Data detection method and robot for protocol stack communication

Abstract

The embodiment of the present invention relates to the field of protocol stack communication technology, and discloses a data detection method and robot for protocol stack communication. First, a host computer is controlled to send a set of first data to the lowest layer of the protocol stack so as to be transmitted upward in sequence in each layer of the protocol stack, and after reaching the highest layer and determining that there is no abnormality, a set of second data is sent through the highest layer of the protocol stack so as to be transmitted downward in sequence in each layer of the protocol stack, and when the second data reaches the lowest layer of the protocol stack and there is no abnormality in the second data, the second data is sent to the host computer to complete the test, and each time the data is transmitted from one layer of the protocol stack to another layer of the protocol stack, the check value of the data segment is calculated and compared with the check bit to determine whether the data is abnormal and the location where the abnormality occurs. This method can test whether there is a data abnormality state during the protocol stack communication process, and can locate the location where the data abnormality occurs according to the check status of each layer.

Description

Technical Field

[0001] The present invention relates to the technical field of protocol stack communications, and in particular to a data detection method and a robot for protocol stack communications. Background Art

[0002] A protocol stack, also known as a protocol stack, is a specific software implementation of a computer network protocol suite that reflects the process of file transfer within a network. Currently, the communication process of a protocol stack typically includes the following specific steps: 1) The hardware layer slices each protocol data type in turn according to a fixed time period, generating data fragments corresponding to each protocol data type, and then packages each corresponding data fragment and sends it to the network layer; 2) The network layer verifies the information carried by the flag bits of each received data packet to determine whether there is any data loss; 3) If there is no data loss, the verified data packet is sent to the application layer. The application layer aggregates the data of the same protocol type according to the protocol type carried by the data packet, obtaining all the data of the same protocol type for software use.

[0003] In the process of implementing the embodiments of the present invention, the inventors found that there are at least the following problems in the above-mentioned related technologies: At present, when communication is realized through the protocol stack, especially when realizing communication between the upper computer and the chassis of the robot, it is only possible to periodically collect all the original data of a certain protocol at a certain period of time in the hardware layer, but it is impossible to determine whether the data has abnormal conditions such as transmission errors and losses in the protocol stack, and it is also impossible to locate the position where the data abnormality occurs in the protocol stack. Summary of the Invention

[0004] The embodiments of the present application provide a data detection method and robot for protocol stack communication, which can solve the technical problem in the prior art that it is impossible to locate the position of data when an anomaly occurs in the protocol stack.

[0005] The purpose of the embodiment of the present invention is achieved through the following technical solutions:

[0006] To solve the above technical problems, in the first aspect, an embodiment of the present invention provides a data detection method for protocol stack communication, which is applied to a robot, and the robot includes a host computer, and the data detection method includes: controlling the host computer to send a set of first data to the lowest layer of the protocol stack; after the first data reaches the lowest layer of the protocol stack, it is transmitted upward in each layer of the protocol stack in sequence; after the first data reaches the highest layer of the protocol stack and it is determined that the first data is normal, a set of second data is sent through the highest layer of the protocol stack, and the second data is transmitted downward in each layer of the protocol stack in sequence; when the second data reaches the lowest layer of the protocol stack and there is no abnormality in the second data, the second data is sent to the host computer to complete the test; wherein, after each time the data is transmitted from one layer of the protocol stack to another layer of the protocol stack, the check value of the data segment in the data is calculated, and the check value is compared with the check bit in the data to determine whether the data is abnormal and the location where the data abnormality occurs.

[0007] In some embodiments, comparing the check value with the check bit in the data to determine whether the data is abnormal includes: if the check value is different from the check bit, determining that the data is abnormal; if the check value is the same as the check bit, determining that the data is not abnormal.

[0008] In some embodiments, the method further includes: if the host computer does not receive the second data within a preset time range, determining that an abnormality occurs in the data.

[0009] In some embodiments, the method further includes: each time the first data is transmitted from the next layer to the previous layer, the number of uploads is increased by one; or each time the second data is transmitted from the previous layer to the next layer, the number of downloads is increased by one; the host computer determines the location where the data abnormality occurs in the layer of the protocol stack based on the number of uploads or the number of downloads.

[0010] In some embodiments, each layer of the protocol stack includes a receiving buffer and a sending buffer, and determining the location where the data exception occurs in the layer of the protocol stack based on the number of uploads or the number of downloads includes: when the first data is transmitted upward in each layer of the protocol stack, if the check value calculated at the current layer is different from the check bit, it is determined that the data exception occurs in the receiving buffer of the current layer and the sending buffer of the previous layer; or, when the second data is transmitted downward in each layer of the protocol stack, if the check value calculated at the current layer is different from the check bit, it is determined that the data exception occurs in the receiving buffer of the current layer and the sending buffer of the previous layer.

[0011] In some embodiments, the layers of the protocol stack include at least: an application layer, a transport layer, a data link layer, and a physical layer, wherein the application layer is the highest layer of the protocol stack and the physical layer is the lowest layer of the protocol stack; after the first data reaches the lowest layer of the protocol stack, it is transmitted upward in sequence in each layer of the protocol stack, including: when the first data reaches the physical layer, calculating a first check value of the data segment of the first data at the physical layer, adding the first check value as a first check bit after the field of the data segment of the first data, and sending the first data carrying the first check bit to the data link layer; when the first data reaches the data link layer, calculating a second check value of the data segment of the first data at the data link layer, comparing whether the second check value is the same as the first check bit, and if the second check value is the same as the first check bit, deleting the first check bit. , and add the second check value as the second check bit after the field of the data segment of the first data, and send the first data carrying the second check bit to the transport layer; when the first data arrives at the transport layer, calculate the third check value of the data segment of the first data at the transport layer, compare whether the third check value is the same as the second check bit, if the third check value is the same as the second check bit, delete the second check bit, and add the third check value as the third check bit after the field of the data segment of the first data, and send the first data carrying the third check bit to the application layer; when the first data arrives at the application layer, calculate the fourth check value of the data segment of the first data at the application layer, compare whether the fourth check value is the same as the third check bit, if the fourth check value is the same as the third check bit, determine that there is no abnormality in the first data and the upload test is successful.

[0012] In some embodiments, when the first data is transmitted upward in sequence through the various layers of the protocol stack, the check value of the data segment in the data is calculated, and the check value is compared with the check bit in the data to determine whether the data is abnormal and the location where the data abnormality occurs, including: when the first data is transmitted upward in sequence through the various layers of the protocol stack, if the second check value is different from the first check bit, it is determined that the data abnormality occurs in the sending buffer area of the physical layer and the receiving buffer area of the data link layer; when the first data is transmitted upward in sequence through the various layers of the protocol stack, if the third check value is different from the second check bit, it is determined that the data abnormality occurs in the sending buffer area of the data link layer and the receiving buffer area of the transport layer; when the first data is transmitted upward in sequence through the various layers of the protocol stack, if the fourth check value is different from the third check bit, it is determined that the data abnormality occurs in the sending buffer area of the transport layer and the receiving buffer area of the application layer.

[0013] In some embodiments, the layers of the protocol stack include at least: an application layer, a transport layer, a data link layer, and a physical layer, wherein the application layer is the highest layer of the protocol stack and the physical layer is the lowest layer of the protocol stack; sending a set of second data through the highest layer of the protocol stack, and the second data being transmitted downward in sequence in each layer of the protocol stack, includes: when the second data is in the application layer, calculating a fifth check value of a data segment of the second data at the application layer, adding the fifth check value as a fifth check bit after a field of the data segment of the second data, and sending the second data carrying the fifth check bit to the transport layer; when the second data reaches the transport layer, calculating a sixth check value of the data segment of the second data at the transport layer, comparing the sixth check value with the fifth check bit to see if they are the same, and if the sixth check value is the same as the fifth check bit, deleting the fifth check bit, The sixth check value is added as the sixth check bit after the field of the data segment of the second data, and the second data carrying the sixth check bit is sent to the data link layer; when the second data arrives at the data link layer, the seventh check value of the data segment of the second data is calculated at the data link layer, and the seventh check value is compared with the sixth check bit to see if they are the same; if the seventh check value is the same as the sixth check bit, the sixth check bit is deleted, and the seventh check value is added as the seventh check bit after the field of the data segment of the second data, and the second data carrying the seventh check bit is sent to the physical layer; when the second data arrives at the physical layer, the eighth check value of the data segment of the second data is calculated at the physical layer, and the eighth check value is compared with the seventh check bit to see if they are the same; if the eighth check value is the same as the seventh check bit, it is determined that there is no abnormality in the second data and the downlink test is successful.

[0014] In some embodiments, when the second data is transmitted downward in sequence through the various layers of the protocol stack, the check value of the data segment in the data is calculated, and the check value is compared with the check bit in the data to determine whether the data is abnormal and the location where the data abnormality occurs, including: when the second data is transmitted downward in sequence through the various layers of the protocol stack, if the sixth check value is different from the fifth check bit, it is determined that the data abnormality occurs in the sending buffer area of the application layer and the receiving buffer area of the transport layer; when the second data is transmitted downward in sequence through the various layers of the protocol stack, if the seventh check value is different from the sixth check bit, it is determined that the data abnormality occurs in the sending buffer area of the transport layer and the receiving buffer area of the data link layer; when the second data is transmitted downward in sequence through the various layers of the protocol stack, if the eighth check value is different from the seventh check bit, it is determined that the data abnormality occurs in the sending buffer area of the data link layer and the receiving buffer area of the physical layer.

[0015] To solve the above technical problems, in a second aspect, an embodiment of the present invention provides a robot, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steps of the data detection method for protocol stack communication as described in the first aspect above.

[0016] Compared with the prior art, the beneficial effect of the present invention is as follows: Different from the prior art, an embodiment of the present invention provides a data detection method and robot for protocol stack communication, which first controls the host computer to send a set of first data to the lowest layer of the protocol stack. After the first data reaches the lowest layer of the protocol stack, it is transmitted upward in each layer of the protocol stack in sequence. After reaching the highest layer and determining that there is no abnormality, a set of second data is sent through the highest layer of the protocol stack. The second data is transmitted downward in each layer of the protocol stack in sequence, and when the second data reaches the lowest layer of the protocol stack and there is no abnormality in the second data, the second data is sent to the host computer to complete the test. Each time the data is transmitted from one layer of the protocol stack to another layer of the protocol stack, the check value of the data segment in the data is calculated, and the check value is compared with the check bit in the data to determine whether the data is abnormal and the location where the data abnormality occurs. The data detection method provided in the embodiment of the present invention can test whether there is a data abnormality during the protocol stack communication process, and can locate the location where the data abnormality occurs according to the check status of each layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] One or more embodiments are exemplarily described by pictures in the corresponding drawings. These exemplified descriptions do not constitute limitations on the embodiments. Elements / modules and steps with the same reference numerals in the drawings are represented as similar elements / modules and steps. Unless otherwise stated, the figures in the drawings do not constitute a scale limitation.

[0018] Figure 1 is a schematic diagram of a hierarchical structure of a protocol stack provided by an embodiment of the present invention;

[0019] Figure 2 This is a flow chart of a data detection method for protocol stack communication provided by an embodiment of the present invention;

[0020] Figure 3 yes Figure 2 A schematic diagram of a sub-flow chart of step S200 in the data detection method;

[0021] Figure 4 yes Figure 2 A schematic diagram of a sub-flow chart of step S300 in the data detection method;

[0022] Figure 5 This is a flow chart of another data detection method for protocol stack communication provided in the first embodiment of the present invention;

[0023] Figure 6 This is a flow chart of another data detection method for protocol stack communication provided in the first embodiment of the present invention;

[0024] FIG7( a ) is another sub-flow diagram of step S200 in the data detection method;

[0025] FIG7( b ) is another sub-flow diagram of step S300 in the data detection method;

[0026] Figure 8 This is a schematic diagram of the hardware structure of a host computer provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, without departing from the scope of the present invention, a number of variations and improvements may be made by those skilled in the art. These all fall within the scope of protection of the present invention.

[0028] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0029] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other and are all within the scope of protection of this application. In addition, although the functional modules are divided in the device schematic and the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in a sequence different from the module division in the device or the sequence in the flow chart. In addition, the words "first", "second", "third", "fourth", "fifth", "sixth", "seventh", "eighth" and the like used herein do not limit the data and execution order, but only distinguish between the same items or similar items with basically the same functions and effects.

[0030] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this invention belongs. The terms used in this specification and in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0031] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0032] In order to solve the problem that data transmission errors and anomalies in the protocol stack cannot be detected during current protocol stack communication, an embodiment of the present invention provides a data detection method for protocol stack communication. This method can perform transmission tests on both first data and second data at various layers of the protocol stack, and when it is detected that the check value of a data segment in the data is different from the check bit in the data, it can be determined that an anomaly has occurred in the first data / second data and the location of the anomaly.

[0033] Specifically, the embodiments of the present invention are further described below with reference to the accompanying drawings.

[0034] An embodiment of the present invention provides a data detection method for protocol stack communication, which can detect data anomalies such as data loss and confusion when data is transmitted between protocol stacks when protocol stack communication is adopted between the upper computer and chassis of a robot. At the same time, it can also specifically locate the layer and area of the protocol stack where the data anomaly occurs.

[0035] The protocol stack, also known as the communication stack or communication protocol stack, has multiple layers, which can realize communication and interaction between devices, apparatuses and modules. Specifically, the protocol stack includes several layers. According to the number of layers, the number of uploads, downloads and checks calculated when data is transmitted in the protocol stack is also different. Specifically, the layering of the protocol stack can be set according to actual needs. In the embodiment of the present invention, Figure 1 The layering of the protocol stack shown in the figure is used as an example to illustrate. Figure 1 As shown, the layers of the protocol stack include at least: application layer, transport layer, data link layer, and physical layer, wherein the application layer is the highest layer of the protocol stack and the physical layer is the lowest layer of the protocol stack. In some other embodiments, the layers of the protocol stack may also be Figure 1 Increase or decrease the layers shown, for example, reduce the data link layer or transport layer, or Figure 1 On the basis of the structure shown, the presentation layer, session layer, network layer, etc. are added, and the specific design can be carried out according to actual needs.

[0036] In an embodiment of the present invention, each time data is transferred from one layer of the protocol stack to another layer of the protocol stack, a check value is calculated for a data segment in the data, and the check value is compared with a check bit in the data to determine whether the data is abnormal and where the abnormality occurs. Specifically, if the check value and the check bit are different, it is determined that the data is abnormal; if the check value and the check bit are the same, it is determined that the data is not abnormal. Furthermore, the check bit in the data can be deleted, and the calculated check value can be added as a new check bit after the data segment.

[0037] It should be noted that the above method of judging whether the data is abnormal and the location where the abnormality occurs by comparing the check value and the check bit is applicable to both the test case of the first data and the test case of the second data. When the check value and the check bit are different, it can be determined that an abnormality has occurred in the data transmission process at this time, and the location where the abnormality occurs occurs in the sending buffer area of the layer sending data and the receiving buffer area of the layer receiving data.

[0038] Please also see Figure 2 , which shows the process of a data detection method for protocol stack communication provided by an embodiment of the present invention. The data detection method can be applied to a robot, and the robot includes a host computer. The method includes but is not limited to the following steps:

[0039] Step S100: controlling the host computer to send a set of first data to the lowest layer of the protocol stack;

[0040] In the embodiment of the present invention, first, it is necessary to test the first data direction of the protocol stack. Figure 1 Whether transmission errors or data loss will occur in each relevant layer of the protocol stack shown, that is, it is necessary to test the communication conditions of the sending buffer area in each layer for sending the first data and the receiving buffer area in each layer for receiving the first data in the protocol stack. Therefore, first, the host computer is controlled to send a group of first data to the lowest layer of the protocol stack to Figure 1 For example, the upper computer first sends a set of upper data to the physical layer.

[0041] Step S200: After the first data reaches the lowest layer of the protocol stack, it is transmitted upward in each layer of the protocol stack in sequence;

[0042] Then, after the data reaches the lowest layer of the protocol stack, it is transmitted upward in each layer of the protocol stack in turn to realize the detection of the data upload path. Figure 3 , which shows Figure 2A sub-process of step S200 in the data detection method, wherein the first data is sequentially transmitted upward in each layer of the protocol stack, and after the first data reaches the lowest layer of the protocol stack, the first data is sequentially transmitted upward in each layer of the protocol stack, including:

[0043] Step S210: When the first data arrives at the physical layer, the physical layer calculates a first check value of the data segment of the first data, adds the first check value as a first check bit after the field of the data segment of the first data, and sends the first data carrying the first check bit to the data link layer;

[0044] See Figure 3 The host computer first sends a set of first data to the protocol stack. After receiving the first data, the physical layer of the protocol stack calculates the check value of the received first data, which is the first check value. The first check value is added as a field after the data segment of the first data. That is, at this time, the first data consists of the data segment and the first check bit. The first data containing the data segment and the first check bit is sent to the data link layer through the sending buffer area of the physical layer.

[0045] Step S221: When the first data arrives at the data link layer, the data link layer calculates a second check value of the data segment of the first data, and compares the second check value with the first check bit to see if they are the same; if they are the same, jump to step S222; if they are not the same, jump to step S223;

[0046] Step S222: deleting the first check digit, adding the second check value as a second check digit after the field of the data segment of the first data, and sending the first data carrying the second check digit to the transport layer;

[0047] See Figure 3, the physical layer uploads the data to the data link layer. After receiving the first data containing the data segment and the first check bit, the data link layer's receiving buffer calculates the second check value of the data segment in the received data, and then compares the second check value with the first check bit to see if they are the same. If they are not the same, it means that an abnormality has occurred in the data upload path between the physical layer and the data link layer, specifically, an abnormality has occurred in the physical layer's sending buffer and the data link layer's receiving buffer. If they are the same, it means that there is no abnormality in the data upload path between the physical layer and the data link layer. In addition, when the second check value and the first check bit are the same, that is, no abnormality has occurred, the field of the first check bit in the data is deleted, and then the second check value is added as a new check bit field after the data segment of the first data, that is, the second check bit. At this time, the first data consists of the data segment and the second check bit. The first data containing the data segment and the second check bit is sent to the transport layer through the data link layer's sending buffer.

[0048] Step S231: When the first data arrives at the transport layer, the transport layer calculates a third check value of the data segment of the first data and compares the third check value with the second check bit to see if they are the same; if they are the same, jump to step S232; if they are not the same, jump to step S233;

[0049] Step S232: deleting the second check digit, adding the third check value as the third check digit after the field of the data segment of the first data, and sending the first data carrying the third check digit to the application layer;

[0050] See Figure 3 , the data link layer uploads the data to the transport layer. After receiving the first data containing the data segment and the second check bit, the receiving buffer of the transport layer calculates the third check value of the data segment in the received data, and then compares the third check value with the second check bit to see if they are the same. If they are not the same, it means that an abnormality has occurred in the data upload path between the data link layer and the transport layer, specifically, an abnormality has occurred in the sending buffer of the data link layer and the receiving buffer of the transport layer; if they are the same, it means that there is no abnormality in the data upload path between the data link layer and the transport layer. And, when the third check value and the second check bit are the same, that is, when no abnormality has occurred, the field of the second check bit in the data is deleted, and then the third check value is added as a new check bit field after the data segment of the first data, that is, the third check bit. At this time, the first data consists of the data segment and the third check bit. The first data containing the data segment and the third check bit is sent to the application layer through the sending buffer of the transport layer.

[0051] Step S241: When the first data reaches the application layer, the application layer calculates a fourth check value of the data segment of the first data and compares the fourth check value with the third check bit to see if they are the same; if they are the same, jump to step S242; if they are not the same, jump to step S243;

[0052] Step S242: Determine that the first data has no anomalies and the upload test is successful;

[0053] See Figure 3 , the transport layer uploads the data to the application layer. After receiving the first data including the data segment and the third check digit, the receiving buffer of the application layer calculates the fourth check value of the data segment in the received data, and then compares the fourth check value with the third check digit to see if they are the same. If they are different, it means that an abnormality has occurred in the data upload path between the transport layer and the application layer, specifically, an abnormality has occurred in the sending buffer of the transport layer and the receiving buffer of the application layer. If they are the same, it means that there is no abnormality in the data upload path between the transport layer and the application layer. At this time, it can be determined that there is no abnormality in the process of the first data on the upload path and the upload test is successful.

[0054] Step S300: After the first data reaches the highest layer of the protocol stack and it is determined that the first data is normal, a set of second data is sent through the highest layer of the protocol stack, and the second data is transmitted downward in each layer of the protocol stack in sequence;

[0055] After completing the communication test of the data in the protocol stack's upload path, it is necessary to transmit data downward in each layer of the protocol stack in sequence to realize the detection of the data downlink path. For details, see Figure 4 , which shows Figure 2 A sub-process of step S300 in the data detection method, wherein when the second data is sequentially transmitted downward in each layer of the protocol stack, a set of second data is sent through the highest layer of the protocol stack, and the second data is sequentially transmitted downward in each layer of the protocol stack, includes:

[0056] Step S310: When the second data is at the application layer, a fifth check value of the data segment of the second data is calculated at the application layer, the fifth check value is added as a fifth check bit after the field of the data segment of the second data, and the second data carrying the fifth check bit is sent to the transport layer;

[0057] See Figure 4First, a set of second data is sent through the application layer. Before sending the second data, a check value of the second data to be sent is calculated. The check value is a fifth check value. The fifth check value is added as a field after the data segment of the second data. That is, at this time, the second data consists of the data segment and the fifth check bit. The second data including the data segment and the fifth check bit is sent to the transport layer through the sending buffer area of the application layer.

[0058] Step S321: When the second data arrives at the transport layer, the transport layer calculates a sixth check value of the data segment of the second data, and compares the sixth check value with the fifth check bit to see if they are the same; if they are the same, jump to step S322; if they are not the same, jump to step S323;

[0059] Step S322: deleting the fifth check digit, adding the sixth check value as the sixth check digit after the field of the data segment of the second data, and sending the second data carrying the sixth check digit to the data link layer;

[0060] See Figure 4 , the application layer transmits the data to the transport layer. After receiving the second data containing the data segment and the fifth check bit, the receiving buffer of the transport layer calculates the sixth check value of the data segment in the received data, and then compares the sixth check value with the fifth check bit to see if they are the same. If they are not the same, it means that an abnormality has occurred in the data transmission path between the application layer and the transport layer, specifically, an abnormality has occurred in the sending buffer of the application layer and the receiving buffer of the transport layer; if they are the same, it means that there is no abnormality in the data transmission path between the application layer and the transport layer. And, when the sixth check value and the fifth check bit are the same, that is, no abnormality has occurred, at this time, the field of the fifth check bit in the data is deleted, and then the sixth check value is added as a new check bit field after the data segment of the second data, that is, the sixth check bit. At this time, the second data consists of the data segment and the sixth check bit. The second data containing the data segment and the sixth check bit is sent to the data link layer through the sending buffer of the transport layer.

[0061] Step S331: When the second data arrives at the data link layer, the data link layer calculates the seventh check value of the data segment of the second data, and compares the seventh check value with the sixth check bit to see if they are the same; if they are the same, jump to step S332; if they are not the same, jump to step S333;

[0062] Step S332: deleting the sixth check bit, adding the seventh check value as the seventh check bit after the field of the data segment of the second data, and sending the second data carrying the seventh check bit to the physical layer;

[0063] See Figure 4The transport layer transmits the data down to the data link layer. After receiving the second data including the data segment and the sixth check bit, the data link layer's receiving buffer calculates the seventh check value of the data segment in the received data, and then compares the seventh check value with the sixth check bit to see if they are the same. If they are different, it indicates that an abnormality has occurred in the data's downlink path from the transport layer to the data link layer, specifically, an abnormality has occurred in the transport layer's sending buffer and the data link layer's receiving buffer. If they are the same, it indicates that there is no abnormality in the data's downlink path from the transport layer to the data link layer. Furthermore, when the seventh check value and the sixth check bit are the same, that is, when no abnormality has occurred, the sixth check bit field in the data is deleted, and then the seventh check value is added as a new check bit field after the data segment of the second data, namely, the seventh check bit. At this time, the second data consists of the data segment and the seventh check bit. The second data including the data segment and the seventh check bit is sent to the physical layer through the data link layer's sending buffer.

[0064] Step S341: When the second data arrives at the physical layer, the eighth check value of the data segment of the second data is calculated at the physical layer, and the eighth check value is compared with the seventh check bit to see if they are the same; if they are the same, jump to step S342; if they are not the same, jump to step S343;

[0065] Step S342: Determine that the second data has no anomalies and the download test is successful;

[0066] See Figure 4 , the data link layer transmits the data to the physical layer. After receiving the second data including the data segment and the seventh check bit, the receiving buffer of the physical layer calculates the eighth check value of the data segment in the received data, and then compares the eighth check value with the seventh check bit to see if they are the same. If they are different, it means that an abnormality has occurred in the data transmission path from the data link layer to the physical layer, specifically, an abnormality has occurred in the sending buffer of the data link layer and the receiving buffer of the physical layer. If they are the same, it means that there is no abnormality in the data transmission path from the data link layer to the physical layer. At this time, it can be determined that there is no abnormality in the process of the second data on the transmission path and the transmission test is successful. The second data is sent to the host computer after deleting the check bit.

[0067] Step S400: When the second data reaches the lowest layer of the protocol stack and there is no abnormality in the second data, the second data is sent to the host computer to complete the test;

[0068] In an embodiment of the present invention, if there is no abnormality in the data upload and download processes of the protocol stack, and no abnormality is fed back, it means that the communication test on the protocol stack is successful, and the second data needs to be sent to the host computer to complete the entire round of testing. After sending a set of first data and receiving a set of second data, the host computer determines that the test is completed and there is no abnormality in the transmission of data in the protocol stack.

[0069] And yes, see Figure 5 , which shows the process of another data detection method for protocol stack communication provided by an embodiment of the present invention, the method further includes:

[0070] Step S401: If the host computer does not receive the second data within a preset time range, it is determined that an abnormality occurs in the data.

[0071] In an embodiment of the present invention, if the host computer sends a set of first data and receives a set of second data, a set of data test is completed. If the host computer sends a set of first data but does not receive a set of second data within a preset time range, the test can be determined to have failed. The preset time range can be set according to actual needs, for example, it can be set to 1 second. Specifically, it can be set according to the software settings and hardware settings of the processor that executes the data detection method of the embodiment of the present invention.

[0072] Among them, the test failure may occur on the upload path or on the download path, that is, it may be that an exception occurs during the upward transmission of the first data in each layer of the protocol stack in step S200, resulting in the host computer being unable to receive a set of second data within the preset time range; or, it may be that an exception occurs during the downward transmission of the second data in each layer of the protocol stack in step S300, resulting in the host computer being unable to receive a set of second data within the preset time range.

[0073] Therefore, it is necessary to further determine whether the specific data transmission anomaly occurs during the upload process or the download process, and at which layer of the protocol stack the anomaly occurs. Based on this, the embodiment of the present invention will also record the number of uploads and downloads during the data upload and download process, so that after the upper computer fails to receive the second data, the number of uploads and downloads sent by each layer of the protocol stack can be used to specifically locate the location where the data transmission disorder occurs.

[0074] For details, please refer to Figure 6 , which shows the process of another data detection method for protocol stack communication provided by an embodiment of the present invention, the method further includes:

[0075] Step S510: After each transmission of the first data from the next level to the previous level, the number of uploads is increased by one.

[0076] For example, after the upper computer sends the first data to the physical layer, the physical layer adds the first check bit to the first data, and the number of uploads is increased by one from the initial zero, which is recorded as one upload; the physical layer sends the data to the data link layer, and the data link layer adds the second check bit to the first data, and the number of uploads is increased by one, which is recorded as two uploads; the data link layer sends the data to the transport layer, and the transport layer adds the third check bit to the first data, and the number of uploads is increased by one from two uploads, which is recorded as three uploads; the transport layer sends the data to the application layer, and after the application layer verifies that the fourth check value is the same as the third check bit, the number of uploads is increased by one from three uploads, which is recorded as four uploads.

[0077] Alternatively, please continue to see Figure 6 , the method further comprises:

[0078] Step S520: After each transmission of the second data from the previous layer to the next layer, the number of downlink times is increased by one.

[0079] For example, after the application layer adds the fifth check bit to the second data, the number of downloads is increased by one from the initial zero, which is recorded as one download; the application layer sends the data to the transport layer, and after the transport layer adds the sixth check bit to the second data, the number of downloads is increased by one from one, which is recorded as two downloads; the transport layer sends the data to the data link layer, and after the data link layer adds the seventh check bit to the second data, the number of downloads is increased by one from two, which is recorded as three downloads; the data link layer sends the data to the physical layer, and after the physical layer verifies that the eighth check value is the same as the seventh check bit, the number of downloads is increased by one from three, which is recorded as four downloads.

[0080] Step S530: The host computer determines the location where the data abnormality occurs in the layer of the protocol stack according to the upload number or the download number.

[0081] Finally, the specific layer in the protocol stack where the data exception occurs, as well as the buffer area in the layer where the exception occurs, can be determined based on the number of uploads and downloads obtained above. Specifically, each layer of the protocol stack includes a receiving buffer area and a sending buffer area. The location where the data exception occurs in the layer of the protocol stack based on the number of uploads or the number of downloads includes: when the first data is transmitted upward in each layer of the protocol stack, if the check value calculated at the current layer is different from the check bit, it is determined that the data exception occurs in the receiving buffer area of the current layer and the sending buffer area of the previous layer; or, when the second data is transmitted downward in each layer of the protocol stack, if the check value calculated at the current layer is different from the check bit, it is determined that the data exception occurs in the receiving buffer area of the current layer and the sending buffer area of the previous layer.

[0082] Specifically, please refer to FIG. 7( a ), which shows another sub-process of step S200 in the data detection method. When the first data is transmitted upward in sequence through each layer of the protocol stack, the check value of the data segment in the data is calculated, and the check value is compared with the check bit in the data to determine whether the data is abnormal and the location where the data abnormality occurs, including:

[0083] Step S223: Determine that data anomalies occur in the sending buffer area of the physical layer and the receiving buffer area of the data link layer;

[0084] As shown in Figure 7(a), when the first data is transmitted upward in sequence in each layer of the protocol stack, if the second check value is different from the first check bit, it is determined that the data anomaly occurs in the sending buffer of the physical layer and the receiving buffer of the data link layer. Specifically, if the second check value is different from the first check bit, it can be determined that there is an anomaly in the second check value or in the first check bit. If there is an anomaly in the second check value, it corresponds to an anomaly in the receiving buffer of the data link layer; if there is an anomaly in the first check bit, it corresponds to an anomaly in the sending buffer of the physical layer. When this anomaly occurs, the host computer cannot receive the second data within the preset time range, and can only receive the upload number once. At this time, the data anomaly can be located once in the sending buffer of the physical layer and the receiving buffer of the data link layer based on the upload number.

[0085] Step S233: Determine that data anomalies occur in the sending buffer area of the data link layer and the receiving buffer area of the transport layer;

[0086] As shown in Figure 7(a), when the first data is transmitted upward in sequence in each layer of the protocol stack, if the third check value is different from the second check bit, it is determined that the data anomaly occurs in the sending buffer of the data link layer and the receiving buffer of the transport layer; specifically, if the third check value is different from the second check bit, it can be determined that there is an anomaly in the third check value or in the second check bit. If there is an anomaly in the third check value, it corresponds to an anomaly in the receiving buffer of the transport layer; if there is an anomaly in the second check bit, it corresponds to an anomaly in the sending buffer of the data link layer. When this anomaly occurs, the host computer cannot receive the second data within the preset time range, and can only receive the upload number twice. At this time, the data anomaly can be located twice based on the upload number to occur in the sending buffer of the data link layer and the receiving buffer of the transport layer.

[0087] Step S243: Determine that data anomalies occur in the sending buffer area of the transport layer and the receiving buffer area of the application layer;

[0088] As shown in Figure 7(a), when the first data is transmitted upward in sequence in each layer of the protocol stack, if the fourth check value is different from the third check bit, it is determined that the data anomaly occurs in the sending buffer of the transport layer and the receiving buffer of the application layer; specifically, if the fourth check value is different from the third check bit, it can be determined that there is an anomaly in the fourth check value or in the third check bit. If there is an anomaly in the fourth check value, it corresponds to an anomaly in the receiving buffer of the application layer; if there is an anomaly in the third check bit, it corresponds to an anomaly in the sending buffer of the transport layer. When this anomaly occurs, the host computer cannot receive the second data within the preset time range, and can only receive three uploads. At this time, the data anomaly can be located in the sending buffer of the transport layer and the receiving buffer of the application layer based on the three uploads.

[0089] Specifically, please refer to FIG. 7( b ), which shows another sub-process of step S300 in the data detection method. When the second data is transmitted downward in sequence in each layer of the protocol stack, the check value of the data segment in the data is calculated, and the check value is compared with the check bit in the data to determine whether the data is abnormal and the location where the data abnormality occurs, including:

[0090] Step S323: Determine that data anomalies occur in the sending buffer area of the application layer and the receiving buffer area of the transport layer;

[0091] As shown in Figure 7(b), when the second data is transmitted downward in sequence in each layer of the protocol stack, if the sixth check value is different from the fifth check bit, it is determined that the data anomaly occurs in the sending buffer of the application layer and the receiving buffer of the transport layer; specifically, if the sixth check value is different from the fifth check bit, it can be determined that there is an anomaly in the sixth check value or in the fifth check bit. If there is an anomaly in the sixth check value, it corresponds to an anomaly in the receiving buffer of the transport layer; if there is an anomaly in the fifth check bit, it corresponds to an anomaly in the sending buffer of the application layer. When this anomaly occurs, the host computer cannot receive the second data within the preset time range, and can only receive the downlink count once. At this time, the data anomaly can be located once in the sending buffer of the application layer and the receiving buffer of the transport layer based on the downlink count.

[0092] Step S333: Determine that data anomalies occur in the transmission buffer area of the transport layer and the reception buffer area of the data link layer;

[0093] As shown in Figure 7(b), when the second data is transmitted downward in each layer of the protocol stack, if the seventh check value is different from the sixth check bit, it is determined that the data anomaly occurs in the sending buffer of the transport layer and the receiving buffer of the data link layer; specifically, if the seventh check value is different from the sixth check bit, it can be determined that there is an anomaly in the seventh check value or in the sixth check bit. If there is an anomaly in the seventh check value, it corresponds to an anomaly in the receiving buffer of the data link layer; if there is an anomaly in the sixth check bit, it corresponds to an anomaly in the sending buffer of the transport layer. When this anomaly occurs, the host computer cannot receive the second data within the preset time range, and can only receive the downlink number twice. At this time, the data anomaly can be located twice based on the downlink number to occur in the sending buffer of the transport layer and the receiving buffer of the data link layer.

[0094] Step S343: Determine that data anomalies occur in the transmit buffer area of the data link layer and the receive buffer area of the physical layer;

[0095] As shown in Figure 7(b), when the second data is transmitted downward in sequence in each layer of the protocol stack, if the eighth check value is different from the seventh check bit, it is determined that the data anomaly occurs in the sending buffer of the data link layer and the receiving buffer of the physical layer; specifically, if the eighth check value is different from the seventh check bit, it can be determined that there is an anomaly in the eighth check value or in the seventh check bit. If there is an anomaly in the eighth check value, it corresponds to an anomaly in the receiving buffer of the physical layer; if there is an anomaly in the seventh check bit, it corresponds to an anomaly in the sending buffer of the data link layer. When this anomaly occurs, the host computer cannot receive the second data within the preset time range, and can only receive the downlink three times. At this time, the data anomaly can be located in the sending buffer of the data link layer and the receiving buffer of the physical layer based on the three downlink times.

[0096] The present invention also provides a robot, see Figure 8 , which shows that it is possible to perform Figure 2 The hardware structure of the robot of the data detection method of the protocol stack communication described in Figure 7.

[0097] It should be noted that the robot includes the host computer 10a as described in the above embodiment, and the host computer 10a can be connected to the processor 11 in the robot 10. The host computer 10a can be a control module, unit, or device of the robot 1, capable of executing and realizing the functions of the robot 10, outputting control instructions to each actuator, and communicating with each actuator and the outside world.

[0098] The robot 10 includes: at least one processor 11; and a memory 12 in communication with the at least one processor 11. Figure 8 The memory 12 stores instructions that can be executed by the at least one processor 11, and the instructions are executed by the at least one processor 11 so that the at least one processor 11 can perform the above Figure 2 The processor 11 and the memory 12 may be connected via a bus or other means. Figure 8 The bus connection is taken as an example.

[0099] Memory 12, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as the program instructions / modules corresponding to the data detection method for protocol stack communication in the embodiments of the present application. Processor 11 executes the non-volatile software programs, instructions, and modules stored in memory 12 to execute various functional applications and data processing of the server, thereby implementing the data detection method for protocol stack communication in the above-mentioned method embodiment.

[0100] The memory 12 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the data test device for protocol stack communication, etc. In addition, the memory 12 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 12 may optionally include a memory remotely located relative to the processor 11, and these remote memories may be connected to the data test device for protocol stack communication via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0101] The one or more modules are stored in the memory 12, and when executed by the one or more processors 11, execute the data detection method of the protocol stack communication in any of the above method embodiments, for example, execute the above described Figure 2 Go to the method steps of Figure 7.

[0102] The above-mentioned product can execute the method provided in the embodiment of this application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in this embodiment, please refer to the method provided in the embodiment of this application.

[0103] The present application also provides a non-volatile computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, which are executed by one or more processors, for example, to execute the above-described Figure 2 Go to the method steps of Figure 7.

[0104] The present application also provides a computer program product, including a computer program stored on a non-volatile computer-readable storage medium, wherein the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the data detection method for protocol stack communication in any of the above method embodiments, for example, executing the above-described Figure 2 Go to the method steps of Figure 7.

[0105] In an embodiment of the present invention, a data detection method and robot for protocol stack communication are provided. The method first controls the host computer to send a set of first data to the lowest layer of the protocol stack. After the first data reaches the lowest layer of the protocol stack, it is transmitted upward in each layer of the protocol stack in sequence. After reaching the highest layer and determining that there is no abnormality, a set of second data is sent through the highest layer of the protocol stack. The second data is transmitted downward in each layer of the protocol stack in sequence. When the second data reaches the lowest layer of the protocol stack and there is no abnormality in the second data, the second data is sent to the host computer to complete the test. Each time the data is transmitted from one layer of the protocol stack to another layer of the protocol stack, the check value of the data segment in the data is calculated, and the check value is compared with the check bit in the data to determine whether the data is abnormal and the location where the data abnormality occurs. The data detection method provided in the embodiment of the present invention can test whether there is a data abnormality during the protocol stack communication process, and can locate the location where the data abnormality occurs according to the check status of each layer.

[0106] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0107] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present invention as described above. For the sake of simplicity, they are not provided in detail. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A data detection method for protocol stack communication, characterized in that: Applied to a robot, the robot includes a host computer, and the layers of the protocol stack include at least: an application layer, a transport layer, a data link layer, and a physical layer, wherein the application layer is the highest layer of the protocol stack and the physical layer is the lowest layer of the protocol stack; the data detection method includes: Controlling the host computer to send a set of first data to the lowest layer of the protocol stack; After the first data reaches the lowest layer of the protocol stack, it is transmitted upward in sequence through each layer of the protocol stack; After the first data reaches the highest layer of the protocol stack and it is determined that the first data is normal, a set of second data is sent through the highest layer of the protocol stack, and the second data is transmitted downward in each layer of the protocol stack in sequence; When the second data reaches the lowest layer of the protocol stack and there is no abnormality in the second data, sending the second data to the host computer; Each time data is transmitted from one layer of the protocol stack to another layer of the protocol stack, a check value of a data segment in the data is calculated at the layer where the data is located, and the check value is compared with a check bit in the data to determine whether the data is abnormal and the location where the data abnormality occurs; wherein the check bit is obtained by adding a check value of a data segment in the data calculated at a layer above the layer where the data is located as a check bit after the field of the data segment of the data; The data detection method further includes: Each time the first data is transmitted from the next layer to the previous layer, the number of uploads is increased by one; or each time the second data is transmitted from the previous layer to the next layer, the number of downloads is increased by one; A location where the data is abnormal in a layer of the protocol stack is determined according to the number of uploads or the number of downloads.

2. The data detection method according to claim 1, characterized in that: The comparing the check value with a check bit in the data to determine whether the data is abnormal includes: If the check value is different from the check bit, it is determined that the data is abnormal; If the check value is the same as the check bit, it is determined that no abnormality occurs in the data.

3. The data detection method according to claim 2, characterized in that: The method further comprises: If the host computer does not receive the second data within a preset time range, it is determined that an abnormality occurs in the data.

4. The data detection method according to claim 1, characterized in that: Each level of the protocol stack includes a receive buffer and a send buffer; The determining, based on the number of uploads or the number of downloads, a location where the data is abnormal in the layer of the protocol stack, includes: When the first data is transmitted upward in sequence through each layer of the protocol stack, if a check value calculated at a current layer is different from the check bit, it is determined that a data anomaly occurs in a receive buffer area of the current layer and a transmit buffer area of a previous layer; or, When the second data is transmitted downward in each layer of the protocol stack, if the check value calculated at the current layer is different from the check bit, it is determined that the data anomaly occurs in the receiving buffer area of the current layer and the sending buffer area of the previous layer.

5. The data detection method according to claim 1, characterized in that: After the first data reaches the lowest layer of the protocol stack, it is transmitted upward in sequence through each layer of the protocol stack, including: When the first data arrives at the physical layer, the physical layer calculates a first check value of the data segment of the first data, adds the first check value as a first check bit after the field of the data segment of the first data, and sends the first data carrying the first check bit to the data link layer; When the first data reaches the data link layer, the data link layer calculates a second check value of the data segment of the first data, and compares the second check value with the first check bit to see whether they are the same. If the second check value is the same as the first check bit, deleting the first check bit, adding the second check value as the second check bit after the field of the data segment of the first data, and sending the first data carrying the second check bit to the transport layer; When the first data arrives at the transport layer, a third check value of the data segment of the first data is calculated at the transport layer, and the third check value is compared with the second check bit to see whether they are the same. If the third check value is the same as the second check bit, deleting the second check bit, adding the third check value as the third check bit after the field of the data segment of the first data, and sending the first data carrying the third check bit to the application layer; When the first data reaches the application layer, the application layer calculates a fourth check value of the data segment of the first data, and compares the fourth check value with the third check bit to see whether they are the same. If the fourth check value is the same as the third check digit, it is determined that there is no abnormality in the first data and the upload test is successful.

6. The data detection method according to claim 5, characterized in that: When the first data is transmitted upward in sequence in each layer of the protocol stack, Calculating a check value of a data segment in the data and comparing the check value with a check bit in the data to determine whether the data is abnormal and a location where the data abnormality occurs includes: When the first data is transmitted upward in sequence through each layer of the protocol stack, if the second check value is different from the first check bit, it is determined that the data anomaly occurs in the transmit buffer area of the physical layer and the receive buffer area of the data link layer; When the first data is transmitted upward in sequence through each layer of the protocol stack, if the third check value is different from the second check bit, it is determined that the data anomaly occurs in the sending buffer area of the data link layer and the receiving buffer area of the transport layer; When the first data is transmitted upward in sequence in each layer of the protocol stack, if the fourth check value is different from the third check bit, it is determined that the data anomaly occurs in the sending buffer area of the transport layer and the receiving buffer area of the application layer.

7. The data detection method according to claim 1, characterized in that: The sending of a set of second data through the highest layer of the protocol stack, wherein the second data is sequentially transmitted downward in each layer of the protocol stack, includes: When the second data is at the application layer, calculating a fifth check value of the data segment of the second data at the application layer, adding the fifth check value as a fifth check bit after the field of the data segment of the second data, and sending the second data carrying the fifth check bit to the transport layer; When the second data arrives at the transport layer, a sixth check value of the data segment of the second data is calculated at the transport layer, and the sixth check value is compared with the fifth check bit to see whether they are the same. If the sixth check value is the same as the fifth check bit, deleting the fifth check bit, adding the sixth check value as the sixth check bit after the field of the data segment of the second data, and sending the second data carrying the sixth check bit to the data link layer; When the second data reaches the data link layer, the data link layer calculates a seventh check value of the data segment of the second data, and compares the seventh check value with the sixth check bit to see whether they are the same. If the seventh check value is the same as the sixth check bit, deleting the sixth check bit, adding the seventh check value as the seventh check bit after the field of the data segment of the second data, and sending the second data carrying the seventh check bit to the physical layer; When the second data arrives at the physical layer, the eighth check value of the data segment of the second data is calculated at the physical layer, and the eighth check value is compared with the seventh check bit to see whether they are the same. If the eighth check value is the same as the seventh check bit, it is determined that there is no abnormality in the second data and the downlink test is successful.

8. The data detection method according to claim 7, characterized in that: When the second data is transmitted downward in sequence in each layer of the protocol stack, Calculating a check value of a data segment in the data and comparing the check value with a check bit in the data to determine whether the data is abnormal and a location where the data abnormality occurs includes: When the second data is transmitted sequentially downward in each layer of the protocol stack, if the sixth check value is different from the fifth check bit, it is determined that the data anomaly occurs in the sending buffer area of the application layer and the receiving buffer area of the transport layer; When the second data is transmitted downward in sequence in each layer of the protocol stack, if the seventh check value is different from the sixth check bit, it is determined that the data anomaly occurs in the sending buffer area of the transport layer and the receiving buffer area of the data link layer; When the second data is transmitted downward in sequence in each layer of the protocol stack, if the eighth check value is different from the seventh check bit, it is determined that the data anomaly occurs in the sending buffer area of the data link layer and the receiving buffer area of the physical layer.

9. A robot, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the data detection method for protocol stack communication according to any one of claims 1 to 8.

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