the network domain can change the range of the network domain through routing table update, that is, change the nodes contained in the network domain.
  • routing table update that is, change the nodes contained in the network domain.
  • each node can only be addressed according to the routing table entries in the routing table, thereby realizing mutual isolation of nodes in the network system.
  • the signal instruction in the real-time channel group When transmitting in the network domain, it will pass through nodes that are not in the real-time channel group.
  • nodes that do not belong to the real-time channel group but that signal instructions in the real-time channel group will pass through during transmission are used as the nodes.
  • the transparent transmission node of the real-time channel group is used for transparent transmission of channel group messages initiated by the member nodes of the real-time channel group.
  • the channel group message is initiated by the real-time channel group G1, and the real-time channel group G1 includes nodes A ⁇ E, then for the real-time channel group G1, F in the real-time channel group G2 , G are transparent transmission nodes, and nodes F and G will perform transparent transmission processing when receiving messages of this channel group.
  • node H is not in the real-time channel group G1.
  • node H is a transparent transmission node.
  • node D in the real-time channel group G1 sends to node B
  • the node H does not process the message, and directly transparently transmits the message to the node B.
  • the method in the embodiment of the present application further includes:
  • the nodes of each real-time channel group determine the number of interrupts with an interrupt duration according to the execution cycle of the real-time channel group.
  • the interrupt duration is 1s as an example, when the execution period of the real-time channel group G1 is 10s, then for the nodes in the real-time channel group G1, it is necessary to execute the channel group report of the real-time channel group G1 every 10s This means that the channel group message analysis of the real-time channel group G1 will be executed for a total of 10 interrupts; when the execution period of the real-time channel group G2 is 20s, the channel group message of the real-time channel group G2 will be executed every 20s, that is, the cumulative The number of interruptions is 20 times, and the channel group message of the real-time channel group G2 is executed once.
  • Step S302 triggering a message analysis request of each real-time channel group according to the number of interrupts corresponding to each real-time channel group, wherein the message analysis request is used to extract channel group messages of the real-time channel group for analysis and processing.
  • a buffer area corresponding to the real-time channel group will be set up to store the channel group messages, and then the channel group messages can be extracted for analysis and processing in the corresponding execution cycle.
  • the shared node will poll and extract the channel group messages of multiple real-time channel groups for analysis and processing when the number of interrupts is triggered.
  • the execution cycles of the real-time channel groups G1 and G2 are both 10 seconds, then after the cumulative number of interrupts meets the requirements, the shared node B will sequentially extract the channel group reports of the real-time channel group G1 and the real-time channel group G2 The text is parsed.
  • the interruption duration is 1 ms.
  • the method in this embodiment of the present application further includes: the user pre-designates a certain node in the real-time channel group as the master node of the real-time channel group, and other nodes as slave nodes.
  • the control terminal can send a node configuration request of the real-time channel group to each node in the real-time channel group.
  • the node configuration request includes the node identification of the master node configured for the real-time channel group. Request to complete the configuration of the master and slave nodes.
  • the node configuration request of the real-time channel group can also be sent by the control node preset in the network domain or the real-time channel group. Taking the robot as an example, the controller of the robot can send each node in the real-time channel group Send a node configuration request.
  • the master node is used to control the slave nodes in the same real-time channel group.
  • a real-time channel group can be established by the controller of the robot and the mechanical arms of multiple robots, and the controller responds in real time.
  • the node configuration request of the channel group is determined as the master node, and the robotic arms of multiple robots respond to the node configuration request of the real-time channel group and confirm the controller as the master node, and determine itself as the slave node.
  • the controller can give each The robot arm sends instructions to control the operation of the robot arm, and can also receive the status sent by each robot arm, so as to achieve the purpose of controlling each robot arm.
  • the master node of the real-time channel group may also be self-elected by each node in the real-time channel group.
  • the process of electing the master node in the real-time channel group includes: each node in the real-time channel group sends election messages to other nodes in the real-time channel group, and obtains the transmission efficiency of each node sending election messages, and according to the To ensure the transmission efficiency of the text, the node with the highest transmission efficiency is regarded as the master node, and other nodes are regarded as the slave nodes.
  • the first node implements the master node election through the following steps:
  • the real-time channel group is composed of a first node and several second nodes.
  • configuration parameters of the real-time channel group include relevant information of each member node in the real-time channel group.
  • routing table of the first node and the second routing table of the second node have the same routing table entries, that is, the total set of destination addresses of the routing table entries is the same.
  • the transmission efficiency of the first node means that the first election message is sent from the first node to each second node, the time when the first election message reaches each second node, the number of forwarding times, and the like.
  • the transmission efficiency of the second node is determined by the second node by sending the second election message to other nodes in the real-time channel group, that is, it is obtained by referring to steps S401 to S402. At this time, the second node will obtain the The transmission efficiency is broadcast to other member nodes of the real-time channel group, and the first node will also broadcast the obtained transmission efficiency to other member nodes of the real-time channel group, so that each member node of the real-time channel group can get all member nodes transmission efficiency.
  • S404 Determine several slave nodes and a master node with the highest transmission efficiency according to the transmission efficiency of the first node and the transmission efficiency of each second node.
  • Node B determines that the transmission efficiency of Node B is higher according to its own transmission efficiency and the transmission efficiencies of nodes A, C, D, and E.
  • node B negotiates to be the master node.
  • the transmission efficiency received by each node is the same, so they can negotiate out
  • the master nodes of all are node B, and then the master node self-negotiation of the entire real-time channel group G1 is completed.
  • the transmission efficiency representing time the highest transmission efficiency indicates the shortest time. Taking transmission efficiency as an example to represent the number of forwarding times, the highest transmission efficiency means the least number of forwarding times.
  • the slave node will respond to the control of the master node, such as executing the control command sent by the master node, or periodically reporting the status to the master node, so that the master node can collect the status information of each slave node.
  • the node with the highest transmission efficiency is elected as the master node of the real-time channel group, and other nodes in the real-time channel group are used as slave nodes.
  • the master node by It is more efficient for the master node to send to each slave node, which in turn improves the overall production efficiency.
  • the embodiment of the present application can actively trigger the election by the nodes in the real-time channel group, reducing the threshold of human intervention and human control. Therefore, the method of the embodiment of the present application is more general and can improve the real-time Convenience of masternode election for channel groups.
  • the transmission efficiency of a node includes the total number of forwarding times of the election message sent by the node to other nodes in the real-time channel group.
  • the transmission efficiency of the first node includes the total number of forwarding times of the election packets sent by the first node to each second node.
  • the total number of forwarding times is the number of forwarding times when passing through each second node in turn until reaching the last second node. In some other embodiments, the total number of forwarding times is the sum of the times of forwarding to each second node.
  • the sequence from the first node to several second nodes is fixed, such as B>E>A>C>D, and the number of forwarding times when the first node D is reached is taken as the total number of forwarding times.
  • the transmission efficiency also includes the number of transparent transmission nodes that the election message passes through during transmission.
  • the election message may pass through the transparent transmission node during transmission.
  • the transparent transmission node will not process the election message, it will have a certain impact on the transmission rate of the message transmitted by the real-time channel group.
  • the transparent transmission node After the number of nodes outside the real-time channel group (that is, transparent transmission nodes) is used as one of the conditions for master node election, a master node with higher transmission efficiency can be further obtained.
  • the method of the embodiment of the present application further includes the following steps: before sending the election message, each node in the real-time channel group performs the shortest path planning on the nodes through which the election message is transmitted according to the routing table, and obtains the election message For a transmission path, the starting node of the election transmission path is used as the source address of the election message, and the end node of the election transmission path is used as the destination address of the election message.
  • the first node plans the shortest path for several second nodes according to the routing table of the first node, and obtains the election transmission path, wherein the election transmission path includes The first node and several second nodes; the first node is used as the source address of the first election message, and the end node of the election transmission path is used as the destination address of the first election message.
  • next-hop address is determined by planning the shortest path according to the routing table.
  • the receiving The second node to the first election message can plan the node information of the real-time channel group passing through the next hop to match the election transmission path. In this way, the interaction between the nodes of the real-time channel group is simplified, thereby improving the bandwidth utilization rate between the nodes.
  • Node B is closest to Node E
  • Node E is closest to A other than last-hop Node B
  • Node A is closest to Node C
  • the election transmission The path is B>E>A>C>D.
  • the target node is node D
  • the next-hop node is E.
  • the election message will be forwarded to node A through routing addressing, and finally reach the target node D in the order of the election transmission path.
  • the destination node D can know the transmission efficiency on the election transmission path.
  • other member nodes in the real-time channel group are processed in the same way.
  • the election transmission path is determined by the shortest distance between adjacent nodes, after sorting out the address of the previous hop, the next hop address obtained by addressing the target node is the same as the election transmission path The nodes on the path match; it should be noted that in the real-time channel group, after the election of the master node is confirmed, the master node issues control commands according to the planned election transmission path, and the destination address of the control command is the election transmission path terminal node.
  • each node in the real-time channel group generates a first message according to a preset response period or an event trigger signal; and sends the first message to the master node of the real-time channel group .
  • each node in the real-time channel group receives a topology update instruction, and re-sends an election message to other nodes in the real-time channel group to determine a new master node; wherein, The topology update command is used to request re-election of the master node.
  • the topology update command can be issued by the control end, can also be automatically triggered after the node is initialized, and can also be automatically triggered when the network is changed.
  • the slave nodes in the channel group detect that the master node is offline and then send topology update instructions to other nodes in the real-time channel group.
  • topology update command indicates that the physical networking of the real-time channel changes, not only when the member nodes in the real-time channel group are offline, but also when the physical connection relationship between member nodes changes.
  • each member node of the real-time channel group is provided with a node identification number, and the mapping relationship between the node identification number and the physical address is recorded in the routing table.
  • the destination address in the message corresponding to the signal instruction The source address and the node identification number are used to fill in, for example, in the election message, the node identification number of the master node is used as the source and destination address, and the terminal node on the first transmission path is used as the destination address.
  • the master node may control the synchronization of the system clocks of all nodes in the real-time channel group.
  • the embodiment of the present application also provides a real-time channel group control method, which is applied to the master node in the real-time channel group, especially for the master node to process the signal instruction of the real-time channel group, including the following steps:
  • S501 Perform shortest path planning on several slave nodes through the routing table of the master node, to obtain a first transmission path including the several slave nodes.
  • the first transmission path indicates the order in which the master node passes through the slave nodes in sequence, and is a logical transmission path.
  • the logical transmission path of the real-time channel group G1 in Figure 1 is B->A->C->D->E, and in the actual transmission process, the real-time channel The actual passed path corresponding to group G1 is B->A->C->A->D->A->B->E.
  • each member node in the real-time channel group has a routing table, and the destination address information recorded in the entries of the routing table of each member node is the same.
  • Planning through the shortest path means sorting by the shortest transmission distance between any two adjacent member nodes to obtain the first transmission path.
  • the slave node corresponding to the shortest transmission path of master node B is A
  • the shortest transmission path from slave node A to the next slave node is obtained in master node B
  • node C is determined to be
  • the finally obtained first transmission path is B->A->C->D->E.
  • the next hop calculated by each slave node is the same as that set on the first transmission path. The transfer order matches.
  • the first transmission duration is relatively fixed, so this time may be obtained through actual measurement or estimated according to the transmission time of the link.
  • S504. Determine the first sending time period of the signal instruction according to the execution cycle and the first transmission duration of the signal instruction, so that all the slave nodes receive the signal instruction before the execution interrupt corresponding to the same execution cycle is generated.
  • the embodiment of the present application also provides a control method of a real-time channel group, which is applied to the slave nodes in the real-time channel group, especially for the slave node to process the signal instruction of the real-time channel group, including the following steps :
  • S602. Determine the delay duration according to the first transmission duration, the second transmission duration, and the trigger time of the next execution cycle.
  • the second transmission duration can be calculated by referring to the first transmission duration, can be obtained through actual measurement, and then saved by the slave node. It should be noted that the setting of the delay time can further ensure that it must be executed when the corresponding execution interrupt of the same execution cycle is generated.
  • the master node and the slave node in steps S501-S504, S601-S603 all belong to the same real-time channel group.
  • the first transmission duration is less than the duration of the execution cycle, so the delay duration may not be set for the slave nodes.
  • each slave node can receive the latest signal instruction Executed in one execution cycle of .
  • the delay time can also be set to further determine the time to execute the signal instruction.
  • the slave nodes can set the delay duration to ensure that each slave node executes in the same execution cycle.
  • the first sending time period means that as long as the signal instruction is generated within the first sending time period, it will be sent again, so as to ensure that each slave node executes synchronously.
  • the first sending time period is for each execution cycle, and the end time of the first sending time period is separated from the end time of the execution cycle in which it is located by the first transmission duration.
  • the execution period is ⁇ T
  • the start time of the actual execution time period is t1.
  • the first sending time period ranges from t0 to t3, and the signal instruction The sending time is t2.
  • the time interval between t3 and t1 is equal to the first transmission duration ⁇ t.
  • each slave node can receive the signal instruction before t1, and when the execution interrupt corresponding to the slave node at t1 is generated, each slave node executes the signal instruction simultaneously.
  • the system clocks of the master node and slave nodes are synchronized, the system time and clock of the master node and each slave node are synchronized. At this time, the execution interruption of multiple nodes is generated synchronously.
  • the first sending time period ensures that the signal instruction can be received before the same execution interrupt is generated, and system clock synchronization can further reduce the time difference between the same execution interrupts between slave nodes, so the embodiment of the present application can improve the communication between multiple slave nodes. synchronization accuracy.
  • the master node outputs data to the slave node, or the master node requires the slave node to report status, or a combination of both. If the signal instruction is that the real-time channel group master node outputs data to the slave node, then the master node inserts the data that is expected to be sent to each slave node into the data frame to be sent, and sends it out within the first sending time period, and Each slave node of the real-time channel group will read the data it should receive when the same execution interrupt occurs.
  • step S503 includes: obtaining the packet length corresponding to the longest signal instruction; calculating the resident beat and hardware transmission delay consumed on several slave nodes; according to the packet length, resident beat, hardware transmission delay , to obtain the first transmission duration.
  • the packet length corresponding to the longest signal instruction is 1518 bytes
  • the dwell beat is 2, that is, the transmission time of 2 bytes is increased
  • the hardware transmission delay is ⁇ t1
  • the transmission speed is ⁇ t1 in Gigabit Ethernet.
  • the transmission time of each bit is 1 nanosecond
  • the transmission time of each byte is 8 nanoseconds
  • the first transmission duration ⁇ t (1518+2)*8ns+ ⁇ t1.
  • step S503 also includes: obtaining the frame interval between two adjacent signal instructions and the preset first reserved time length.
  • the first transmission duration is calculated according to the packet length, resident beat, and hardware transmission delay, including: the first transmission duration is calculated according to the packet length, resident beat, hardware transmission delay, frame interval, and the first reserved duration. 1. Transmission duration.
  • the packet length corresponding to the longest signal command is 1518 bytes
  • the resident beat is 2
  • the hardware transmission delay is ⁇ t1
  • the frame interval is 12 bytes
  • the first reserved duration represents a compatible duration, thereby reducing the probability of a reduction in synchronization accuracy due to an error in the first transmission duration.
  • the first reserved duration includes a preparation time for encapsulation of the signal instruction.
  • step S502 includes: using the node identifier corresponding to the main node as the source address of the signal instruction, and using the node identifier corresponding to the end node as the destination address of each signal instruction.
  • the length of the message packet corresponding to the signal command can be shortened, and at the same time, the parsing and matching process is simpler, and the message processing efficiency is higher.
  • the routing table entries in the routing table are sorted according to the numerical value of the destination address, and after the physical address information of the destination address is determined according to the node identifier as an index, it can be quickly determined directly by binary search. hop address.
  • the method in the embodiment of the present application further includes: acquiring the cycle time generated by a unit interrupt, and determining the execution cycle according to the number of interrupts corresponding to the signal instruction.
  • the execution cycle is calculated by accumulating unit interrupts, which can reduce the number of interrupts set, and the accuracy of the execution cycle is higher, thereby further improving the synchronization probability of each slave node.
  • the execution interrupt is the unit interrupt when the accumulative count meets the number of interrupts.
  • the master node is located in multiple real-time channel groups, and the first sending time period is set in a one-to-one correspondence with the real-time channel groups.
  • different real-time channel groups can be distinguished by the difference in execution cycle.
  • a polling mechanism can be set so that each real-time channel group is The same polling cycle is executed.
  • the polling cycle is the cycle corresponding to the sub-bandwidth of the analysis and processing of signal commands. By displaying the maximum number of signal commands, it can serve as a reminder to the user, thereby reducing the excessive signal commands of the first main network node within a certain period of time. , leading to untimely processing.
  • the creation of the network domain is determined by routing and addressing of multiple active nodes within a preset period of time, wherein physical isolation can be performed first (such as powering on a node to join the network domain, In the way of powering off the nodes in the non-network domain), several nodes in the network system are used as the active nodes, and the active nodes can also be determined by setting the activation flag.
  • the master node of the network domain triggers the update of the routing table, thereby ensuring the stability of the network domain.
  • the network domain Q1 stops routing update after routing addressing by nodes A to G within a preset period of time.
  • nodes A to G all obtain a routing table, and the entries of the routing table The physical address information of all nodes A to G is recorded. After the automatic update of the routing table is stopped, the nodes A to G cannot perceive other nodes, thereby forming the network domain Q1.
  • the master node of the network domain is used to assign a node identifier to each member node in the network domain, and monitor the online status of each member node in the network domain according to the node identifier.
  • the message transmission in the real-time channel group G1 can use the node identifier instead of the source address and the destination address, shortening the bytes occupied by the source address and the destination address.
  • each routing table in the network domain can be actively triggered to ensure that other member nodes can communicate with each other normally after a non-critical node fails.
  • the master node of the network domain is automatically elected after the network domain is formed.
  • each node A ⁇ H in the domain Each node sends an election message.
  • each node can know the time point when other nodes update the physical address in the routing table.
  • Each node in the network domain Q1 elects the node with the latest update time as the master node of the network domain Q1.
  • the network domain kicks the faulty node out of the domain through the master node and accepts the joining of nodes outside the domain, and assigns node identifiers to the nodes joining the domain.
  • the initialization in the network domain is diffused from the master node to the adjacent slave nodes, and the initialization of all nodes is realized by the adjacent nodes by traversing uninitialized adjacent nodes.
  • the master node H of the network domain Q1 sends initialization information to nodes B and D, and nodes B and D respectively find out that the adjacent nodes are E and A through routing, and send initialization requests to nodes E and A , and so on, to achieve initialization.
  • the initialization of the network domain includes the assignment of node identifiers, and in some other embodiments, the initialization further includes synchronously updating the routing table of the master node of the network domain to the slave nodes of the network domain.
  • the method in this embodiment of the present application further includes: determining the transmission order according to the distance between any two member nodes in the real-time channel group in the preset routing table.
  • each member node in the real-time channel group has a routing table, and entries in the routing table of each member node include the same destination address. Any two member nodes are addressed through the routing table.
  • the starting node of the transmission sequence is the primary node, and after the primary node confirms the transmission sequence, it will use the end node in the transmission sequence as the destination address, so that the channel group messages initiated by the primary node will pass through in sequence according to the transmission sequence each slave node.
  • the determined transmission sequence is A, B, C, E in sequence.
  • the addresses pass through nodes A, B, and C in turn and arrive at node E.
  • Nodes A, B, and C extract relevant operation instructions from the channel group message, and then make node D give instructions to each slave node through a channel group message. Signal issued.
  • the determination of the transmission order can be determined by the master node, and the transmission order can be saved in the channel group message, so that each slave node can perform routing addressing according to the transmission order in the channel group message.
  • each slave node may also determine the transmission sequence according to the method for determining the transmission sequence of the master node, and then determine the next hop that is the same as the transmission sequence when the destination addresses are consistent. It should be noted that since the physical topology remains unchanged, the transmission order only needs to be calculated and saved once when the physical topology remains unchanged.
  • each entry in the routing table includes a destination address, a next-hop address, a network port, and the number of forwarding times, and the entries in the routing table are arranged according to the numerical value of the destination address.
  • arranging the destination addresses according to the numerical value can perform a dichotomous table lookup on the routing table, thereby improving the table lookup efficiency.
  • the target addresses are arranged in descending order of numerical value.
  • the method in the embodiment of the present application further includes: performing bandwidth allocation according to the bandwidth parameter.
  • the bandwidth parameter defines the transmission bandwidth of channel group messages of different priorities within the polling period and the start time of transmission.
  • the real-time channel group messages support event-triggered channel group messages and periodic channel group messages. Among them, event-triggered channel group messages have a higher priority and higher real-time requirements. At this time, by setting The bandwidth parameter can ensure the real-time performance of real-time channel group message transmission.
  • the bandwidth parameter can be set by the master node of the real-time channel group, or can be set by each member node of the real-time channel group. Setting bandwidth parameters on the master node of the real-time channel group can make the bandwidth allocation of each member node consistent, and further ensure the real-time performance of message transmission of the real-time channel group. Bandwidth allocation can be done by the master node of the real-time channel group.
  • bandwidth allocation is performed according to bandwidth parameters, including:
  • the polling period is T
  • the number of sub-periods is T/t1. If the bandwidth parameter defines that the channel group messages with the highest priority are allocated 2 sub-periods, other priorities To allocate a sub-period, the first two sub-periods of the polling period will be assigned to the channel group messages with the highest priority, and the other sub-periods will be allocated according to the priority in turn.
  • channel group messages with the highest priority include time-triggered channel group messages.
  • the method in the embodiment of the present application further includes: before scheduling each first bandwidth in each polling cycle, judging whether the first bandwidth is idle; according to the bandwidth length of the idle first bandwidth and the pending The priority of the channel group packets, which preempts the priority of the idle first bandwidth.
  • the bandwidth can be used more flexibly and the utilization rate of the bandwidth can be improved.
  • the polling period is divided into a first bandwidth 1, a second bandwidth 2, and a third bandwidth 3 in sequence.
  • the polling period is divided into a first bandwidth 1, a second bandwidth 2, and a third bandwidth 3 in sequence.
  • the first bandwidth 1 if there is no message corresponding to the first bandwidth 1, it will choose who to occupy according to the priority of the second bandwidth 2 and the third bandwidth 3 and the length of the corresponding channel group message, such as The channel group message corresponding to the second bandwidth 2 is too long to be transmitted in the first bandwidth 1, and the third bandwidth 3 whose packet length meets the requirements is selected for occupation.
  • the channel group messages corresponding to the second bandwidth 2 and the third bandwidth 3 can all be transmitted in the first bandwidth 1, the channel group messages corresponding to the second bandwidth 2 with high priority are selected to occupy according to the priority. It should be noted that, within the scheduling time of the first bandwidth 1, if a channel group message with the highest priority is generated, the transmission of the occupied channel group message will be stopped and the channel group message with the highest priority will be processed.
  • the method in this embodiment of the present application further includes: calculating the number of messages transmitted in one polling period according to the first bandwidth corresponding to the highest priority channel group message; and displaying the number of messages.
  • the master node of the real-time channel group G1 is node B, and when it is displayed that node B can handle two real-time messages within the time T1, it means that the real-time messages within the time T1 are continuous Processing more than 2 will cause delays.
  • the channel group message with the highest priority is key-triggered. At this time, the user can control the frequency of key-press triggering according to the prompt.
  • the method in the embodiment of the present application further includes one of the following: obtaining bandwidth allocation parameters from the master node of the first network domain, wherein the first network domain includes at least one real-time Channel group; get the bandwidth allocation parameters set by the master node of at least one real-time channel group.
  • the unified allocation by the master node of the first network domain can further ensure the real-time performance of message transmission of the channel group with the highest priority.
  • the master node of the real-time channel group may choose whether to trigger the master node of the first network domain to perform unified deployment.
  • the master node of the real-time channel group can be selected to calculate the bandwidth allocation parameters, and then allocate them to the corresponding same real-time channel group. member nodes.
  • the master node of the real-time channel group and the master node of the first network domain will set according to the number of the highest priority channel group messages that may be generated at the same time. If at the same time, there are multiple slave nodes triggering in the real-time channel group, and the channel group message triggered by each slave node will pass through the member nodes in the channel group, then the master node of the real-time channel group, the first network domain The master node will allocate more sub-periods to the channel group packets with the highest priority according to the path planning.
  • the method in this embodiment of the present application further includes: sending a bandwidth request configuration to the master node of the first network domain, wherein the bandwidth request configuration is used to request the master node of the first network domain to The emergency event generated by the node calculates the bandwidth allocation ratio.
  • each member node in the real-time channel group may actively request the master node of the first network domain to perform bandwidth allocation in a unified manner.
  • the interaction mode between member nodes is that the slave node actively sends channel group messages to the master node.
  • each member node in the real-time channel group can send the first network The master node of the domain initiates the request.
  • the embodiment of the present application also provides an electronic device.
  • the external device may be, for example, a desktop computer, a portable computer, a smart phone, a tablet computer, a personal digital assistant (Personal Digital Assistant, PDA), a server, and the like.
  • PDA Personal Digital Assistant
  • the electronic device in the embodiment of this application can be applied as any node in the network system of the embodiment shown in Figure 1, and the electronic device in this embodiment and the real-time channel group creation shown in Figure 2
  • the methods have the same inventive concept, so these embodiments have the same implementation principle and technical effect, which will not be described in detail here.
  • the above-mentioned computer storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to: removable storage device, random access memory (RAM, Random Access Memory), magnetic storage (such as floppy disk, hard disk, tape, magneto-optical disk (MO), etc.), optical memory (such as CD, DVD, BD, HVD, etc.), and semiconductor memory (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH) , Solid State Disk (SSD)) and other media that can store program code.
  • RAM random access memory
  • RAM Random Access Memory
  • magnetic storage such as floppy disk, hard disk, tape, magneto-optical disk (MO), etc.
  • optical memory such as CD, DVD, BD, HVD, etc.
  • semiconductor memory such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH) , Solid State Disk (SSD)
  • SSD Solid State Disk
  • the above-mentioned integrated units of the present application are realized in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.
  • the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium and includes several instructions for Make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: mobile storage devices, random access memory (RAM, Random Access Memory), magnetic storage (such as floppy disk, hard disk, magnetic tape, magneto-optical disk (MO) etc.), optical storage (such as CD, DVD, BD , HVD, etc.), and semiconductor memories (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state hard disk (SSD)) and other media that can store program codes.
  • RAM random access memory
  • RAM Random Access Memory
  • magnetic storage such as floppy disk, hard disk, magnetic tape, magneto-optical disk (MO) etc.
  • optical storage such as CD, DVD, BD , HVD, etc.
  • semiconductor memories such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state hard disk (SSD)
  • SSD solid-state hard disk

Abstract

本申请涉及通信技术领域，公开了一种实时通道组的控制方法、网络系统及存储介质，该方法包括：网络域中的任一节点在收到第一实时通道组创建请求后加入第一实时通道组，并向第一实时通道组中的节点发起系统时钟同步，使得第一实时通道组内的节点都使用相同的系统时钟；第一实时通道组中的任一节点在收到第二实时通道组创建请求后，作为共享节点加入第二实时通道组；每个实时通道组的节点根据执行周期和中断时长触发每个实时通道组的通道组报文解析请求，提取实时通道组的通道组报文进行解析处理。通过多个实时通道组共享至少一个节点实现系统时钟同步，降低需管理的实时通道组的节点数量并实现实时报文的高效传输。

Description

实时通道组的控制方法、网络系统及存储介质 技术领域
本申请实施例涉及但不限于通信技术领域，尤其涉及一种实时通道组的控制方法、网络系统及存储介质。
背景技术
在通信技术领域，尤其是在工业以太网中，通常会建立实时通道组，以使得每个实时通道组中的成员节点(例如设备或机器人的机械臂)可以相互协同操作完成一项流程，实际应用中，为了实现更高效率的工业控制，通常会设置多个实时通道组以同时处理多项流程，此时多个实时通道组相互独立，导致实时通道组的管控效率降低、管控成本提升。
此外，现有的策略中虽然通过对多个设备建立实时通道组，并通过实时通道组的主节点对每个从节点下发控制指令实现指令的同步处理，但是由于网络拓扑的差异，导致实际操作时，从网络节点之间同步的精度较低，并且如何从实时通道组的若干节点中选取用于控制的主节点也比较困难。
发明内容
本申请实施例提供一种实时通道组的控制方法、网络系统及存储介质，能够提升实时通道组的处理效率并降低实时通道组的管控成本。
一方面，本申请实施例提供了一种实时通道组的控制方法，包括：
一种实时通道组的控制方法，其特征在于，包括：
网络域中的任一节点在收到第一实时通道组创建请求后加入第一实时通道组，并向所述第一实时通道组中的节点发起系统时钟同步，使得第一实时通道组内的节点都使用相同的系统时钟；
所述第一实时通道组中的任一节点在收到第二实时通道组创建请求后，作为共享节点加入第二实时通道组；
每个实时通道组的节点根据每个实时通道组对应的执行周期和中断时长确定中断数量，根据每个实时通道组对应的中断数量触发每个实时通道组的报文解析请求；其中所述报文解析请求用于提取实时通道组的通道组报文进行解析处理。
可选地，所述方法还包括：
实时通道组中主导通道组报文发送的节点为主节点，其他为从节点；
主节点的确定方式包括用户预先指定主节点或者由实时通道组中的节点自选举主节点。
可选地，针对所述网络域中的任一实时通道组，所述网络域中不属于所述任一实时通道组的节点为所述任一实时通道组的透传节点，所述透传节点用于透传由所述任一实时通道组的成员节点发起的通道组报文。
可选地，自选举主节点的步骤包括：
实时通道组中的每个节点向实时通道组中的其他节点发送选举报文，得到每个节点发送选举报文的传输效率，根据每个节点发送选举报文的传输效率，将传输效率最高节点作为实时通道组的主节点，其他节点作为实时通道组的从节点。
可选地，节点的传输效率包括以下至少一项：
选举报文到达其他节点的总转发次数；
选举报文在传输过程中所经过的透传节点的个数，其中，所述透传节点属于网络域且不属于实时通道组。
可选地，所述方法还包括：
实时通道组中的每个节点在发送选举报文之前，根据路由表对传输选举报文所经过的节点进行最短路径规划，得到选举传输路径，将所述选举传输路径的起始节点作为所述选举报文的源地址，所述选举传输路径的末端节点作为所述选举报文的目的地址。
可选地，所述方法还包括：
实时通道组中的每个节点接收拓扑更新指令，向实时通道组中的其他节点重新发起选举报文，以确定新的主节点；其中，所述拓扑更新指令用于请求重新选举主节点。
可选地，实时通道组的主节点处理实时通道组的信号指令的步骤包括：
通过所述主节点的路由表对若干所述从节点进行最短路径规划，得到包括若干所述从节点的第一传输路径，
将所述第一传输路径的末端节点作为每一信号指令的目的地址，所述主节点作为所述信号指令的源地址，
获取所述信号指令到达所述末端节点的第一传输时长，
根据所述信号指令的执行周期以及所述第一传输时长，确定所述信号指令的第一发送时间段，以使若干所述从节点均在同一个执行周期对应的执行中断产生前均接收到所述信号指令。
可选地，所述获取所述信号指令到达所述末端节点的第一传输时长，包括：
获取最长的所述信号指令对应的包长；
计算在若干所述从节点上消耗的驻留节拍以及硬件传输延时；
根据所述包长、所述驻留节拍及硬件传输延时，计算得到所述第一传输时长。
可选地，所述获取所述信号指令到达所述末端节点的第一传输时长，还包括：获取相邻两个所述信号指令之间的帧间隔以及预设的第一预留时长；
所述根据所述包长、所述驻留节拍及硬件传输延时，计算得到所述第一传输时长，包括：根据所述包长、所述驻留节拍、硬件传输延时、所述帧间隔以及第一预留时长，计算得到所述第一传输时长。
可选地，所述确定所述信号指令的第一发送时间段之前，所述主节点还用于：获取单位中断产生的周期时间，根据所述信号指令对应的中断个数确定所述执行周期。
可选地，所述主节点位于多个实时通道组中，每个实时通道组对应一个第 一发送时间段。
可选地，所述方法还包括：
获取所述实时通道组中最高优先级的通道组报文对应的单位传输周期；
将预设轮询周期按照所述单位传输周期划分，得到多个子周期；
根据所述带宽参数中带宽分配比例对所述多个子周期进行划分，得到与多个所述通道组报文的优先级一一对应的多个第一带宽，其中，所述第一带宽包括子周期的个数以及起始位置。
可选地，所述方法还包括：
在每一轮询周期的每一所述第一带宽的调度前，判断所述第一带宽是否空闲；
根据空闲的第一带宽的带宽长度以及待处理的通道组报文的优先级，对所述空闲的第一带宽进行优先级抢占处理。
一方面，本申请实施例还提供了一种网络系统，包括多个节点，每个第一节点用于执行上述任一种方法的步骤。
一方面，本申请实施例提供了一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其中，处理器执行计算机程序时实现上述任一种方法的步骤。
一方面，本申请实施例提供了一种计算机可读存储介质，其上存储有计算机程序指令，该计算机程序指令被处理器执行时实现上述任一种方法的步骤。
一方面，本申请实施例提供了一种计算机程序产品或计算机程序，该计算机程序产品或计算机程序包括计算机指令，该计算机指令存储在计算机可读存储介质中。计算机设备的处理器从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得该计算机设备执行上述任一种TCP传输性能的控制的各种可选实现方式中提供的方法。
本申请实施例提供的实时通道组的控制方法、网络系统及存储介质，通过多个实时通道组共享一个或多个节点实现系统时钟同步，降低需要管理的实时 通道组的成员节点的数量并实现实时报文的高效传输，能够提升实时通道组的处理效率并降低实时通道组的管控成本。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面所介绍的附图仅仅是本申请的一些实施例，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网络系统的结构示意图；
图2为本申请实施例提供的实时通道组的控制方法的流程示意图；
图3为本申请实施例提供的实时通道组的执行触发操作流程示意图；
图4为本申请实施例提供的实时通道组选举主节点的流程示意图；
图5为本申请实施例提供的实时通道组的主节点进行信号指令同步的流程示意图；
图6为本申请实施例提供的实时通道组的从节点进行信号指令同步的流程示意图；
图7为本申请实施例提供的通道组的信号指令同步处理方法中发送时间点与执行周期的关系示意图；
图8为本申请实施例提供的实时通道组的带宽优先级设置的流程示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，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、完整地描述。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
需说明的是，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或 先后次序。
参照图1所示的实施例，本申请实施例提供一种网络系统，包括多个节点，每个节点可响应至少一个实时通道组创建请求加入至少一个实时通道组，并向各实时通道组中的其他节点发起系统时钟同步。其中，实时通道组创建请求用于请求将节点添加到某个实时通道组中。
需说明的是，可额外设置一个用于管控整个网络系统的控制端，其独立于网络系统，管理人员可通过控制端配置一个实时通道组的成员节点，向这些节点下发实时通道组创建请求；也可以由网络系统中的某个节点向需要组建实时通道组的各节点发送实时通道组创建请求，以机器人为例，可以由机器人的控制器发送实时通道组创建请求。
示例性的，参照图1所示的实施例，网络系统中包括A～K一共9个节点，以节点B为例，节点B接收来自于实时通道组G1的实时通道组创建请求以及实时通道组G2的实时通道组创建请求，此时节点B作为共享节点加入到实时通道组G1、实时通道组G2。当节点B向已加入实时通道组的节点A、节点F发起系统时钟同步后，实时通道组G1、实时通道组G2所有成员的系统时钟同步，此时A～G均时间同步。此时，实时通道组G1、实时通道组G2中每个成员的中断、定时器等触发的时间点均是同步的，进而能在一定时间内保持通过中断触发的操作是同步的。
需说明的是，共享节点可以是实时通道组的主节点或从节点。参照图1所示的实施例，共享节点B可以为实时通道组G1的主节点，也可以为实时通道组G2的主节点；或者，共享节点B可以为实时通道组G1的主节点，实时通道组G2的从节点；又或者，共享节点B为实时通道组G1的从节点，实时通道组G2的从节点；又或者，共享节点B为实时通道组G1的从节点，实时通道组G2的主节点。在一些实施例中，节点B可以作为控制器，同时控制实时通道组G1、实时通道组G2中成员节点的指令处理，进而达到提升节点利用率的目的以及降低实时通道组管控的成本。在另一些实施例中，节点B可以作为 实时通道组G1、实时通道组G2的一个成员节点，在实时通道组G1的主节点控制下完成第一操作，在实时通道组G2的主节点控制下完成第一操作，进而节约创建实时通道组G1、实时通道组G2所需的节点数量，进而提升节点利用率以及降低节点管控的成本。
需说明的是，在一些实施例中，实时通道组G1、实时通道组G2位于同一个网络域Q1中，以网络域Q1的主节点为节点H为例，在一些实施例中，节点H会给A～G分配节点标志号，在一些实施例中，网络域Q1中每个节点A～H均具有路由功能，在网络域Q1创建成功后，网络域Q1中所有节点A～H由节点H主动触发更新，进而确保网络域Q1中各个节点发送的报文仅在网络域Q1中传输。
本领域技术人员可以理解的是，图1中示出的网络系统的拓扑结构并不构成对本申请实施例的限定，可以包括比图示更多或更少的节点，或者节点的拓扑。
下面结合附图，提出本申请的实时通道组的控制方法的各个实施例，并对本申请实施例的方法作进一步阐述。
参照图2，本申请实施例提供了一种实时通道组的控制方法，包括：
S201、网络域中的任一节点在收到第一实时通道组创建请求后加入第一实时通道组，并向第一实时通道组中的节点发起系统时钟同步，使得第一实时通道组内的节点都使用相同的系统时钟。
需说明的是，每个节点在加入一个实时通道组后都会向通道组内的节点发起系统时钟同步，通过这种方式使得实时通道组中每个成员节点的系统时钟是同步的。当系统时钟同步后，实时通道组中每个成员节点的中断触发时间、定时器等均是同步的，进而可以确保实时报文的实时性。以实时通道组中成员节点通过中断触发通道报文处理为例，参照图1所示的实施例，节点A～E均会在同一时刻产生中断。
需说明的是，网络域中的任一节点可以加入已建立好的实时通道组，也可 以加入新建的实时通道组。
在一些实施方式中，当节点在收到第一实时通道组创建请求时第一实时通道组已经建立，表明第一实时通道组中其他节点的系统时钟均已经完成同步，此时新加入的节点可以向第一实时通道组中的任一节点发起系统时钟同步，使得新加入的节点的系统时钟与第一实时通道组中其他节点的系统时钟保持一致。
在一些实施方式中，当节点在收到第一实时通道组创建请求时第一实时通道组还未建立，此时可在第一实时通道组建立后，由第一实时通道组内的指定节点(例如第一实时通道组的主节点)或任一节点开始，依次向其他节点发起时钟同步，使得第一实时通道组内所有节点的系统时钟均保持一致。
示例性的，网络域Q1中包括一个主时钟节点H，当该网络域中的实时通道组中的节点A～E发起系统时钟同步时，该实时通道组中的节点均将各自的系统时钟与网络域Q1中的主时钟节点H的系统时钟进行同步，以使该实时通道组中的各节点时钟保持一致。
S202、第一实时通道组中的任一节点在收到第二实时通道组创建请求后，作为共享节点加入第二实时通道组。
需说明的是，共享节点是同时归属于至少两个实时通道组的节点。实时通道组中的任一节点都可以作为共享节点加入到其他实时通道组中。
S203、每个实时通道组的节点根据每个实时通道组对应的执行周期和中断时长确定中断数量，根据每个实时通道组对应的中断数量触发每个实时通道组的通道组报文解析请求；其中所述报文解析请求用于提取实时通道组的通道组报文进行解析处理。
在一些实施方式中，如果共享节点在加入第二实时通道组之前第二实时通道组已经建立，表明第二实时通道组中其他节点的系统时钟均已经完成同步，此时，可以由新加入的共享节点可以向第二实时通道组中的其他节点发起系统时钟同步，第二实时通道组中各节点根据共享节点的系统时钟调整各自的系统 时钟，保证第二实时通道组的节点与第一实时通道组中的节点使用相同的系统时钟。
在一些实施方式中，如果共享节点在加入第二实时通道组之前第二实时通道组还未建立，表明第二实时通道组的节点的系统时钟均还未同步，此时可在第二实时通道组建立后，由第二实时通道组内的指定节点(例如第二实时通道组的主节点)或任一节点开始，依次向其他节点发起时钟同步，使得第二实时通道组内所有节点的系统时钟均保持一致。
因此，通过在节点上响应至少一个实时通道组创建请求，使得一个节点可以归属于至少一个实时通道组，此时，多个实时通道组可以共享至少一个节点，当任一实时通道组的成员节点发起系统时钟同步时，可通过共享的节点实现多个实时通道组的系统时钟同步，因此每个实时通道组均可以实现实时报文的高效传输。相对于现有技术，本申请可以通过多个实时通道组共享一个或多个节点，进而降低需要管理的实时通道组的成员节点的数量，因此，本申请的实施例能够提升实时通道组的处理效率并降低实时通道组的管控成本。
可理解的是，实时通道组是在网络域中建立的，因此实时通道组内的每一成员节点均在同一个网络域中，并通过该网络域的主节点更新路由表。
需说明的是，网络域用于将多个节点之间的报文交互限制在域内，参照图1所示的实施例，网络域Q1中的任一节点发起的报文只能在网络域Q1中传输。网络域可通过路由表更新改变网络域的范围，即改变网络域包含的节点。在路由表不更新的状态下，每个节点均只能根据路由表中的路由表项进行寻址，进而实现网络系统中的节点的相互隔离。
可理解的是，在网络域中建立了实时通道组后，对于每个实时通道组而言，存在不属于该实时通道组但属于网络域的节点，此时，该实时通道组中的信号指令在网络域中传输时会经过非该实时通道组中的节点，本申请实施例中将这类不属于该实时通道组、但实时通道组中的信号指令在传输过程中会经过的节点作为该实时通道组的透传节点，透传节点用于透传由该实时通道组的成员节 点发起的通道组报文。示例性的，参照图1所示的实施例，通道组报文由实时通道组G1发起，实时通道组G1包括节点A～E，则对于实时通道组G1而言，实时通道组G2中的F、G为透传节点，节点F、G接收到该通道组报文均会做透传处理。示例性的，参照图1所示的实施例，节点H不在实时通道组G1中，对于实时通道组G1而言，节点H为透传节点，当实时通道组G1中的节点D发往节点B的报文经过节点H时，节点H对该报文不处理，直接透传到节点B。
可理解的是，参照图3所示，本申请实施例的方法还包括：
S301、每个实时通道组的节点根据该实时通道组的执行周期确定中断时长的中断数量。
需说明的是，可为每个实时通道组设置不同的执行周期。在一些实施例中，中断时长为1s为例，当实时通道组G1的执行周期为10s，则对于实时通道组G1中的节点而言，需要每隔10s执行一次实时通道组G1的通道组报文，即累计10次中断执行一次实时通道组G1的通道组报文解析；当实时通道组G2的执行周期为20s，则每隔20s要执行一次实时通道组G2的通道组报文，即累计中断次数为20次，执行一次实时通道组G2的通道组报文。
步骤S302、根据每个实时通道组对应的中断数量触发每个实时通道组的报文解析请求，其中报文解析请求用于提取实时通道组的通道组报文进行解析处理。
需说明的是，对于实时通道组内的每个节点而言，会设立实时通道组对应的缓存区以保存通道组报文，进而能在对应的执行周期提取通道组报文进行解析处理。
需说明的是，当实时通道组设置有多个且执行周期相同，则共享节点会在中断数量触发时，轮询提取多个实时通道组的通道组报文进行解析处理。如参照图1所示的实施例，实时通道组G1、G2的执行周期均为10S，则累计中断数量满足要求后，共享节点B会依次提取实时通道组G1、实时通道组G2的 通道组报文进行解析处理。
可理解的是，中断时长为1ms。
可理解的是，本申请实施例的方法还包括：用户预先在实时通道组内指定某个节点为实时通道组的主节点，其他节点为从节点。
在一些实施方式中，可以由控制端向实时通道组内的各节点下发实时通道组的节点配置请求，节点配置请求中包括为实时通道组配置的主节点的节点标识，各节点根据节点配置请求完成主从节点的配置。在另一些实施方式中，也可以由网络域或实时通道组内预先设置的控制节点发送实时通道组的节点配置请求，以机器人为例，可以由机器人的控制器向实时通道组内的各节点发送节点配置请求。
需说明的是，主节点用于管控同一实时通道组中的从节点，示例性的，以机器人为例，可以将机器人的控制器、多个机器人的机械臂建立实时通道组，控制器响应实时通道组的节点配置请求并确定为主节点，多个机器人的机械臂响应实时通道组的节点配置请求并将控制器确认为主节点，自身确定为从节点，此时，控制器可以给每个机械臂发送指令控制机械臂操作，也可以接收每个机械臂发送的状态，进而实现对每个机械臂控制的目的。
在一些实施方式中，实时通道组的主节点也可以通过实时通道组内的各节点自选举产生。实时通道组选举主节点的过程包括：实时通道组中的每个节点向实时通道组中的其他节点发送选举报文，得到每个节点发送选举报文的传输效率，根据每个节点发送选举报文的传输效率，将传输效率最高节点作为主节点，其他节点作为从节点。
参照图4，以实时通道组内的第一节点为例，第一节点通过如下步骤实现主节点选举：
S401、获取第一节点所在实时通道组的配置参数，并根据配置参数确定若干第二节点。其中，实时通道组由第一节点、若干第二节点组成。
需说明的是，实时通道组的配置参数包括实时通道组中每一成员节点的相 关信息。
S402、根据第一节点的路由表，向每一第二节点发送第一选举报文，得到第一节点发送第一选举报文的传输效率。
需说明的是，第一节点的路由表和第二节点第二路由表具有相同的路由表项，即路由表项的目的地址的总集是相同的。第一节点的传输效率表示从第一节点向每个第二节点发送第一选举报文，第一选举报文到达每个第二节点时的时间、转发次数等。
S403、获取每一第二节点的传输效率。
需说明的是，第二节点的传输效率是第二节点通过向实时通道组中其他节点发送第二选举报文确定得到，即参照步骤S401～步骤S402得到，此时第二节点会将得到的传输效率广播到实时通道组的其他成员节点中，第一节点同样会将其得到的传输效率广播到实时通道组的其他成员节点中，使得实时通道组的每个成员节点均可以得到所有成员节点的传输效率。
S404、根据第一节点的传输效率、每一第二节点的传输效率，确定若干从节点以及传输效率最高的主节点。
示例性的，参照图1所示的实施例，以节点B为例，节点B根据自身的传输效率以及节点A、C、D、E的传输效率，确定得到节点B的传输效率更高，此时，节点B协商自己为主节点，同理对于实时通道组G1中的节点A、C、D、E而言，每个节点接收到的各节点的传输效率是相同的，因此各自可协商出的主节点均为节点B，进而完成整个实时通道组G1的主节点自协商。需说明的是，以传输效率代表时间为例，则传输效率最高表示时间最短。以传输效率代表转发次数为例，则传输效率最高表示转发次数最少。
需说明的是，从节点会响应主节点的控制，如执行主节点发送的控制指令，或向主节点周期上报状态，以使主节点采集到每个从节点的状态信息。
因此，对于实时通道组中的每个节点，根据各节点的传输效率，选举得到传输效率最高的一个节点作为实时通道组的主节点，实时通道组中的其他节点 作为从节点，此时，由主节点发送到每一从节点的效率更高，进而使得整个生产效率提高。同时，相对于现有的技术，本申请的实施例可以由实时通道组内的节点主动触发选举，减少人为干预以及人为管控的门槛，因此，本申请实施例的方式更加通用，能够提升对实时通道组的主节点选择的便利性。
可理解的是，节点的传输效率包括该节点发送的选举报文到达实时通道组中其他节点的总转发次数。例如，第一节点的传输效率包括第一节点发送的选举报文到达每一第二节点的总转发次数。
需说明的是，在一些实施例中，总转发次数为依次经过每个第二节点直至达到最后一个第二节点时的转发次数。在另一些实施例，总转发次数为分别到每个第二节点的转发次数之和。
示例性的，在一些实施例中，参照图1所示的实施例，以节点B为例，假设节点B到节点A的转发次数为FN1，节点B到节点C的转发次数为FN2，节点D到节点C的转发次数为FN3，节点B到节点E的转发次数为FN4，则总转发次数为FN1+FN2+FN3+FN4。在另一些实施例中，第一节点到若干第二节点为固定的顺序，如B>E>A>C>D，则将达到第一节点D时的转发次数作为总转发次数。
可理解的是，传输效率还包括选举报文在传输过程中所经过的透传节点的个数。
需说明的是，选举报文在传输过程中可能会经过透传节点，透传节点虽然不会处理选举报文，但是会对实时通道组传递的报文的传输速率有一定影响，此时将经过实时通道组外的节点(即透传节点)的个数作为主节点选举的条件之一，可以进一步获得传输效率更高的主节点。
可理解的是，本申请实施例的方法还包括如下步骤：实时通道组中的每个节点在发送选举报文之前，根据路由表对传输选举报文所经过的节点进行最短路径规划，得到选举传输路径，将该选举传输路径的起始节点作为选举报文的源地址，将该选举传输路径的末端节点作为选举报文的目的地址。
以图4中的第一节点为例，在选举主节点的过程中，第一节点根据第一节点的路由表对若干第二节点进行最短路径规划，得到选举传输路径，其中，选举传输路径包括第一节点和若干第二节点；将第一节点作为第一选举报文的源地址，选举传输路径的末端节点作为第一选举报文的目的地址。
需说明的是，对于每一个第二节点而言，其下一跳的地址的确定是根据路由表进行最短路径进行规划，此时在第一节点根据相同的规则规划出选举传输路径后，接收到该第一选举报文的第二节点可以规划出经过下一跳的实时通道组的节点信息与选举传输路径匹配。通过这种方式简化了实时通道组的节点之间的交互，进而提升了节点之间的带宽利用率。
示例性的，参照图1所示的实施例，以节点B为例，节点B与节点E最近，节点E与除上一跳节点B以外的A最近，节点A与节点C最近，则选举传输路径为B>E>A>C>D。此时目标节点为节点D，对于节点B而言，下一跳节点为E。此时，对于节点E而言，通过路由寻址会将选举报文转发到节点A，最终按照选举传输路径的顺序到达目标节点D，在经过每个节点时，均会统计对应的转发次数和/或时间，因此目标节点D可以知道选举传输路径上的传输效率。同理，对于实时通道组中其他的成员节点采用相同的方式进行处理。
需说明的是，由于选举传输路径是通过相邻节点之间的最短距离确定的，因此在排出上一跳的地址后，以该目标节点为目的地寻址得到的下一跳地址与选举传输路径上的节点匹配；需说明的是，在实时通道组中，在主节点选举确定后，主节点根据规划得到的选举传输路径进行控制指令的下发，控制指令的目的地址为选举传输路径的末端节点。
可理解的是，本申请实施例的方法还包括：实时通道组内的各节点根据预设的响应周期或事件触发信号生成第一报文；将第一报文发送给实时通道组的主节点。
需说明的是，通过设置触发事件可以对突发状况及时应对，进一步提升整 个实时通道组的鲁棒性。
可理解的是，本申请实施例的方法还包括：实时通道组中的每个节点接收拓扑更新指令，向实时通道组中的其他节点重新发起选举报文，以确定新的主节点；其中，拓扑更新指令用于请求重新选举主节点。
需说明的是，拓扑更新指令可以由控制端下发，也可以在节点初始化后自动触发，还可以在组网发生改变时自动触发，如实时通道组中的主节点故障离线，此时同一实时通道组内的从节点检测到主节点离线进而向实时通道组内的其他节点发送拓扑更新指令。
需说明的，拓扑更新指令表示实时通道的物理组网发生改变，不仅限于实时通道组内的成员节点离线，还包括成员节点之间的物理连接关系发生改变。
需说明的是，实时通道组的每个成员节点均设置有节点标识号，路由表中记录了该节点标识号与物理地址的映射关系，应用时，将信号指令对应的报文中的目的地址和源地址采用节点标识号进行填充，如在选举报文中，将主节点的节点标识号作为源目的地址，将第一传输路径上的末端节点作为目的地址。
在一些实施方式中，在完成实时通道组的主节点选举后，可以由主节点控制完成实时通道组内所有节点的系统时钟同步。
参照图5所示，本申请实施例还提供了一种实时通道组的控制方法，应用于实时通道组中的主节点，特别是用于主节点处理实时通道组的信号指令，包括如下步骤：
S501、通过主节点的路由表对若干从节点进行最短路径规划，得到包括若干从节点的第一传输路径。
需说明的是，第一传输路径表示的是主节点依次经过各从节点的顺序，为逻辑上的传输路径。示例性的，参照图1所示的实施例，图1中实时通道组G1的逻辑上的传输路径为B->A->C->D->E，而在实际传输过程中，实时通道组G1对应的实际经过的路径为B->A->C->A->D->A->B->E。
需说明的是，实时通道组中每个成员节点均有路由表，且每个成员节点的 路由表的表项记录的目的地址信息是相同的。通过最短路径规划表示通过任意相邻两个成员节点之间的最短传输距离进行排序，得到第一传输路径。示例性的，参照图1所示的实施例，主节点B最短传输路径对应的从节点为A，则在主节点B中获取从节点A到下一个从节点的最短传输路径，确定得到节点C，最终得到的第一传输路径为B->A->C->D->E。而对于每个从节点而言，在以末端节点为目的地时，均是按最短路径得到的下一跳，因此，每一个从节点计算得到的下一跳均与第一传输路径上设置的传输顺序匹配。
S502、将第一传输路径的末端节点作为每一信号指令的目的地址，主节点作为信号指令的源地址。
S503、获取信号指令到达末端节点的第一传输时长。
需说明的是，在物理拓扑不变的情况下，第一传输时长是相对固定的，因此该时间可以是实测得到，或者根据链路的传输时间估算得到。
S504、根据信号指令的执行周期以及第一传输时长，确定信号指令的第一发送时间段，以使若干从节点均在同一个执行周期对应的执行中断产生前均接收到信号指令。
相应地，参考图6，本申请实施例还提供了一种实时通道组的控制方法，应用于实时通道组中的从节点，特别是用于从节点处理实时通道组的信号指令，包括如下步骤：
S601、获取用于传输信号指令的第一传输路径对应的第一传输时长以及将信号指令从主节点传输到从节点所消耗的第二传输时长。
S602、根据第一传输时长、第二传输时长以及下一执行周期的触发时间，确定延时时长。
S603、根据延时时长、预设的执行中断，执行信号指令。
需说明的是，第二传输时长可以参照第一传输时长的方式计算得到，可以通过实测得到，然后从节点保存。需说明的是，延时时长的设置可以进一步确保一定是在同一个执行周期的对应的执行中断产生时执行。
需说明的是，步骤S501～S504、S601～S603中的主节点和从节点均属于同一实时通道组。
需说明的是，采用执行中断触发执行周期，可以使得执行的时间更为精确。而每一从节点之间的系统时钟是同步的，且均与主节点的系统时钟一致，因此，每个从节点的执行中断产生的时刻是一致的。因此，在保证同一执行中断前信号指令被每个从节点均接收到即可保证同步性。
需说明的是，在一些实施例中，第一传输时长是小于执行周期的时长，因此对于从节点而言可以不设置延时时长，此时，每个从节点均可以在接收到信号指令最近的一个执行周期中执行。对于从节点而言，也可以设置延时时长，进一步确定执行该信号指令的时间。在另一些实施例中，第一传输时长大于执行周期的时长，则从节点均可设置延时时长，确保每个从节点在同一个执行周期进行执行。
需说明的是，第一发送时间段，表示只要信号指令在该第一发送时间段内产生，均会在被发送出去，以保证每个从节点同步执行。第一发送时间段针对的是每个执行周期而言，第一发送时间段的结束时间与其所在的执行周期的结束时间间隔第一传输时长。
示例性的，参照图7所示的时间列表，执行周期为ΔT，实际执行时间周期的起始时间为t1，对于主节点而言，第一发送时间段的范围为t0至t3，信号指令的发送时间为t2。其中t3与t1的时间间隔等于第一传输时长Δt。此时，每个从节点可以在t1前接收到信号指令，当从节点在t1对应的执行中断产生时，每个从节点同时执行该信号指令。
因此，当主节点、从节点的系统时钟同步后，主节点和每一从节点的系统时间、时钟均是同步的，此时多个节点的执行中断是同步产生的，因此在实时通道组的网络拓扑不变的情况下，根据第一传输时长、执行周期确定第一发送时间段后，多个从节点可以在同一时刻触发信号指令的执行。因此通过第一发送时间段确保同一执行中断产生前能收到信号指令，而系统时钟同步可以进一 步减少从节点之间的同一执行中断的时间差，因此本申请的实施例可以提升多个从节点之间同步的精度。
示例性的，尽管无需限定信号指令的具体内容是什么，可用的具体例子包括，信号指令为主节点向从节点输出数据，或者主节点要求从节点汇报状态，或者两者的组合。如果信号指令为实时通道组主节点向从节点输出数据，那么主节点将希望发送给每个从节点的数据插入到这个即将发送的数据帧中，并在第一发送时间段内发送出去，并且到达各从节点的缓存区，那么实时通道组的每个从节点都将在同一个执行中断产生时读取各自应该收到的数据。
可理解的是，步骤S503，包括：获取最长的信号指令对应的包长；计算在若干从节点上消耗的驻留节拍以及硬件传输延时；根据包长、驻留节拍、硬件传输延时，计算得到第一传输时长。
示例性的，假设最长的信号指令对应的包长为1518字节，驻留节拍为2即增加2字节的传输时间，硬件传输延时为Δt1，传输速度以千兆比特网络Gigabit Ethernet为例，则每比特传输时间为1纳秒，每个字节传输时间即为8纳秒，则第一传输时长Δt＝(1518+2)*8ns+Δt1。
可理解的是，步骤S503，还包括：获取相邻两个信号指令之间的帧间隔以及预设的第一预留时长。对应的，根据包长、驻留节拍、硬件传输延时，计算得到第一传输时长，包括：根据包长、驻留节拍、硬件传输延时、帧间隔以及第一预留时长，计算得到第一传输时长。
示例性的，假设最长的信号指令对应的包长为1518字节，驻留节拍为2，硬件传输延时为Δt1、帧间隔为12字节，第一预留时长为Δt2；则第一传输时长Δt＝(1518+2+12+Δt2)*8ns+Δt1。
需说明的是，第一预留时长表示兼容时长，进而降低由于第一传输时长误差导致的同步精度降低的概率。在一些实施例中，第一预留时长包括信号指令进行封装时的准备时间。
可理解的是，步骤S502，包括：将主节点对应的节点标识作为信号指令的 源地址，将末端节点对应的节点标识作为每一信号指令的目的地址。
需说明的是，通过节点标识替换节点的物理地址信息，可以缩短信号指令对应的报文包长，同时解析匹配处理时更为简单，报文处理效率更高。
需说明的是，在一些实施例中，路由表中的路由表项按目的地址的数值大小进行排序，根据节点标识作为索引，确定目的地址的物理地址信息后，可以直接通过二分查找快速确定下一跳的地址。
可理解的是，本申请实施例的方法还包括：获取单位中断产生的周期时间，根据信号指令对应的中断个数确定执行周期。
需说明的是，通过单位中断累加的方式计算执行周期，可以减少设置的中断个数，执行周期的精度更高，进而进一步提升每个从节点同步的概率。此时，执行中断为累加计数满足中断个数时的单位中断。
可理解的是，主节点位于多个实时通道组中，第一发送时间段与实时通道组一一对应设置。
需说明的是，对于多个实时通道组，可以通过执行周期的差异区分不同的实时通道组，对于同一执行周期的实时通道组，可以通过设置轮询机制，进而使得每个实时通道组均在同一轮询周期被执行。
可理解的是，计算轮询周期内允许传输的信号指令的最大个数，并将最大个数进行显示。
轮询周期为信号指令的解析处理的子带宽所对应的周期，通过显示信号指令的最大个数，可以对用户起到提示作用，进而减少在一定时间内第一主网络节点的信号指令过多，导致处理不及时。
需说明的是，在一些实施例中，网络域的创建是通过多个激活节点在预设时间段内路由寻址确定得到，其中，可以先通过物理隔离(如上电要加入网络域的节点，掉电非网络域的节点)的方式将网络系统中若干节点作为激活节点，也可以通过设置激活标识的方式确定激活节点。当网络域创建成功后，由网络域的主节点触发路由表的更新，进而可以确保网络域的稳定性。参照图1所示 的实施例，网络域Q1由A～G节点在预设一段时间内路由寻址后停止路由更新，此时节点A～G均得到一张路由表，该路由表的表项记录了所有节点A～G的物理地址信息。当停止路由表的自动更新后，节点A～G无法感知其他的节点，进而形成网络域Q1。
可理解的是，网络域的主节点用于给网络域中的每个成员节点分配节点标识，并根据节点标识监控网络域中的每一成员节点的在线状态。
需说明的是，分配节点标识后，实时通道组G1中的报文传输可以采用节点标识替代源地址以及目的地址，缩短源地址以及目的地址占用的字节。
需说明的是，通过实时监控节点的在线状态，可以主动触发网络域中各路由表的更新，以保证非关键节点故障后，其他成员节点可以正常相互通信。
需说明的是，在一些实施例中，网络域的主节点是网络域形成后自动选举得到的，如参照图1所示的实施例，网络域Q1形成后，域内的每个节点A～H均发送选举报文，此时，每个节点可以知道其他的节点更新路由表中物理地址的时间点，网络域Q1中每一节点选举更新时间最近的节点作为网络域Q1的主节点，此时，可以确定得到网络域Q1的主节点为节点H。
在一些实施例中，网络域通过主节点将故障节点踢出域内并接收域外节点的加入，并为加入域的节点分配节点标识。
需说明的是，网络域中的初始化由主节点向相邻从节点扩散，并由相邻节点通过遍历未初始化的相邻节点扩散实现所有节点的初始化。示例性的，网络域Q1的主节点H发送初始化信息给节点B和D，节点B和D分别通过路由查找到与之相邻的节点分别为E、A，并向节点E、A发送初始化请求，以此类推，进而实现初始化。需说明的是，网络域的初始化包括节点标识的分配，在另一些实施例中，初始化还包括将网络域的主节点的路由表同步更新到网络域的从节点。
可理解的是，本申请实施例的方法还包括：按照预设的路由表中实时通道组中任意两个成员节点的距离远近确定传输顺序。
需说明的是，实时通道组中每个成员节点均具有路由表，每个成员节点的路由表的表项均包含了相同的目的地址。任意两个成员节点之间通过路由表进行寻址。需说明的是，传输顺序的起始节点为主节点，主节点确认传输顺序后，会将传输顺序中的末端节点作为目的地址，进而使得由主节点发起的通道组报文按照传输顺序依次经过每一从节点。例如，参照图1所示的实施例，假设节点D为主节点，确定的传输顺序依次为A、B、C、E，在节点D发出通道组报文后，通道组报文分别通过路由寻址依次经过节点A、B、C并到达节点E，节点A、B、C从通道组报文中提取相关的操作指令，进而使得节点D通过一个通道组报文分别给每个从节点进行指令信号下发。
需说明的是，该传输顺序的确定可以由主节点确定后，将该传输顺序保存至通道组报文中，以使每个从节点可以根据通道组报文中的传输顺序进行路由寻址。在另一些实施例中，每个从节点也可以根据主节点传输顺序的确定方式确定传输顺序，进而可以在目的地址一致的情况下，确定与传输顺序相同的下一跳。需说明的是，由于物理的拓扑不变，因此传输顺序在物理拓扑不变的情况下仅需计算一次保存即可。
可理解的是，路由表的每一表项均包括目的地址、下一跳地址、网口以及转发次数，路由表的表项按目的地址的数值大小进行排列。
需说明的是，将目标地址按数值大小排列，能对路由表进行二分法查表，进而提升查表效率。示例性的，将目标地址按数值大小从大到小排列。
可理解的是，本申请实施例的方法还包括：根据带宽参数进行带宽分配。
需说明的是，带宽参数定义了不同优先级的通道组报文在轮询周期内的传输带宽，以及传输的起始时间。
需说明的是，实时通道组报文支持事件触发的通道组报文以及周期的通道组报文，其中，事件触发的通道组报文的优先级较高且实时性要求高，此时通过设置带宽参数，可以确保实时的通道组报文传输的实时性。
需说明的是，带宽参数可以由实时通道组的主节点设置，也可以由实时通 道组的每个成员节点自行设置。在实时通道组的主节点设置带宽参数，能够使得每个成员节点的带宽分配保持一致，进而可以进一步确保实时的通道组报文传输的实时性。可由实时通道组的主节点完成带宽分配。
可理解的是，参照图8所示，根据带宽参数进行带宽分配，包括：
S801、获取实时通道组中最高优先级的通道组报文对应的单位传输周期。
S802、将预设轮询周期按照单位传输周期划分，得到多个子周期。
S803、根据带宽参数中带宽分配比例对多个子周期进行划分，得到与多个通道组报文的优先级一一对应的多个第一带宽，其中，第一带宽包括子周期的个数以及起始位置。
示例性的，假设单位传输周期为t1，轮询周期为T，子周期个数为T/t1，若带宽参数中定义了给最高优先级的通道组报文分配2个子周期，其他优先级的分配一个子周期，则将轮询周期的前2个子周期给最高优先级的通道组报文，其他的子周期依次依据优先级进行分配。
需说明的是，最高优先级的通道组报文包括时间触发的通道组报文。
可理解的是，本申请实施例的方法还包括：在每一轮询周期的每一第一带宽的调度前，判断第一带宽是否空闲；根据空闲的第一带宽的带宽长度以及待处理的通道组报文的优先级，对空闲的第一带宽进行优先级抢占处理。
需说明的是，通过在每一个轮询周期动态判断第一带宽是否是空闲的，可以更加灵活的使用带宽，提升带宽的利用率。示例性的，轮询周期依次分为第一带宽1、第二带宽2、第三带宽3。当开始执行第一带宽1时，未有第一带宽1对应的报文，则会根据第二带宽2、第三带宽3的优先级以及对应的通道组报文的长度选择由谁占用，如第二带宽2对应的通道组报文较长无法在第一带宽1中进行传输，则会选择报文包长满足要求的第三带宽3进行占用。当第二带宽2、第三带宽3对应的通道组报文均能在第一带宽1中传输，则根据优先级高低选择由高优先级的第二带宽2对应的通道组报文占用。需说明的是，在第一带宽1的调度时间内，如产生了最高优先级的通道组报文，则会停止占用 的通道组报文的传输进而处理最高优先级的通道组报文。
可理解的是，本申请实施例的方法还包括：根据最高优先级通道组报文对应的第一带宽，计算一个轮询周期内传输的报文个数；将报文个数进行显示。
需说明的是，通过显示最高优先级通道组报文的报文个数，可以提醒用户触发最高优先级通道组报文的指令频率。示例性的，对于参考图1所示的实施例，实时通道组G1的主节点为节点B，当显示节点B在T1时间内能处理的实时报文为2个，则表示在T1时间内连续处理超过2个会导致延迟。最高优先级通道组报文为按键触发，此时用户可以根据提示，控制按键触发的频率。
可理解的是，在根据带宽参数进行带宽分配之前，本申请实施例的方法还包括如下之一：获取来自第一网络域的主节点的带宽分配参数，其中，第一网络域包括至少一个实时通道组；获取至少一个实时通道组的主节点设置的带宽分配参数。
需说明的是，第一网络域中有多个实时通道组时，通过第一网络域的主节点统一调配，可以进一步确保最高优先级的通道组报文传输的实时性。
需说明的是，实际应用中，可以由实时通道组的主节点选择是否触发第一网络域的主节点进行统一调配。
需说明的是，在一些实施例中，多个实时通道组之间并无交互，此时可以选择由实时通道组的主节点进行带宽分配参数的计算，进而分配给对应的同一实时通道组中的成员节点。
需说明的是，在进行带宽分配参数设置时，实时通道组的主节点、第一网络域的主节点会根据同一时刻可能产生的最高优先级的通道组报文的个数进行设置。如在同一时刻，实时通道组中存在多个从节点触发，且每个从节点触发的通道组报文均会经过所在通道组中的成员节点，则实时通道组的主节点、第一网络域的主节点会根据路径规划分配多一些子周期给最高优先级的通道组报文。
可理解的是，本申请实施例的方法还包括：向第一网络域的主节点发送带 宽请求配置，其中，带宽请求配置用于请求第一网络域的主节点根据实时通道组的每一成员节点产生的突发事件计算带宽分配比例。
需说明的是，在一些实施例中，也可以是实时通道组中每个成员节点主动向第一网络域的主节点请求统一进行带宽分配。如在实时通道组中，成员节点之间的交互方式为从节点主动向主节点发送通道组报文，则此时，实时通道组中的每个成员节点可以根据自身的交互属性向第一网络域的主节点发起请求。
基于与上述实时通道组的控制方法相同的发明构思，本申请实施例还提供了一种电子设备，该电子设备具体可以为智能设备内部的控制设备或控制系统，也可以是与智能设备通信的外部设备，如可以为桌面计算机、便携式计算机、智能手机、平板电脑、个人数字助理(Personal Digital Assistant，PDA)、服务器等。
需说明的是，本申请实施例中的电子设备，可以应用为如图1所示实施例的网络系统中的任一节点，本实施例中的电子设备和如图2所示实时通道组创建的方法具有相同的发明构思，因此这些实施例具有相同的实现原理以及技术效果，此处不再详述。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；上述计算机存储介质可以是计算机能够存取的任何可用介质或数据存储设备，包括但不限于：移动存储设备、随机存取存储器(RAM，Random Access Memory)、磁性存储器(例如软盘、硬盘、磁带、磁光盘(MO)等)、光学存储器(例如CD、DVD、BD、HVD等)、以及半导体存储器(例如ROM、EPROM、EEPROM、非易失性存储器(NAND FLASH)、固态硬盘(SSD))等各种可以存储程序代码的介质。
或者，本申请上述集成的单元如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。基于这样 的理解，本申请实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品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)执行本申请各个实施例所述方法的全部或部分。而前述的存储介质包括：移动存储设备、随机存取存储器(RAM，Random Access Memory)、磁性存储器(例如软盘、硬盘、磁带、磁光盘(MO)等)、光学存储器(例如CD、DVD、BD、HVD等)、以及半导体存储器(例如ROM、EPROM、EEPROM、非易失性存储器(NAND FLASH)、固态硬盘(SSD))等各种可以存储程序代码的介质。
以上实施例仅用以对本申请的技术方案进行了详细介绍，但以上实施例的说明只是用于帮助理解本申请实施例的方法，不应理解为对本申请实施例的限制。本技术领域的技术人员可轻易想到的变化或替换，都应涵盖在本申请实施例的保护范围之内。

Claims (16)

  1. 一种实时通道组的控制方法，其特征在于，包括：
    网络域中的任一节点在收到第一实时通道组创建请求后加入第一实时通道组，并向所述第一实时通道组中的节点发起系统时钟同步，使得第一实时通道组内的节点都使用相同的系统时钟；
    所述第一实时通道组中的任一节点在收到第二实时通道组创建请求后，作为共享节点加入第二实时通道组；
    每个实时通道组的节点根据每个实时通道组对应的执行周期和中断时长确定中断数量，根据每个实时通道组对应的中断数量触发每个实时通道组的通道组报文解析请求；其中所述报文解析请求用于提取实时通道组的通道组报文进行解析处理。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    实时通道组中主导通道组报文发送的节点为主节点，其他为从节点；
    主节点的确定方式包括用户预先指定主节点或者由实时通道组中的节点自选举主节点。
  3. 根据权利要求1所述的方法，其特征在于，针对所述网络域中的任一实时通道组，所述网络域中不属于所述任一实时通道组的节点为所述任一实时通道组的透传节点，所述透传节点用于透传由所述任一实时通道组的成员节点发起的通道组报文。
  4. 根据权利要求2所述的方法，其特征在于，自选举主节点的步骤包括：
    实时通道组中的每个节点向实时通道组中的其他节点发送选举报文，得到每个节点发送选举报文的传输效率，根据每个节点发送选举报文的传输效率，将传输效率最高节点作为实时通道组的主节点，其他节点作为实时通道组的从节点。
  5. 根据权利要求4所述的方法，其特征在于，节点的传输效率包括以下至少一项：
    选举报文到达其他节点的总转发次数；
    选举报文在传输过程中所经过的透传节点的个数，其中，所述透传节点属于网络域且不属于实时通道组。
  6. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    实时通道组中的每个节点在发送选举报文之前，根据路由表对传输选举报文所经过的节点进行最短路径规划，得到选举传输路径，将所述选举传输路径的起始节点作为所述选举报文的源地址，所述选举传输路径的末端节点作为所述选举报文的目的地址。
  7. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    实时通道组中的每个节点接收拓扑更新指令，向实时通道组中的其他节点重新发起选举报文，以确定新的主节点；其中，所述拓扑更新指令用于请求重新选举主节点。
  8. 根据权利要求2所述的方法，其特征在于，实时通道组的主节点处理实时通道组的信号指令的步骤包括：
    通过所述主节点的路由表对若干所述从节点进行最短路径规划，得到包括若干所述从节点的第一传输路径，
    将所述第一传输路径的末端节点作为每一信号指令的目的地址，所述主节点作为所述信号指令的源地址，
    获取所述信号指令到达所述末端节点的第一传输时长，
    根据所述信号指令的执行周期以及所述第一传输时长，确定所述信号指令的第一发送时间段，以使若干所述从节点均在同一个执行周期对应的执行中断产生前均接收到所述信号指令。
  9. 根据权利要求8所述的方法，其特征在于，所述获取所述信号指令到达所述末端节点的第一传输时长，包括：
    获取最长的所述信号指令对应的包长；
    计算在若干所述从节点上消耗的驻留节拍以及硬件传输延时；
    根据所述包长、所述驻留节拍及硬件传输延时，计算得到所述第一传输时长。
  10. 根据权利要求9所述的方法，其特征在于，
    所述获取所述信号指令到达所述末端节点的第一传输时长，还包括：获取相邻两个所述信号指令之间的帧间隔以及预设的第一预留时长；
    根据所述包长、所述驻留节拍、硬件传输延时、所述帧间隔以及第一预留时长，计算得到所述第一传输时长。
  11. 根据权利要求8所述的方法，其特征在于，所述确定所述信号指令的第一发送时间段之前，所述主节点还用于：获取单位中断产生的周期时间，根据所述信号指令对应的中断个数确定所述执行周期。
  12. 根据权利要求8所述的方法，其特征在于，
    所述主节点位于多个实时通道组中，每个实时通道组对应一个第一发送时间段。
  13. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取所述实时通道组中最高优先级的通道组报文对应的单位传输周期；
    将预设轮询周期按照所述单位传输周期划分，得到多个子周期；
    根据带宽参数中带宽分配比例对所述多个子周期进行划分，得到与多个所述通道组报文的优先级一一对应的多个第一带宽，其中，所述第一带宽包括子周期的个数以及起始位置。
  14. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    在每一轮询周期的每一所述第一带宽的调度前，判断所述第一带宽是否空闲；
    根据空闲的第一带宽的带宽长度以及待处理的通道组报文的优先级，对所述空闲的第一带宽进行优先级抢占处理。
  15. 一种网络系统，其特征在于，包括多个节点，每个节点用于执行如权利要求1至14任一项所述的方法。
  16. 一种计算机可读存储介质，其上存储有计算机程序指令，其特征在于，该计算机程序指令被处理器执行时实现权利要求1至14任一项所述方法的步骤。
PCT/CN2022/140894 2021-12-23 2022-12-22 实时通道组的控制方法、网络系统及存储介质 WO2023116806A1 (zh)

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