Visualization method, device and vehicle for domain controller DDS communication network architecture

Abstract

The present disclosure relates to a visualization method, device, and vehicle for a domain controller DDS communication network architecture, including: monitoring the DDS communication process of the domain controller, obtaining the communication data of each communication entity, and splicing the communication data into first data with data divided by process, the first data being able to be obtained based on an upper-layer language service; converting the first data into second data with data divided by domain as the root node according to the association relationship between the communication entities, the second data being a tree structure; storing the second data, monitoring the second data in real time through the DDS communication network, and generating a second data interface; obtaining the second data through the second data interface, parsing the second data, obtaining the communication network architecture, and visually displaying it. The present disclosure realizes a multi-perspective visualization display of the communication network architecture, facilitates viewing communication data, simplifies development workload, improves scalability, and facilitates multi-platform integration.

Description

Technical Field

[0001] The present disclosure relates to the field of distributed communication technology, and in particular to a visualization method, device, vehicle, electronic device, and computer-readable storage medium for a domain controller (DDS) communication network architecture. Background Art

[0002] In related technologies, during the application development and testing process based on DDS communication, the visualization of the DDS communication network architecture helps to simplify the development workload, facilitates viewing the DDS communication status between applications, and thus checks whether the application is normal, thereby improving development and testing efficiency.

[0003] Although there are applications for DDS communication visualization, most of them are desktop applications developed based on languages ​​such as C#. At the same time, the scalability of visualization data is also limited, which makes it impossible to expand visualization data externally.

[0004] Therefore, there is an urgent need for a method that can quickly view communication status, improve data scalability, and realize the visualization of DDS communication network architecture. Summary of the Invention

[0005] To overcome the problems existing in the related art, the present disclosure provides a visualization method, device, vehicle, electronic device and computer-readable storage medium for a domain controller DDS communication network architecture.

[0006] According to a first aspect of an embodiment of the present disclosure, a method for visualizing a domain controller DDS communication network architecture is provided, comprising: monitoring a DDS communication process of a domain controller, acquiring communication data of each communication entity, and splicing the communication data into first data that is divided into data units based on processes, wherein the first data can be acquired based on an upper-layer language service; converting the first data into second data that is divided into data units based on a domain as a root node according to an association relationship between the communication entities, wherein the second data is a tree structure; storing the second data, monitoring the second data in real time through a DDS communication network, and generating a second data interface; acquiring the second data through the second data interface, parsing the second data, obtaining a communication network architecture, and visually displaying it.

[0007] In some embodiments, the DDS communication process of the monitoring domain controller is obtained, the communication data of each communication entity is obtained, and the communication data is spliced ​​into the first data with data divided in units of processes, including: taking the communication entity as the unit, monitoring the data sending and receiving process under the DDS publish-subscribe model, and obtaining the communication data of all associated communication entities; converting the communication data obtained by monitoring into an inclusion structure by using an included structure, splicing to obtain the first data with data divided in units of processes, and storing it.

[0008] In some embodiments, the communication data obtained by monitoring is converted into an inclusion structure by using an included structure, spliced ​​to obtain first data with data divided in units of processes, and stored, including: defining a topological structure of the first data for storing communication data divided in units of communication entities, the topological structure including an operating system entity, a process entity, and a domain participant entity; wherein the operating system entity includes associated processes; the process entity includes associated domain participants; the domain participant entity includes associated domains and subscribers and publishers created on the domain participants, the subscribers store created data writers, the publishers store created data readers, and the data writers and data readers both store associated topics; based on the inclusion and included relationship between the topological structures of the first data, the communication data obtained by monitoring is converted into an inclusion relationship, spliced ​​to obtain first data with data divided in units of processes, and stored.

[0009] In some embodiments, the first data can be obtained based on an upper-layer language service, including: the application service layer uses a loop statement to perform an infinite loop call on the acquisition method of the first data to obtain the first data, and the application service layer is developed using an upper-layer language; or, the application service layer uses a publish-subscribe data distribution model to obtain the first data.

[0010] In some embodiments, the first data is converted into second data with the domain as the root node for data division based on the association relationship between the communication entities, including: defining a topological structure of the second data for storing the first data with the process as the unit of data division, the topological structure including the domain; wherein the domain includes an operating system and a subject, the operating system includes associated processes, the processes include domain participants, the subject and domain participants both include publishers and subscribers, the publisher includes a data writer, and the subscriber includes a data reader; based on the topological structure of the second data, the association relationship between the communication entities is obtained, and the first data is converted and stored as second data with the domain as the root node and the subject and the operating system as the main node.

[0011] In some embodiments, the second data is obtained through the second data interface, the second data is parsed to obtain a communication network architecture, and a visual display is performed, including: the front end obtains the second data in a tree structure, splits the second data, and obtains a communication network architecture containing the association relationship between the communication entities; according to the association relationship within the communication network architecture, customize any communication entity as the root node for data division, and draw a corresponding visual relationship view, which includes a communication structure, communication data, and communication status.

[0012] According to a second aspect of an embodiment of the present disclosure, a visualization device for a domain controller DDS communication network architecture is provided, including: a communication data acquisition module for monitoring the DDS communication process of the domain controller, acquiring communication data of each communication entity, and splicing the communication data into first data divided into data units based on processes, wherein the first data can be acquired based on an upper-layer language service; a second data conversion module for converting the first data into second data divided into data with the domain as the root node according to the association relationship between the communication entities, wherein the second data is a tree structure; a data interface generation module for storing the second data, monitoring the second data in real time through the DDS communication network, and generating a second data interface; a second data visualization module for acquiring the second data through the second data interface, parsing the second data, obtaining the communication network architecture, and visually displaying it.

[0013] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, storing a set of instruction sets, which are executed by the vehicle to implement the visualization method of the domain controller DDS communication network architecture provided by the first aspect of the present disclosure.

[0014] According to a fourth aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; a memory for storing executable instructions of the processor; the processor for reading the executable instructions from the memory and executing the instructions to implement the visualization method of the domain controller DDS communication network architecture provided by the first aspect of the present disclosure.

[0015] According to a fifth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the method for visualizing the domain controller DDS communication network architecture provided by the first aspect of the present disclosure are implemented.

[0016] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: by monitoring the DDS communication process of the domain controller, the communication data of each communication entity is obtained, and the communication data is spliced ​​into first data with data divided in units of processes. The first data can be obtained based on the upper-layer language service, thereby reducing data redundancy while improving scalability; according to the association relationship between the communication entities, the first data is converted to obtain second data with a tree structure with the domain as the root node for data division, and the tree structure is used to represent the relationship between the various communication entities, which facilitates data analysis and server-side data storage and data visualization at the business layer; the second data is stored, and the second data is monitored in real time through the DDS communication network to generate a second data interface, which facilitates data tracing and data expansion; the second data is obtained through the second data interface, and the communication network architecture is parsed to obtain the communication network architecture, and is visualized. The communication network architecture can be visualized from multiple perspectives, which simplifies the development workload, quickly views the communication status of the application, and is conducive to multi-platform integration.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0019] Figure 1 The present invention is a flowchart of a method for visualizing a domain controller DDS communication network architecture according to an exemplary embodiment.

[0020] Figure 2 The figure is a flowchart of a method for acquiring communication data according to an exemplary embodiment.

[0021] Figure 3 is a flowchart of a first data splicing method according to an exemplary embodiment.

[0022] Figure 4 A topological structure of first data is shown according to an exemplary embodiment.

[0023] Figure 5 The figure is a flowchart of a data conversion method according to an exemplary embodiment.

[0024] Figure 6 A topological structure of second data is shown according to an exemplary embodiment.

[0025] Figure 7 The figure is a flowchart of a method for visualizing a communication network architecture according to an exemplary embodiment.

[0026] Figure 8 The diagram is a visual relationship view according to an exemplary embodiment.

[0027] Figure 9 The present invention is a block diagram showing a visualization device of a domain controller DDS communication network architecture according to an exemplary embodiment.

[0028] Figure 10 is a block diagram of a vehicle according to an exemplary embodiment.

[0029] Figure 11 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0030] Exemplary embodiments will be described in detail below with reference to the accompanying drawings.

[0031] It should be pointed out that the relevant embodiments and drawings are only for describing exemplary embodiments provided by the present disclosure, rather than all embodiments of the present disclosure, and it should not be understood that the present disclosure is limited to the relevant exemplary embodiments.

[0032] It should be noted that the terms "first", "second", etc. used in this disclosure are only used to distinguish different steps, devices or modules, etc. The relevant terms neither represent any specific technical meanings nor indicate the order or interdependence between them.

[0033] It should be noted that the modifications of the terms "one", "a plurality of", and "at least one" used in the present disclosure are illustrative rather than restrictive. Unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0034] It should be noted that the term "and / or" used in this disclosure to describe an association relationship between associated objects generally indicates the existence of at least three types of association relationships. For example, "A and / or B" can represent at least three types of association relationships: the existence of A alone, the existence of both A and B, and the existence of B alone.

[0035] It should be noted that the steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. Unless otherwise specified, the scope of the present disclosure is not limited by the order in which the steps are described in the relevant embodiments.

[0036] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the corresponding data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0037] Technical terminology

[0038] DDS (Data Distribution Service) is a middleware protocol and API standard published and maintained by the Object Management Group (OMG). It adopts a publish / subscribe architecture, emphasizes data-centricity, and provides a rich set of quality of service policies to ensure real-time, efficient, and flexible data distribution, meeting the needs of various distributed real-time communication applications.

[0039] Domain: It is a range concept, uniquely identified by a domain ID. Only communication entities within the same domain can communicate, and there is no logical relationship between entities in different domains.

[0040] Topic: This is the topic agreed upon when a DataWriter and DataReader communicate with each other. Each DataWriter / DataReader must be bound to a topic. The topic data types of the communicating DataWriters and DataReaders must be the same, and the quality of service must match.

[0041] Domain Participant: Serves as the entry point for data distribution services, including several publishers, subscribers, and registered topics, and is responsible for creating, deleting, and managing these entities.

[0042] Publisher: As a publisher role, it contains at least one DataWriter and is responsible for creating, deleting, and managing DataWriter.

[0043] Subscriber: As a subscription role, it is associated with at least one DataReader and is responsible for creating, deleting, and managing DataReaders.

[0044] DataWriter: A data writer, similar to a cache, writes Topic data to be published from the application layer to the DataWriter.

[0045] DataReader: A data reader, which can also be understood as a cache, obtains Topic data from subscribers and then passes it to the application layer.

[0046] Domain controller: It can be understood as the integration of highly embedded controllers within a specific functional domain, or as the centralization of vehicle-level software functions within a specific functional domain. It is the core of every functional domain of a car. It mainly consists of three parts: domain master processor, operating system, and application software and algorithms.

[0047] Host: refers to the host operating system on the domain controller.

[0048] Process: A process is the smallest unit of resource allocation in the operating system.

[0049] Eclipse Cyclone DDS: A very high-performance and robust open-source DDS implementation.

[0050] Exemplary Methods

[0051] Figure 1 FIG. 1 is a flow chart showing a method for visualizing a domain controller DDS communication network architecture according to an exemplary embodiment. Figure 1 As shown, the visualization method of the domain controller DDS communication network architecture is used in the field of distributed communication, including the following steps:

[0052] In step S110, the DDS communication process of the domain controller is monitored, communication data of each communication entity is acquired, and the communication data is spliced ​​into first data divided into data in units of processes. The first data can be acquired based on an upper-layer language service.

[0053] In some embodiments, when an application is to run on a domain controller and relies on DDS for communication, the application runs in a process of the operating system on the domain controller. The application creates a domain participant to bind to the domain where the current domain controller is located, registers the user's data type for use on the domain participant, creates a named topic to bind to the registered user data type, creates publishers and subscribers on the domain participant, creates data writers and data readers and binds them to the corresponding topics. The topic automatically establishes a data flow between the data writer and the data reader, and sends the data by calling the write method of the data writer. Relying on the data-centric publish-subscribe model of DDS, the data reader receives the data and performs relevant logical processing. Among them, all members in DDS are communication entities. At the same time, in the domain controller DDS communication process, the domain controller and process can also be understood as entities.

[0054] By monitoring the DDS communication process of the domain controller, the communication data of each communication entity is obtained. DDS communication monitoring primarily monitors the data transmission and reception processes of data writers and data readers under the DDS publish-subscribe model, thereby monitoring the information of all communication entities associated with the data writers and data readers. Since data writers and data readers are at the bottom of the entire entity association structure, they have a large amount of communication data and are prone to data redundancy. Therefore, it is necessary to splice the acquired communication data to obtain first data that is partitioned by process. The process is the upper layer of the structure of data writers and data readers. Through splicing, the data structure is transformed to reduce data redundancy and facilitate data partitioning.

[0055] In some embodiments, the first data can be obtained based on the upper-layer language, including: the application service layer uses a loop statement to call the first data acquisition method in an infinite loop to obtain the first data, and the application service layer is developed using the upper-layer language; or, the application service layer uses a publish-subscribe data distribution model to obtain the first data.

[0056] Specifically, application-layer service development is performed using languages ​​such as Java or Node, and the dds_take method is called to obtain the first data through the application-layer service. Using a higher-level language for application-layer service development is more conducive to providing an external API and improving scalability. DDS communication monitoring is generally implemented primarily in low-level languages ​​such as C. To facilitate data analysis, after the communication monitoring entity relationships are converted to the first data, the first data acquisition method dds_take is called in an infinite loop using a while loop statement. Alternatively, the application service layer adopts a publish-subscribe data distribution model to obtain the first data through the higher-level language, thereby enabling real-time monitoring of the first data.

[0057] In step S120, according to the association relationship between the communication entities, the first data is converted into second data divided with the domain as the root node, and the second data is a tree structure.

[0058] In some embodiments, in the visual analysis of the DDS communication network architecture, the following relationship structures are mainly monitored for data analysis: the communication structure within a domain or the cross-domain communication structure between multiple domains; the communication structure of data writers and data readers under all processes contained in the operating system of a domain controller; the communication structure associated with the data writers and data readers in a single process, that is, when a single application is running; the communication structure of all topics under a domain and their related data writers and data readers; the communication structure of data writers and data readers contained in a single topic.

[0059] Therefore, in order to facilitate the visual display between communication entities, the first data needs to be converted and stored again, and converted into second data with the domain as the root node for data division. The second data is a tree structure, and the relationship between each communication entity is represented by the tree structure, which facilitates data analysis, server-side data storage and data visualization display at the business layer.

[0060] In step S130 , the second data is stored, the second data is monitored in real time via the DDS communication network, and a second data interface is generated.

[0061] In some embodiments, the second data of the tree structure is stored to facilitate the data playback and analysis functions under the real-time monitoring of the DDS communication network; and the converted second data is API-ized on the Java side to generate a second data interface. By implementing the external API of the DDS communication network monitoring data, the use of the front-end or other service-side data is facilitated, which is conducive to the realization of multi-platform integration and improves the scalability of the data.

[0062] In step S140, the second data is obtained through the second data interface, the second data is parsed, the communication network architecture is obtained, and the communication network architecture is visualized.

[0063] In some embodiments, the front end obtains second data in a tree structure through a second data interface, parses the second data, obtains a communication network architecture in a tree structure that includes association relationships between communication entities, and visualizes it to achieve a visual display of the domain controller DDS communication network architecture.

[0064] Based on the tree-structured communication network architecture, the front-end can perform targeted visualization from multiple perspectives, such as data visualization of a single Topic and data visualization of a single Process.

[0065] The tree-structured communication network architecture can realize a visual relationship view starting from any entity such as Domain, Topic, Host, Process, etc. as the root node, thereby realizing a visual display of the entire DDS communication network architecture from different perspectives.

[0066] In the above embodiment, by monitoring the DDS communication process of the domain controller, the communication data of each communication entity is obtained, and the communication data is spliced ​​into first data with data divided in units of processes. The first data can be obtained based on the upper-level language service, thereby reducing data redundancy while improving scalability; according to the association relationship between the communication entities, the first data is converted to obtain second data with a tree structure with the domain as the root node for data division. The tree structure represents the relationship between the various communication entities, which facilitates data analysis and server-side data storage and data visualization at the business layer; the second data is stored, and the second data is monitored in real time through the DDS communication network to generate a second data interface, which facilitates data tracing and data expansion; the second data is obtained through the second data interface, and the communication network architecture is parsed to obtain the communication network architecture, which is visualized and can be visualized from multiple perspectives to simplify the development workload, quickly view the communication status of the application, and facilitate multi-platform integration.

[0067] Figure 2 is a flow chart of a method for acquiring communication data according to an exemplary embodiment. Figure 2 As shown, the communication data acquisition method is used in step S110, including the following steps:

[0068] In step S210, the data sending and receiving process under the DDS publish-subscribe model is monitored in units of communication entities to obtain the communication data of all associated communication entities.

[0069] Specifically, all members in DDS are identified as communication entities. Taking the communication entities as units, for example, data writers and data readers, their data sending and receiving processes under DDS publish and subscribe are monitored to obtain communication data. Moreover, based on the monitored communication entity, the communication data of all communication entities associated with it can be obtained, thereby improving the efficiency of data acquisition.

[0070] In step S220, the communication data obtained through monitoring is converted into a containing structure by using a contained structure, and the first data divided into data in units of processes is obtained by splicing and stored.

[0071] Specifically, since there are many levels of communication entities, in order to better monitor the communication process of DDS, the bottom-level data writers and data readers can be selected during monitoring. Therefore, the communication data obtained is an included structure, for example, the data writer is included by the publisher. In order to reduce data redundancy, it is necessary to convert the structure of the communication data to obtain communication data with an included structure, for example, the publisher includes the data writer, and splice the communication data to obtain the first data divided by process and store it.

[0072] In this embodiment, the data sending and receiving process under the DDS publish-subscribe model is monitored with the communication entity as the unit, and the communication data of all associated communication entities is obtained. By monitoring one communication entity, the data flow information between all communication entities is obtained, thereby improving the data acquisition efficiency; the communication data of the included structure is converted into the included structure, and the first data with data division in the process unit is obtained by splicing and stored, thereby reducing data redundancy and facilitating data division and storage.

[0073] Figure 3 is a flow chart of a first data splicing method according to an exemplary embodiment. Figure 3 As shown, the first data splicing method is used in step S220, including the following steps:

[0074] In step S310, a topological structure of the first data is defined for storing communication data divided into units of communication entities, and the topological structure includes an operating system entity, a process entity, and a domain participant entity; wherein, the operating system entity includes associated processes; the process entity includes associated domain participants; the domain participant entity includes associated domains and subscribers and publishers created on the domain participants, the created data writers are stored in the subscribers, the created data readers are stored in the publishers, and the associated topics are stored in both the data writers and the data readers.

[0075] Specifically, if Figure 4 As shown, the topological structure of the first data stores communication data divided into communication entities. The topological structure includes an operating system entity, a process entity, and a domain participant entity. The operating system entity includes an associated process, the domain participant entity includes an associated domain and subscribers and publishers created on the domain participant, the subscriber stores the created data writer, the publisher stores the created data reader, and the data writer and the data reader both store associated topics.

[0076] Through the topological structure of the first data, after monitoring the communication data of the data writer and the data reader, the communication data can be directly and quickly stored in the corresponding position of the topological structure. For example, the communication data of the data writer is stored in the position of the data writer in the topological structure, thereby realizing a storage method for storing communication data in units of communication entities and avoiding data redundancy.

[0077] In step S320, based on the inclusion and inclusion relationship between the topological structures of the first data, the communication data obtained by monitoring is converted into an inclusion relationship, and the first data divided into data units in units of processes is obtained by splicing and stored.

[0078] Specifically, based on the relational structure of the first data, it can be seen that, from left to right, the difficulty of obtaining data increases as the data is divided and categorized (this division is related to the difficulty of subsequently generating the second data). In other words, when using Process to divide and categorize, all of its subordinate information is stored under the Process, making it easy to see which DataWriters and DataReaders belong to the Process. However, when dividing by DataWriter, it becomes difficult to see other DataWriters and DataReaders under the current Process.

[0079] Based on the inclusion and inclusion relationship between the topological structures of the first data, the communication data obtained by monitoring is converted into an inclusion relationship, that is, DataWriter is included by Publisher, Publisher is included by Domain Participant, and Domain Participant is under a certain Domain, Process, and Host, that is, it is also included. The above inclusion relationship is converted into an inclusion relationship structure with the entry in reverse order, that is, Process includes Domain Participant, DomainParticipant includes Publisher, and so on.

[0080] Therefore, to reduce data redundancy, the acquired communication data can be converted into data divided by the upper-level communication entities. At the same time, the difficulty of parsing the data after storage needs to be considered. Data division based on processes is selected to meet both of these requirements. The communication data is concatenated to obtain first data divided by processes, thereby reducing data redundancy, facilitating data division, and facilitating subsequent data parsing. Of course, communication data can also be divided based on other communication entities under different scenario requirements.

[0081] In this embodiment, a topological structure of the first data is defined to store communication data divided into units of communication entities, thereby avoiding data redundancy; based on the inclusion and inclusion relationship between the defined topological structures, the communication data obtained by monitoring is converted into an inclusion relationship, and the first data divided into units of processes is spliced ​​and stored, which can reduce data redundancy while facilitating the parsing of the spliced ​​data.

[0082] Figure 5 is a flow chart showing a data conversion method according to an exemplary embodiment. Figure 5 As shown, the data conversion method is used in step S120, including the following steps:

[0083] In step S510, a topological structure of the second data is defined for storing the first data divided into data units based on processes, and the topological structure includes a domain; wherein the domain includes an operating system and a subject, the operating system includes associated processes, the process includes domain participants, the subject and the domain participants both include publishers and subscribers, the publisher includes data writers, and the subscriber includes data readers.

[0084] Specifically, if Figure 6As shown, it is a schematic diagram of the topological structure of the second data. The topological structure of the second data divides the data structure based on Domain, and converts the associated structure data of Domain into tree-like relationship data. The tree-like relationship data can be divided into a relationship structure with Domain as the root node and Topic and Host as sub-nodes. The first data divided by process is stored through the set topological structure.

[0085] Of course, with the Domain entity as the root node, the internal tree structure has many different relationships. This example is just one example, not the only definition of the tree structure. The tree structure can be used to easily determine the relationships between various communication entities, thus achieving tree-like visualization of the entire DDS communication process.

[0086] In step S520, based on the topological structure of the second data, the association relationship between the communication entities is obtained, and the first data is converted and stored into second data with the domain as the root node and the subject and the operating system as the main nodes.

[0087] Specifically, based on the topological structure of the second data, the association relationship between the communication entities can be obtained. According to the association relationship, the first data is converted and stored as the second data with the domain as the root node and the subject and operating system main node, forming a tree structure, which facilitates the server-side data storage and the data visualization display of the business layer.

[0088] In this embodiment, a topological structure of the second data is defined, and the first data that is divided into data units based on processes is stored. Based on the topological structure of the second data, the association relationship between communication entities is obtained, and the first data is converted and stored as second data with the domain as the root node and the subject and operating system as the main nodes, forming a tree structure, so as to better judge the association between communication entities and visualize the data.

[0089] Figure 7 is a flow chart showing a method for visualizing a communication network architecture according to an exemplary embodiment. Figure 7 As shown, the communication network architecture visualization method is used in step S140, including the following steps:

[0090] In step S710, the front end obtains second data in a tree structure, splits the second data, and obtains a communication network architecture including association relationships between communication entities.

[0091] Specifically, after generating the second data with a tree structure, the front end can obtain the second data through the second data interface, split the second data, obtain the communication network architecture including the association relationship between communication entities, and visualize the association relationship between each communication entity, thereby realizing the visual display of the domain controller DDS communication network architecture.

[0092] In step S720, according to the association relationship within the communication network architecture, any communication entity is customized as the root node to perform data division, and a corresponding visual relationship view is drawn, which includes the communication structure, communication data and communication status.

[0093] Specifically, according to the association relationship within the communication network architecture, any communication entity can be customized as the root node to divide the data and draw the corresponding visual relationship view, such as Figure 8 As shown in the figure, all domains under DDS communication are displayed, and the host and process relationships associated with each domain are also displayed. Through the association relationship of the communication network architecture, a visual relationship view with any entity such as Domain, Topic, Host, Process as the root node can be obtained, thereby realizing a visual display of the entire DDS communication network architecture from different perspectives. The visual relationship view can also include communication structure, communication data and communication status.

[0094] Since the second data is a tree structure, the resulting communication network architecture is also a tree structure. Based on the association relationship of the tree structure data, the front end can also perform targeted visualization from multiple perspectives, such as: data visualization of a single Topic, data visualization of a single Process, etc.

[0095] In addition, by obtaining the second data of different time periods and displaying it visually, it is also possible to achieve visual playback of DDS real-time communication data to facilitate data tracing.

[0096] In this embodiment, the front end obtains the second data in a tree structure, splits the second data, and obtains a communication network architecture including the association relationship between communication entities. According to the association relationship within the communication network architecture, any communication entity is customized as the root node for data division, and the corresponding visual relationship view is drawn, thereby realizing a visual display of the entire DDS communication network architecture from different perspectives.

[0097] In summary, the present disclosure implements the data tree structure conversion process of the DDS communication network, as well as the conversion into the final tree relationship data and multi-perspective scalable visualization display; and by using Cyclone DDS to monitor the DDS communication network data, and then using Java services for data monitoring and storage, while exposing the data API to the outside world to make the data available on multiple platforms, it is conducive to multi-platform integration.

[0098] In one embodiment, the present disclosure is applied in the following scenario: During the development of an autonomous driving system for a car, the autonomous driving camera perception module application and the road operation information planning control module application are run in two domain controllers, respectively. When the perception module application needs to be tested, data is acquired, and DDS communication is performed with other modules, this includes communication with the control module application. That is, the perception data is in the first domain controller, and the perception data needs to be transmitted to the second domain controller. At the same time, data transmission needs to be performed within the domain controller itself. It is necessary to check whether the data transmission of the perception module application has successfully established the expected DDS communication framework, so as to analyze and determine whether the developed perception application module is operating normally.

[0099] Exemplary devices

[0100] Figure 9 This is a visualization device block diagram of a domain controller DDS communication network architecture according to an exemplary embodiment. Figure 9 The device 900 includes a communication data acquisition module 910, a second data conversion module 920, a data interface generation module 930 and a second data visualization module 940.

[0101] The communication data acquisition module 910 is used to monitor the DDS communication process of the domain controller, obtain the communication data of each communication entity, and splice the communication data into first data divided into data in units of processes. The first data can be obtained based on the upper-layer language service;

[0102] The second data conversion module 920 is configured to convert the first data into second data that is divided into data with the domain as the root node according to the association relationship between the communication entities, and the second data has a tree structure;

[0103] The data interface generating module 930 is used to store the second data, monitor the second data in real time via the DDS communication network, and generate a second data interface;

[0104] The second data visualization module 940 is used to obtain second data through a second data interface, parse the second data, obtain a communication network architecture, and perform visual display.

[0105] In some embodiments, the communication data acquisition module 910 is also used to: monitor the data sending and receiving process under the DDS publish-subscribe model in units of communication entities, and obtain the communication data of all associated communication entities; convert the communication data obtained by monitoring into an inclusion structure by using an included structure, splice and obtain the first data divided into data in units of processes, and store it.

[0106] In some embodiments, the communication data acquisition module 910 is also used to: define a topological structure of the first data, which is used to store communication data divided into units of communication entities, and the topological structure includes an operating system entity, a process entity and a domain participant entity; wherein the operating system entity includes associated processes; the process entity includes associated domain participants; the domain participant entity includes associated domains and subscribers and publishers created on the domain participants, the subscribers store created data writers, the publishers store created data readers, and the data writers and the data readers store associated topics; based on the inclusion and inclusion relationship between the topological structures of the first data, the communication data obtained through monitoring is converted into an inclusion relationship, and the first data divided into units of processes is obtained by splicing and stored.

[0107] In some embodiments, the second data conversion module 920 is also used to: define a topological structure of the second data, which is used to store first data that is divided into data units in units of processes, and the topological structure includes a domain; wherein the domain includes an operating system and a subject, the operating system includes associated processes, the process includes domain participants, the subject and domain participants both include publishers and subscribers, the publisher includes a data writer, and the subscriber includes a data reader; based on the topological structure of the second data, the association relationship between the communication entities is obtained, and the first data is converted and stored as second data with the domain as the root node and the subject and operating system as the main nodes.

[0108] In some embodiments, the second data visualization module 940 is also used for: the front end obtains the second data in a tree structure, splits the second data, and obtains a communication network architecture containing the association relationship between communication entities; according to the association relationship within the communication network architecture, customizes any communication entity as the root node to divide the data, and draws the corresponding visualization relationship view, which includes the communication structure, communication data and communication status.

[0109] In the above embodiment, through the operation of the device, a visualization method based on a domain controller DDS communication network architecture is implemented, ensuring that the device can implement all contents of a visualization method based on a domain controller DDS communication network architecture.

[0110] Example Vehicle

[0111] Figure 10 FIG1 is a block diagram of a vehicle 1000 according to an exemplary embodiment. The vehicle 1000 may be a fuel vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles.

[0112] Reference Figure 10 The vehicle 1000 may include multiple subsystems, such as a drive system 1010, a control system 1020, a perception system 1030, a communication system 1040, an information display system 1050, and a computing system 1060. The vehicle 1000 may also include more or fewer subsystems, and each subsystem may include multiple components, which are not described in detail here.

[0113] The drive system 1010 includes components that provide power and movement for the vehicle 1000, such as an engine, an energy source, and a transmission.

[0114] The control system 1020 includes components that provide control for the vehicle 1000, such as vehicle control, cabin equipment control, and driver assistance control.

[0115] The perception system 1030 includes components that provide the vehicle 1000 with environmental awareness, such as a vehicle positioning system, a laser sensor, a voice sensor, an ultrasonic sensor, and a camera.

[0116] The communication system 1040 includes components that provide communication connections for the vehicle 1000, such as mobile communication networks (e.g., 3G, 4G, 5G networks, etc.), WiFi, Bluetooth, and Internet of Vehicles.

[0117] The information display system 1050 includes components that provide various information displays for the vehicle 1000, such as vehicle information display, navigation information display, entertainment information display, etc.

[0118] The computing and processing system 1060 includes components that provide data computing and processing capabilities for the vehicle 1000. The computing and processing system 1060 may include at least one processor 1061 and a memory 1062. The processor 1061 may execute instructions stored in the memory 1062.

[0119] The processor 1061 can be any conventional processor, such as a commercially available CPU. The processor can also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0120] Memory 1062 can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0121] In an embodiment of the present disclosure, a set of instruction sets is stored in the memory 1062, and the processor 1061 can execute the instruction set to implement all or part of the steps of the method for visualizing the domain controller DDS communication network architecture described in any of the above exemplary embodiments.

[0122] Exemplary electronic devices

[0123] Figure 11 FIG1 is a block diagram of an electronic device 1100 according to an exemplary embodiment. The electronic device 1100 may be a vehicle controller, a vehicle terminal, a vehicle computer, or other types of electronic devices.

[0124] Reference Figure 11 The electronic device 1100 may include at least one processor 1110 and a memory 1120. The processor 1110 may execute instructions stored in the memory 1120. The processor 1110 is communicatively connected to the memory 1120 via a data bus. In addition to the memory 1120, the processor 1110 may also be communicatively connected to an input device 1130, an output device 1140, and a communication device 1150 via the data bus.

[0125] The processor 1110 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processing unit (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0126] Memory 1120 can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0127] In an embodiment of the present disclosure, executable instructions are stored in the memory 1120, and the processor 1110 can read the executable instructions from the memory 1120 and execute the instructions to implement all or part of the steps of the method for visualizing the domain controller DDS communication network architecture described in any of the above exemplary embodiments.

[0128] Exemplary computer-readable storage media

[0129] In addition to the above methods and apparatuses, exemplary embodiments of the present disclosure may also be a computer program product or a computer-readable storage medium storing the computer program product. The computer product includes computer program instructions that can be executed by a processor to implement all or part of the steps described in any of the methods in the above exemplary embodiments.

[0130] The computer program product can be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, etc., as well as conventional procedural programming languages ​​such as "C" or similar programming languages ​​and scripting languages ​​(e.g., Python). The program code can be executed entirely on the user computing device, partially on the user computing device, as a standalone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0131] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples of readable storage media include: a static random access memory (SRAM) electrically connected with one or more wires, an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk or an optical disk, or any suitable combination thereof.

[0132] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0133] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A visualization method for a domain controller DDS communication network architecture, characterized in that: include: Monitoring the DDS communication process of the domain controller, obtaining communication data of each communication entity, and splicing the communication data into first data divided into data in units of processes, wherein the first data can be obtained based on an upper-layer language service; Converting the first data into second data that is divided into data with the domain as a root node according to the association relationship between the communication entities, wherein the second data is a tree structure; storing the second data, monitoring the second data in real time via a DDS communication network, and generating a second data interface; The second data is obtained through the second data interface, the second data is parsed, the communication network architecture is obtained, and a visual display is performed.

2. The visualization method of the domain controller DDS communication network architecture according to claim 1, characterized in that: The monitoring domain controller's DDS communication process, acquiring communication data of each communication entity, and splicing the communication data into first data divided into data in units of processes, includes: Taking the communication entity as a unit, monitoring the data sending and receiving process under the DDS publish-subscribe model, and obtaining the communication data of all associated communication entities; The communication data obtained by monitoring is converted into a containing structure by using a contained structure, and is spliced ​​to obtain first data divided into data in units of processes, and the data is stored.

3. The visualization method of the domain controller DDS communication network architecture according to claim 2, characterized in that: The communication data obtained by monitoring is converted into a containing structure by using a contained structure, spliced ​​to obtain first data divided into data units based on processes, and stored, including: defining a topological structure of the first data, for storing communication data divided by communication entities, wherein the topological structure includes an operating system entity, a process entity, and a domain participant entity; The operating system entity includes an associated process; the process entity includes an associated domain participant; the domain participant entity includes an associated domain and subscribers and publishers created on the domain participant; the subscriber stores a created data writer; the publisher stores a created data reader; and the data writer and the data reader both store associated topics; Based on the inclusion and inclusion relationship between the topological structures of the first data, the communication data obtained by monitoring is converted into an inclusion relationship, spliced ​​to obtain the first data with data divided in units of processes, and stored.

4. The visualization method of the domain controller DDS communication network architecture according to claim 1, characterized in that: The first data can be obtained based on the upper-layer language service, including: The application service layer uses a loop statement to call the method for obtaining the first data in an infinite loop to obtain the first data, and the application service layer is developed using an upper-layer language; Alternatively, the application service layer adopts a publish-subscribe data distribution model to obtain the first data.

5. The visualization method of the domain controller DDS communication network architecture according to claim 1, characterized in that: The converting the first data into second data for data division based on the association relationship between the communication entities includes: defining a topological structure of the second data, for storing the first data partitioned in units of processes, wherein the topological structure includes domains; The domain includes an operating system and a subject, the operating system includes associated processes, the processes include domain participants, the subjects and domain participants both include publishers and subscribers, the publishers include data writers, and the subscribers include data readers; Based on the topological structure of the second data, the association relationship between the communication entities is obtained, and the first data is converted and stored into second data with the domain as the root node and the subject and the operating system as the main nodes.

6. The visualization method of the domain controller DDS communication network architecture according to claim 1, characterized in that: The acquiring the second data through the second data interface, parsing the second data, obtaining the communication network architecture, and visually displaying the architecture includes: The front end obtains second data in a tree structure, splits the second data, and obtains a communication network architecture including association relationships between the communication entities; According to the association relationship within the communication network architecture, any communication entity is customized as the root node to divide the data, and a corresponding visual relationship view is drawn. The visual relationship view includes the communication structure, communication data and communication status.

7. A visualization method and device for a domain controller DDS communication network architecture, characterized in that: include: a communication data acquisition module, configured to monitor the DDS communication process of the domain controller, acquire communication data of each communication entity, and concatenate the communication data into first data divided into data in units of processes, wherein the first data can be acquired based on an upper-layer language service; a second data conversion module, configured to convert the first data into second data divided into data with the domain as a root node according to the association relationship between the communication entities, wherein the second data is a tree structure; a data interface generating module, configured to store the second data, monitor the second data in real time via a DDS communication network, and generate a second data interface; The second data visualization module is used to obtain the second data through the second data interface, parse the second data, obtain the communication network architecture, and perform visual display.

8. A vehicle, characterized in that: A set of instruction sets is stored, and the instruction sets are executed by the vehicle to implement the visualization method of the domain controller DDS communication network architecture described in any one of claims 1-6.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method for visualizing the domain controller DDS communication network architecture as described in any one of claims 1-6.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method for visualizing the domain controller DDS communication network architecture described in any one of claims 1 to 6 are implemented.

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