Communication message conversion processing method, device, computer equipment and storage medium

Abstract

The application relates to a communication message conversion processing method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring communication middleware of all algorithm units for realizing target system functions; setting a multi-core heterogeneous computing unit corresponding to the communication middleware of each algorithm unit; setting a publishing node and a subscribing node for the communication middleware in each multi-core heterogeneous computing unit; when the multi-core heterogeneous computing units of two algorithm units communicate, setting a communication middleware bridge in the multi-core heterogeneous computing unit of one of the algorithm units, wherein the communication middleware bridge is used for converting a communication algorithm corresponding to a message sent by the publishing node into a communication algorithm corresponding to a subscribing node receiving the message. The method sets the communication middleware bridge to realize automatic conversion of communication algorithms of different algorithm units, can reduce the conversion cost of the communication middleware algorithm by automatically converting the communication algorithm, and improves the information transmission efficiency.

Description

Technical Field

[0001] The present application relates to the field of communication management technology, and in particular to a communication message conversion processing method, apparatus, computer equipment and storage medium. Background Art

[0002] In the autonomous driving industry, because there are many communication requirements for algorithm process modules and management requirements for functional components, it is generally efficient and standard to use the publish-subscribe mechanism for communication between processes and components, and to encapsulate the unified interface of functional components and place them in the communication middleware. Similar communication middleware includes ros, ros2, CyberRT, iceoryx, ecal, etc.

[0003] Communication middleware is universally applicable because it shields the complexity of the underlying operating system, eliminating the need for repetitive work when porting programs between different systems. Communication middleware not only simplifies application development and shortens development cycles, but also reduces system maintenance, operation, and management workloads, ultimately lowering overall computer costs.

[0004] However, the communication middleware has some defects: because the current common communication middleware is developed by the algorithm units of their respective algorithm companies, using open source communication middleware, secondary developed communication middleware, or self-developed communication middleware, and is highly coupled with their respective algorithm modules. Therefore, when the algorithm units of multiple algorithm companies jointly implement a solution such as autonomous driving, there will be problems such as different communication interfaces, different communication methods, and poor transmission of information generated by their internal algorithms. At this time, if the algorithm unit of one of the algorithm companies is required to modify the middleware call in full accordance with the requirements of the other party, the modifications may include the communication call method of the algorithm module, exception handling related interfaces, functional testing, performance testing, etc., which requires a large cost investment for the modified party. Summary of the Invention

[0005] Based on this, a communication message conversion processing method, device, computer equipment and storage medium are provided to achieve the same function when the algorithm units of multiple algorithm companies implement different communication interfaces, different communication methods and different internal algorithms, which will lead to the generated information being transmitted unsmoothly, and can reduce the algorithm conversion cost of the communication middleware.

[0006] In one aspect, a method for converting and processing a communication message is provided, the method comprising:

[0007] The communication middleware of all algorithm units realizing the functions of the target system is acquired, and each communication middleware of the algorithm units has a communication algorithm;

[0008] A multi-core heterogeneous computing unit corresponding to each communication middleware of the algorithm units is arranged, and a publishing node and a subscribing node corresponding to the communication middleware are arranged in each multi-core heterogeneous computing unit, the publishing node is used to send messages according to the communication algorithm of the communication middleware of the algorithm unit to which the publishing node belongs, and the subscribing node is used to receive messages according to the communication algorithm of the communication middleware of the algorithm unit to which the subscribing node belongs;

[0009] When the multi-core heterogeneous computing units of two algorithm units communicate, a communication middleware bridge is arranged in the multi-core heterogeneous computing unit of one of the algorithm units, and the communication middleware bridge is used to convert the communication algorithm corresponding to the messages sent by the publishing node into the communication algorithm corresponding to the messages received by the subscribing node.

[0010] In one embodiment, when the multi-core heterogeneous computing units of two algorithm units communicate, a communication middleware bridge is arranged in the multi-core heterogeneous computing unit of one of the algorithm units, and the communication middleware bridge is used to convert the communication algorithm corresponding to the messages sent by the publishing node into the communication algorithm corresponding to the messages received by the subscribing node.

[0011] In response to the first algorithm unit and the second algorithm unit communicating by sending messages, a communication middleware bridge is arranged in the multi-core heterogeneous computing unit corresponding to the second algorithm unit;

[0012] The communication algorithm of the communication middleware of the multi-core heterogeneous computing unit of the first algorithm unit is acquired as a first communication algorithm, and the communication algorithm of the communication middleware of the multi-core heterogeneous computing unit of the second algorithm unit is acquired as a second communication algorithm;

[0013] In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the first algorithm unit, the message corresponding to the first communication algorithm is converted into a message corresponding to the second communication algorithm, and the converted message is sent to the subscribing node of the second algorithm unit;

[0014] In response to the publishing node of the second algorithm unit sending a message to the subscribing node of the first algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the second algorithm unit, the message corresponding to the second communication algorithm is converted into a message corresponding to the first communication algorithm, and the converted message is sent to the subscribing node of the first algorithm unit.

[0015] In one of the embodiments, the method further comprises, after the step of setting the communication middleware bridge in the multi-core heterogeneous computing unit corresponding to the second algorithm unit, when the first algorithm unit and the second algorithm unit communicate by sending messages:

[0016] setting a first cross-chip message transmission process in the multi-core heterogeneous computing unit of the first algorithm unit, and setting a second cross-chip message transmission process in the multi-core heterogeneous computing unit of the second algorithm unit;

[0017] when the publishing node of the first algorithm unit sends a message to the subscribing node of the second algorithm unit, the publishing node of the first algorithm unit sends the sent message to the second cross-chip message transmission process through the first cross-chip message transmission process, the second cross-chip message transmission process transmits the received message sent by the publishing node of the first algorithm unit, and the first cross-chip message transmission process transmits the received message to the subscribing node of the first algorithm unit.

[0018] In one of the embodiments, the step of using the communication middleware bridge to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the message received by the subscribing node comprises:

[0019] when the publishing node of the first algorithm unit sends a message to the subscribing node of the second algorithm unit, the communication middleware bridge converts the message corresponding to the first communication algorithm into the message corresponding to the second communication algorithm by data conversion, deep copy or shallow copy;

[0020] when the publishing node of the second algorithm unit sends a message to the subscribing node of the first algorithm unit, the communication middleware bridge converts the message corresponding to the second communication algorithm into the message corresponding to the first communication algorithm by data conversion, deep copy or shallow copy.

[0021] In one of the embodiments, the method further comprises:

[0022] setting a microcontroller unit (MCU) to include a message receiving total node, a first algorithm unit module and a second algorithm unit module, and setting the message receiving total node to be connected to the first cross-chip message transmission process and the second cross-chip message transmission process, and setting the first algorithm unit module and the second algorithm unit module to be connected to the message receiving total node;

[0023] The message receiving main node monitors and obtains the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parses the sending address information of the messages, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages.

[0024] In one embodiment, the message receiving main node monitors and obtains messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time, parses the sending address information of the messages, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages, including the following steps:

[0025] The message receiving main node monitors and obtains messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parses sending address information of the messages;

[0026] In response to the sending address information of the message being a service address of a multi-core heterogeneous computing unit of the first algorithm unit, storing the corresponding transmitted message in the first algorithm unit module;

[0027] In response to the sending address information of the message being the service address of the multi-core heterogeneous computing unit of the second algorithm unit, the corresponding transmitted message is stored in the second algorithm unit module.

[0028] In one embodiment, the step of the message receiving main node monitoring and acquiring the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parsing the sending address information of the messages includes:

[0029] The message receiving main node monitors the transmission direction of messages between the first cross-chip message transmission process and the second cross-chip message transmission process in real time;

[0030] In response to a message being sent from the first cross-chip message transmission process to the second cross-chip message, the message receiving node obtains the transmitted message from the first cross-chip message transmission process, and obtains a service address of a multi-core heterogeneous computing unit of a first algorithm unit where the first cross-chip message transmission process is located;

[0031] In response to a message being sent from the second cross-chip message transmission process to the first cross-chip message, the message receiving node obtains the transmitted message from the second cross-chip message transmission process and obtains the service address of the multi-core heterogeneous computing unit of the second algorithm unit where the second cross-chip message transmission process is located.

[0032] In another aspect, a communication message conversion management device is provided, the device comprising:

[0033] The communication middleware information acquisition module is used to acquire the communication middleware of all algorithm units that implement the target system function. The communication middleware of each algorithm unit has a communication algorithm.

[0034] An information publishing and subscription mechanism module is used to set up a multi-core heterogeneous computing unit corresponding to the communication middleware of each algorithm unit, and set up a publishing node and a subscription node for the communication middleware in each multi-core heterogeneous computing unit. The publishing node is used to send messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs, and the subscription node is used to receive messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs;

[0035] A communication algorithm conversion module is used to set a communication middleware bridge in the multi-core heterogeneous computing unit of one of the algorithm units when the multi-core heterogeneous computing units of two algorithm units communicate. The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node that receives the message.

[0036] In another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0037] Acquire communication middleware of all algorithm units that implement the target system function, wherein the communication middleware of each algorithm unit has a communication algorithm;

[0038] A multi-core heterogeneous computing unit is set corresponding to the communication middleware of each algorithm unit, and a publishing node and a subscription node are set for the communication middleware in each multi-core heterogeneous computing unit, the publishing node is used to send messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs, and the subscription node is used to receive messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs;

[0039] When the multi-core heterogeneous computing units of two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units. The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message.

[0040] In another aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0041] Acquire communication middleware of all algorithm units that implement the target system function, wherein the communication middleware of each algorithm unit has a communication algorithm;

[0042] A multi-core heterogeneous computing unit is set corresponding to the communication middleware of each algorithm unit, and a publishing node and a subscription node are set for the communication middleware in each multi-core heterogeneous computing unit, the publishing node is used to send messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs, and the subscription node is used to receive messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs;

[0043] When the multi-core heterogeneous computing units of two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units. The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message.

[0044] The above-mentioned communication message conversion processing method, device, computer equipment and storage medium are based on the different communication algorithms of the communication middleware of the algorithm units of different algorithm companies. Publishing nodes and subscription nodes are set for the communication middleware to implement the publish-subscribe mechanism for communication, and a communication middleware bridge is set to realize the automatic conversion of the communication algorithms of the algorithm units of different algorithm companies. There is no need to worry about the poor information transmission caused by different communication interfaces, different communication methods and different internal algorithms. The communication middleware algorithm conversion cost can be reduced by automatically converting the communication algorithm, thereby improving the efficiency of information transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 This is a schematic diagram of the hardware structure of scenario 1 in the embodiment of the present application;

[0047] Figure 2 This is a schematic diagram of the hardware structure in scenario 2 in the embodiment of the present application;

[0048] Figure 3 This is a schematic diagram of the hardware structure for scenario three in the embodiment of the present application;

[0049] Figure 4 This is a schematic diagram of the hardware structure in scenario 4 of the embodiment of the present application;

[0050] Figure 5This is a schematic diagram of the hardware structure in scenario 5 of the embodiment of the present application;

[0051] Figure 6 Schematic diagram of the process of converting communication messages in an embodiment of the present application;

[0052] Figure 7 A flow chart illustrating steps of a communication middleware bridge configured in one of the multi-core heterogeneous computing units of the algorithm units when the multi-core heterogeneous computing units of the two algorithm units communicate with each other in an embodiment of the present application, wherein the communication middleware bridge is configured to convert a communication algorithm corresponding to a message sent by a publishing node into a communication algorithm corresponding to a subscribing node receiving the message;

[0053] Figure 8 A flowchart illustrating the steps of the message receiving main node in an embodiment of the present application monitoring and acquiring messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time, parsing the sending address information of the messages, and storing the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages;

[0054] Figure 9 This is a structural block diagram of a communication message conversion management device in an embodiment of the present application;

[0055] Figure 10 This is a diagram of the internal structure of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0056] 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.

[0057] As described in the background technology, since the communication algorithms of the communication middleware of the algorithm units of different algorithm companies are different, when the algorithm units of multiple algorithm companies jointly implement the same function, it is necessary to avoid the problems of different communication interfaces, different communication methods and different internal algorithms that lead to the generated information being transmitted unsmoothly.

[0058] To solve the above problems, an embodiment of the present invention creatively proposes a communication message conversion processing method, which sets a communication middleware bridge to realize automatic conversion of communication algorithms of algorithm units of different algorithm companies.

[0059] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5As shown, the communication middleware bridge solution hardware is illustrated with five scenarios. The hardware scenario in the present application is defined as: two SOCs (multi-core heterogeneous computing units, the operating system is usually a Linux operating system) and an MCU (micro control unit). The reason for determining the number of hardware scenarios is that the general communication middleware will only involve SOC to SOC bidirectional data transmission, MCU to SOC bidirectional data transmission. Different algorithm units used by algorithm companies in the solution are represented by a first algorithm unit and a second algorithm unit, the multi-core heterogeneous computing unit of the first algorithm unit is represented by a first multi-core heterogeneous computing unit, and the multi-core heterogeneous computing unit of the second algorithm unit is represented by a second multi-core heterogeneous computing unit. A first cross-chip message transmission process is arranged in the first multi-core heterogeneous computing unit of the first algorithm unit, and a second cross-chip message transmission process is arranged in the multi-core heterogeneous second computing unit of the second algorithm unit.

[0060] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 1 is a hardware structure schematic diagram of scenario one, Figure 2 is a hardware structure schematic diagram of scenario two, Figure 3 is a hardware structure schematic diagram of scenario three, Figure 4 is a hardware structure schematic diagram of scenario four, Figure 5 is a hardware structure schematic diagram of scenario five.

[0061] Scenario one: the first algorithm unit in SOC and the second algorithm unit in SOC communication

[0062] Step 1: the first algorithm unit data publishing process publishes to its integrated communication middleware dynamic library, and the communication middleware realizes data transmission by using a shared memory object to transmit the data of the publishing node to the "first algorithm unit cross-chip message transmission process".

[0063] Step 2: the "first algorithm unit cross-chip message transmission process" transmits the received data to the "first algorithm unit cross-chip message transmission process" of the receiving end through the someip communication protocol of Ethernet.

[0064] Step 3: the "first algorithm unit cross-chip message transmission process" transmits the received data to the "communication middleware bridge" process through the shared memory of the first algorithm unit communication middleware.

[0065] Step 4: The "communication middleware bridge" process will collect the data from the communication middleware of the first algorithm unit, convert it into the data format required by the second algorithm unit through data conversion, deep copy, shallow copy, etc., and then send it to the communication middleware of the second algorithm unit integrated in the "communication middleware bridge" node.

[0066] Step 5: The "second algorithm unit communication middleware" in the "communication middleware bridge" forwards the message to the subscription node receiving process of the second algorithm unit, and the process ends.

[0067] Scenario Two: The second algorithm unit publishes data node cross-chip transmission to the first algorithm unit receiving node process

[0068] Step 1: The second algorithm unit data publishing process publishes to its own second algorithm unit communication middleware, which implements data transfer using shared memory objects to transfer the data of the publishing node to the second algorithm unit communication middleware in the "communication middleware bridge" process.

[0069] Step 2: The "communication middleware bridge" process will collect the data from the second algorithm unit communication middleware, convert it into the data format required by the first algorithm unit through data conversion, deep copy, shallow copy, etc., and then send it to the first algorithm unit middleware (first algorithm unit communication middleware) integrated in the communication middleware bridge.

[0070] Step 3: The first algorithm unit communication middleware in the communication middleware bridge sends data to the "first algorithm unit - cross-chip message transmission node" through shared memory communication.

[0071] Step 4: The "first cross-chip message transmission process" node will receive the data through the someip communication protocol of Ethernet to the receiving end "first algorithm unit - cross-chip message transmission node".

[0072] Step 5: The receiving end "first cross-chip message transmission process" node forwards the message to the subscription node receiving process of the first algorithm unit, and the process ends.

[0073] Scenario Three: SOC internal communication (first algorithm unit and second algorithm unit send messages to each other)

[0074] Step 1: The second algorithm unit or first algorithm unit publishing process publishes to its own second algorithm unit communication middleware, which implements data transfer using shared memory to transfer the data of the publishing node to the second algorithm unit communication middleware in the "communication middleware bridge" process.

[0075] Step 2: The communication middleware bridge process converts the data collected from the second algorithm unit communication middleware into the data format required by the first algorithm unit through data conversion, deep copy, shallow copy, etc., and then sends it to the first algorithm unit middleware (first algorithm unit communication middleware) integrated in the communication middleware bridge.

[0076] Step 3: The first algorithm unit communication middleware in the communication middleware bridge sends data to the first algorithm unit or the second algorithm unit data receiving process through the shared memory, and the process ends.

[0077] Scenario 4: The second algorithm unit sends a message in the SOC to the second algorithm unit module on the MCU

[0078] Step 1: Same as the above cases, first send to the "cross-chip message transmission node" on the SOC.

[0079] Step 2: The "cross-chip message transmission node" sends the encapsulated data to the first algorithm unit transceiver SWC on the E3640 as the overall receiving node through the SOMEIP communication protocol.

[0080] Step 3: On the MCU side, the SWC sent and received by the first algorithm unit is distributed to the second algorithm unit module according to the serviceid configured in SOMEIP, and the process is completed.

[0081] Scenario 5: The first algorithm unit sends a message in the SOC to the first algorithm unit module in the MCU

[0082] Step 1: Same as the above cases, first send to the "cross-chip message transmission node" on the SOC.

[0083] Step 2: The "cross-chip message transmission node" sends the encapsulated data to the first algorithm unit transceiver SWC on the E3640 as the overall receiving node through the SOMEIP communication protocol.

[0084] Step 3: On the MCU side, the SWC that the first algorithm unit is responsible for sending and receiving is distributed to the first algorithm unit module according to the serviceid configured in SOMEIP, and the process is completed.

[0085] Based on the above five scenarios, such as Figure 6 As shown, a communication message conversion processing method is provided, comprising the following steps:

[0086] Step S1, obtaining the communication middleware of all algorithm units that implement the target system function, wherein the communication middleware of each algorithm unit has a communication algorithm;

[0087] Step S2: Setting a multi-core heterogeneous computing unit corresponding to the communication middleware of each algorithm unit, and setting a publishing node and a subscribing node for the communication middleware in each multi-core heterogeneous computing unit, wherein the publishing node is used to send messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs, and the subscribing node is used to receive messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs;

[0088] Step S3, when the multi-core heterogeneous computing units of two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units, and the communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message.

[0089] In step S2, communication is implemented between any two multi-core heterogeneous computing units using a publish-subscribe mechanism.

[0090] This embodiment is based on the fact that the communication algorithms of the communication middleware of the algorithm units of different algorithm companies are different. A publishing node and a subscribing node are set for the communication middleware to implement a publish-subscribe mechanism for communication, and a communication middleware bridge is set to realize automatic conversion of the communication algorithms of the algorithm units of different algorithm companies. There is no need to worry about the poor information transmission caused by different communication interfaces, different communication methods, and different internal algorithms. The communication middleware algorithm conversion cost can be reduced by automatically converting the communication algorithm, thereby improving the efficiency of information transmission.

[0091] like Figure 7 As shown, in this embodiment, when the multi-core heterogeneous computing units of two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units. The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message. The steps include:

[0092] Step S31, in response to the first algorithm unit communicating with the second algorithm unit by sending a message, setting a communication middleware bridge in the multi-core heterogeneous computing unit corresponding to the second algorithm unit;

[0093] Step S32, obtaining a communication algorithm of a communication middleware of a multi-core heterogeneous computing unit of the first algorithm unit as a first communication algorithm, and obtaining a communication algorithm of a communication middleware of a multi-core heterogeneous computing unit of the second algorithm unit as a second communication algorithm;

[0094] Step S33, in response to the publishing node of the first algorithm unit sending a message to the subscription node of the second algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the first algorithm unit, converts the message corresponding to the first communication algorithm into a message corresponding to the second communication algorithm, and sends the converted message to the subscription node of the second algorithm unit;

[0095] Step S34, in response to the publishing node of the second algorithm unit sending a message to the subscription node of the first algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the second algorithm unit, it converts the message corresponding to the second communication algorithm into a message corresponding to the first communication algorithm, and sends the converted message to the subscription node of the first algorithm unit.

[0096] This embodiment sets up a communication middleware bridge to realize automatic conversion of communication algorithms of different algorithm units. There is no need to worry about information transmission problems caused by different communication interfaces, different communication methods and different internal algorithms. The communication middleware algorithm conversion cost can be reduced by automatically converting the communication algorithm.

[0097] In this embodiment, in response to the first algorithm unit communicating with the second algorithm unit by sending a message, after the step of setting a communication middleware bridge in the multi-core heterogeneous computing unit corresponding to the second algorithm unit, the method further includes:

[0098] Setting a first cross-chip message transmission process in the multi-core heterogeneous computing unit of the first algorithm unit, and setting a second cross-chip message transmission process in the multi-core heterogeneous computing unit of the second algorithm unit;

[0099] In response to the publishing node of the first algorithm unit sending a message to the subscription node of the second algorithm unit, the publishing node of the first algorithm unit will send the sent message to the second cross-chip message transmission process through the first cross-chip message transmission process, and the second cross-chip message transmission process will transmit the received message sent by the publishing node of the first algorithm unit to the subscription node of the first algorithm unit.

[0100] In this embodiment, the steps of converting the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message include:

[0101] In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, the communication middleware bridge converts the message corresponding to the first communication algorithm into a message corresponding to the second communication algorithm by data conversion, deep copy or shallow copy;

[0102] In response to the publishing node of the second algorithm unit sending a message to the subscribing node of the first algorithm unit, the communication middleware bridge converts the message corresponding to the second communication algorithm into a message corresponding to the first communication algorithm through data conversion, deep copying or shallow copying.

[0103] As shown in the Figure 6 In this embodiment, the method further includes:

[0104] Step S4, setting a microcontroller unit (MCU) including a message receiving total node, a first algorithm unit module, and a second algorithm unit module, and setting the message receiving total node to be connected to the first cross-chip message transmission process and the second cross-chip message transmission process, and the first algorithm unit module and the second algorithm unit module to be connected to the message receiving total node.

[0105] Step S5, the message receiving total node real-time monitoring obtains the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process and parses the sending address information of the messages, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages.

[0106] The microcontroller unit used in this embodiment can effectively analyze the sending address information of the transmitted messages, and store the corresponding transmitted messages in the corresponding modules according to the sending address information of the messages, which facilitates distinguishing the message sources and facilitating the query.

[0107] As shown in the Figure 8 In this embodiment, the message receiving total node real-time monitoring obtains the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process and parses the sending address information of the messages, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages.

[0108] Step S51, the message receiving total node real-time monitoring obtains the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process and parses the sending address information of the messages.

[0109] Step S52, in response to the sending address information of the messages being the service address of the multi-core heterogeneous computing unit of the first algorithm unit, storing the corresponding transmitted messages in the first algorithm unit module.

[0110] Step S53, in response to the sending address information of the messages being the service address of the multi-core heterogeneous computing unit of the second algorithm unit, storing the corresponding transmitted messages in the second algorithm unit module.

[0111] In the embodiment, the message receiving total node monitors and acquires the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time, and parses the sending address information of the messages.

[0112] The message receiving total node monitors the transmission direction of the messages between the first cross-chip message transmission process and the second cross-chip message transmission process in real time.

[0113] In response to the message being sent from the first cross-chip message transmission process to the second cross-chip message, the message receiving total node acquires the transmitted message from the first cross-chip message transmission process, and acquires the service address of the multi-core heterogeneous computing unit of the first algorithm unit where the first cross-chip message transmission process is located.

[0114] In response to the message being sent from the second cross-chip message transmission process to the first cross-chip message, the message receiving total node acquires the transmitted message from the second cross-chip message transmission process, and acquires the service address of the multi-core heterogeneous computing unit of the second algorithm unit where the second cross-chip message transmission process is located.

[0115] In the above communication message conversion processing method, the communication algorithms of the communication middleware of the algorithm units of different algorithm companies are different, the publish node and the subscribe node are set for the communication middleware to realize the publish / subscribe mechanism for communication, and the communication middleware bridge is set to realize automatic conversion of the communication algorithms of the algorithm units of different algorithm companies, so that the communication interface, the communication mode and the internal algorithm of each algorithm unit are not worried about, and the information transmission is not smooth, the communication algorithm conversion cost of the communication middleware can be reduced in the form of automatic conversion of the communication algorithm, and the information transmission efficiency is improved.

[0116] It should be understood that, although Figure 6-Figure 8 The steps in the flowchart of FIG. 1 are not necessarily performed in the order indicated by the arrows. Unless specifically stated, the order of execution of the steps is not strictly limited to that shown in the figure, and the steps can be executed in other orders. Moreover, Figure 6-Figure 8 At least some of the steps in the flowchart of FIG. 1 can include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but can be performed at different times, and the order of execution of the sub-steps or stages is not necessarily sequential, but can be performed in rotation or alternation with at least some of the other steps or sub-steps or stages of other steps.

[0117] In one embodiment, as Figure 9As shown, a communication message conversion management device 10 is provided, which includes: a communication middleware information acquisition module 1, an information publishing and subscription mechanism module 2, and a communication algorithm conversion module 3.

[0118] The communication middleware information acquisition module 1 is used to acquire the communication middleware of all algorithm units that implement the target system function. The communication middleware of each algorithm unit has a communication algorithm.

[0119] The information publishing and subscription mechanism module 2 is used to set up a multi-core heterogeneous computing unit corresponding to the communication middleware of each algorithm unit, and set a publishing node and a subscription node for the communication middleware in each multi-core heterogeneous computing unit. The publishing node is used to send messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs, and the subscription node is used to receive messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs.

[0120] The communication algorithm conversion module 3 is used to set a communication middleware bridge in the multi-core heterogeneous computing unit of one of the algorithm units when the multi-core heterogeneous computing units of two algorithm units communicate. The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node that receives the message.

[0121] In this embodiment, when the multi-core heterogeneous computing units of two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units. The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message. The steps include:

[0122] In response to the first algorithm unit communicating with the second algorithm unit by sending a message, setting a communication middleware bridge in the multi-core heterogeneous computing unit corresponding to the second algorithm unit;

[0123] Acquire a communication algorithm of a communication middleware of a multi-core heterogeneous computing unit of the first algorithm unit as a first communication algorithm, and acquire a communication algorithm of a communication middleware of a multi-core heterogeneous computing unit of the second algorithm unit as a second communication algorithm;

[0124] In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the first algorithm unit, it converts the message corresponding to the first communication algorithm into a message corresponding to the second communication algorithm, and sends the converted message to the subscribing node of the second algorithm unit;

[0125] In response to the publishing node of the second algorithm unit sending a message to the subscription node of the first algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the second algorithm unit, it converts the message corresponding to the second communication algorithm into the message corresponding to the first communication algorithm, and sends the converted message to the subscription node of the first algorithm unit.

[0126] In this embodiment, in response to the first algorithm unit communicating with the second algorithm unit by sending a message, after the step of setting a communication middleware bridge in the multi-core heterogeneous computing unit corresponding to the second algorithm unit, the method further includes:

[0127] Setting a first cross-chip message transmission process in the multi-core heterogeneous computing unit of the first algorithm unit, and setting a second cross-chip message transmission process in the multi-core heterogeneous computing unit of the second algorithm unit;

[0128] In response to the publishing node of the first algorithm unit sending a message to the subscription node of the second algorithm unit, the publishing node of the first algorithm unit will send the sent message to the second cross-chip message transmission process through the first cross-chip message transmission process, and the second cross-chip message transmission process will transmit the received message sent by the publishing node of the first algorithm unit to the subscription node of the first algorithm unit.

[0129] In this embodiment, the steps of converting the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message include:

[0130] In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, the communication middleware bridge converts the message corresponding to the first communication algorithm into a message corresponding to the second communication algorithm by data conversion, deep copy or shallow copy;

[0131] In response to the publishing node of the second algorithm unit sending a message to the subscribing node of the first algorithm unit, the communication middleware bridge converts the message corresponding to the second communication algorithm into the message corresponding to the first communication algorithm by data conversion, deep copy or shallow copy.

[0132] In this embodiment, the communication message conversion management device 10 further includes a microcontroller unit 4. The microcontroller unit (MCU) includes a message receiving node, a first algorithm unit module, and a second algorithm unit module. The message receiving node is connected to the first cross-chip message transmission process and the second cross-chip message transmission process, and the first algorithm unit module and the second algorithm unit module are connected to the message receiving node. The message receiving node monitors and obtains messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time, parses the message sending address information, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the message sending address information.

[0133] In this embodiment, the message receiving main node monitors and obtains messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time, parses the sending address information of the messages, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages. The steps include:

[0134] The message receiving main node monitors and obtains messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parses sending address information of the messages;

[0135] In response to the sending address information of the message being a service address of a multi-core heterogeneous computing unit of the first algorithm unit, storing the corresponding transmitted message in the first algorithm unit module;

[0136] In response to the sending address information of the message being the service address of the multi-core heterogeneous computing unit of the second algorithm unit, the corresponding transmitted message is stored in the second algorithm unit module.

[0137] In this embodiment, the steps of the message receiving main node monitoring and acquiring messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parsing the sending address information of the messages include:

[0138] The message receiving main node monitors the transmission direction of messages between the first cross-chip message transmission process and the second cross-chip message transmission process in real time;

[0139] In response to a message being sent from the first cross-chip message transmission process to the second cross-chip message, the message receiving node obtains the transmitted message from the first cross-chip message transmission process, and obtains a service address of a multi-core heterogeneous computing unit of a first algorithm unit where the first cross-chip message transmission process is located;

[0140] In response to a message being sent from the second cross-chip message transmission process to the first cross-chip message, the message receiving node obtains the transmitted message from the second cross-chip message transmission process and obtains the service address of the multi-core heterogeneous computing unit of the second algorithm unit where the second cross-chip message transmission process is located.

[0141] In the above-mentioned communication message conversion management device, the communication algorithms of the communication middleware of the algorithm units of different algorithm companies are different. A publishing node and a subscribing node are set for the communication middleware to implement a publish-subscribe mechanism for communication, and a communication middleware bridge is set to realize automatic conversion of the communication algorithms of the algorithm units of different algorithm companies. There is no need to worry about the poor information transmission caused by different communication interfaces, different communication methods and different internal algorithms. The communication middleware algorithm conversion cost can be reduced by automatically converting the communication algorithm, thereby improving the efficiency of information transmission.

[0142] For the specific definition of the communication message conversion management device, please refer to the definition of the communication message conversion processing method above and will not be repeated here. The various modules in the above-mentioned communication message conversion management device can be implemented in whole or in part through software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0143] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 10 As shown. The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store communication message conversion management data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, it implements a communication message conversion processing method.

[0144] Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0145] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are performed:

[0146] Acquire communication middleware of all algorithm units that implement the target system function, wherein the communication middleware of each algorithm unit has a communication algorithm;

[0147] A multi-core heterogeneous computing unit is set corresponding to the communication middleware of each algorithm unit, and a publishing node and a subscription node are set for the communication middleware in each multi-core heterogeneous computing unit, the publishing node is used to send messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs, and the subscription node is used to receive messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs;

[0148] When the multi-core heterogeneous computing units of two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units. The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message.

[0149] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0150] When the multi-core heterogeneous computing units of the two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units, and the communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message. The steps include:

[0151] In response to the first algorithm unit communicating with the second algorithm unit by sending a message, setting a communication middleware bridge in the multi-core heterogeneous computing unit corresponding to the second algorithm unit;

[0152] Acquire a communication algorithm of a communication middleware of a multi-core heterogeneous computing unit of the first algorithm unit as a first communication algorithm, and acquire a communication algorithm of a communication middleware of a multi-core heterogeneous computing unit of the second algorithm unit as a second communication algorithm;

[0153] In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the first algorithm unit, it converts the message corresponding to the first communication algorithm into a message corresponding to the second communication algorithm, and sends the converted message to the subscribing node of the second algorithm unit;

[0154] In response to the publishing node of the second algorithm unit sending a message to the subscription node of the first algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the second algorithm unit, it converts the message corresponding to the second communication algorithm into the message corresponding to the first communication algorithm, and sends the converted message to the subscription node of the first algorithm unit.

[0155] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0156] After the step of setting a communication middleware bridge in the multi-core heterogeneous computing unit corresponding to the second algorithm unit in response to the first algorithm unit communicating with the second algorithm unit by sending a message, the method further includes:

[0157] Setting a first cross-chip message transmission process in the multi-core heterogeneous computing unit of the first algorithm unit, and setting a second cross-chip message transmission process in the multi-core heterogeneous computing unit of the second algorithm unit;

[0158] In response to the publishing node of the first algorithm unit sending a message to the subscription node of the second algorithm unit, the publishing node of the first algorithm unit will send the sent message to the second cross-chip message transmission process through the first cross-chip message transmission process, and the second cross-chip message transmission process will transmit the received message sent by the publishing node of the first algorithm unit to the subscription node of the first algorithm unit.

[0159] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0160] The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message, including the following steps:

[0161] In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, the communication middleware bridge converts the message corresponding to the first communication algorithm into a message corresponding to the second communication algorithm by data conversion, deep copy or shallow copy;

[0162] In response to the publishing node of the second algorithm unit sending a message to the subscribing node of the first algorithm unit, the communication middleware bridge converts the message corresponding to the second communication algorithm into the message corresponding to the first communication algorithm by data conversion, deep copy or shallow copy.

[0163] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0164] The method further comprises:

[0165] A microcontroller unit (MCU) is configured to include a message receiving node, a first algorithm unit module, and a second algorithm unit module, and the message receiving node is configured to be connected to the first cross-chip message transmission process and the second cross-chip message transmission process, and the first algorithm unit module and the second algorithm unit module are configured to be connected to the message receiving node;

[0166] The message receiving main node monitors and obtains the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parses the sending address information of the messages, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages.

[0167] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0168] The message receiving main node monitors and obtains messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time, parses the sending address information of the messages, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages. The steps include:

[0169] The message receiving main node monitors and obtains messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parses sending address information of the messages;

[0170] In response to the sending address information of the message being a service address of a multi-core heterogeneous computing unit of the first algorithm unit, storing the corresponding transmitted message in the first algorithm unit module;

[0171] In response to the sending address information of the message being the service address of the multi-core heterogeneous computing unit of the second algorithm unit, the corresponding transmitted message is stored in the second algorithm unit module.

[0172] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0173] The steps of the message receiving main node monitoring and acquiring the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parsing the sending address information of the messages include:

[0174] The message receiving main node monitors the transmission direction of messages between the first cross-chip message transmission process and the second cross-chip message transmission process in real time;

[0175] In response to a message being sent from the first cross-chip message transmission process to the second cross-chip message, the message receiving node obtains the transmitted message from the first cross-chip message transmission process, and obtains a service address of a multi-core heterogeneous computing unit of a first algorithm unit where the first cross-chip message transmission process is located;

[0176] In response to a message being sent from the second cross-chip message transmission process to the first cross-chip message, the message receiving node obtains the transmitted message from the second cross-chip message transmission process and obtains the service address of the multi-core heterogeneous computing unit of the second algorithm unit where the second cross-chip message transmission process is located.

[0177] For specific limitations on the steps implemented when the processor executes the computer program, please refer to the limitations on the method for communication message conversion management above, which will not be repeated here.

[0178] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0179] Acquire communication middleware of all algorithm units that implement the target system function, wherein the communication middleware of each algorithm unit has a communication algorithm;

[0180] A multi-core heterogeneous computing unit is set corresponding to the communication middleware of each algorithm unit, and a publishing node and a subscription node are set for the communication middleware in each multi-core heterogeneous computing unit, the publishing node is used to send messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs, and the subscription node is used to receive messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs;

[0181] When the multi-core heterogeneous computing units of two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units. The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message.

[0182] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0183] When the multi-core heterogeneous computing units of the two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units, and the communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message. The steps include:

[0184] In response to the first algorithm unit and the second algorithm unit communicating by sending messages, a communication middleware bridge is set in the multi-core heterogeneous computing unit corresponding to the second algorithm unit;

[0185] A communication algorithm of the communication middleware of the multi-core heterogeneous computing unit of the first algorithm unit is obtained as a first communication algorithm, and a communication algorithm of the communication middleware of the multi-core heterogeneous computing unit of the second algorithm unit is obtained as a second communication algorithm;

[0186] In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the first algorithm unit, the message corresponding to the first communication algorithm is converted into a message corresponding to the second communication algorithm, and the converted message is sent to the subscribing node of the second algorithm unit.

[0187] In response to the publishing node of the second algorithm unit sending a message to the subscribing node of the first algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the second algorithm unit, the message corresponding to the second communication algorithm is converted into a message corresponding to the first communication algorithm, and the converted message is sent to the subscribing node of the first algorithm unit.

[0188] In one embodiment, the computer program is further implemented when executed by the processor to implement the following steps:

[0189] The step of setting the communication middleware bridge in the multi-core heterogeneous computing unit corresponding to the second algorithm unit in response to the first algorithm unit and the second algorithm unit communicating by sending messages further comprises:

[0190] A first cross-chip message transmission process is set in the multi-core heterogeneous computing unit of the first algorithm unit, and a second cross-chip message transmission process is set in the multi-core heterogeneous computing unit of the second algorithm unit;

[0191] In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, the publishing node of the first algorithm unit sends the message to be sent to the second cross-chip message transmission process through the first cross-chip message transmission process, the second cross-chip message transmission process transmits the message sent by the publishing node of the first algorithm unit, and the first cross-chip message transmission process transmits the received message to the subscribing node of the first algorithm unit.

[0192] In one embodiment, the computer program is further implemented when executed by the processor to implement the following steps:

[0193] The step of the communication middleware bridge converting the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message comprises:

[0194] In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, the communication middleware bridge converts the message corresponding to the first communication algorithm into a message corresponding to the second communication algorithm by data conversion, deep copy or shallow copy;

[0195] In response to the publishing node of the second algorithm unit sending a message to the subscribing node of the first algorithm unit, the communication middleware bridge converts the message corresponding to the second communication algorithm into the message corresponding to the first communication algorithm by data conversion, deep copy or shallow copy.

[0196] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0197] The method further comprises:

[0198] A microcontroller unit (MCU) is configured to include a message receiving node, a first algorithm unit module, and a second algorithm unit module, and the message receiving node is configured to be connected to the first cross-chip message transmission process and the second cross-chip message transmission process, and the first algorithm unit module and the second algorithm unit module are configured to be connected to the message receiving node;

[0199] The message receiving main node monitors and obtains the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parses the sending address information of the messages, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages.

[0200] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0201] The message receiving main node monitors and obtains messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time, parses the sending address information of the messages, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages. The steps include:

[0202] The message receiving main node monitors and obtains messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parses sending address information of the messages;

[0203] In response to the sending address information of the message being a service address of a multi-core heterogeneous computing unit of the first algorithm unit, storing the corresponding transmitted message in the first algorithm unit module;

[0204] In response to the sending address information of the message being the service address of the multi-core heterogeneous computing unit of the second algorithm unit, the corresponding transmitted message is stored in the second algorithm unit module.

[0205] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0206] The steps of the message receiving main node monitoring and acquiring the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parsing the sending address information of the messages include:

[0207] The message receiving main node monitors the transmission direction of messages between the first cross-chip message transmission process and the second cross-chip message transmission process in real time;

[0208] In response to a message being sent from the first cross-chip message transmission process to the second cross-chip message, the message receiving node obtains the transmitted message from the first cross-chip message transmission process, and obtains a service address of a multi-core heterogeneous computing unit of a first algorithm unit where the first cross-chip message transmission process is located;

[0209] In response to a message being sent from the second cross-chip message transmission process to the first cross-chip message, the message receiving node obtains the transmitted message from the second cross-chip message transmission process and obtains the service address of the multi-core heterogeneous computing unit of the second algorithm unit where the second cross-chip message transmission process is located.

[0210] For specific limitations on the steps implemented when the computer program is executed by the processor, please refer to the limitations on the method for communication message conversion management above, which will not be repeated here.

[0211] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0212] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0213] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A communication message conversion processing method, characterized in that: include: Acquire communication middleware of all algorithm units that implement the target system function, wherein the communication middleware of each algorithm unit has a communication algorithm; A multi-core heterogeneous computing unit is set corresponding to the communication middleware of each algorithm unit, and a publishing node and a subscription node are set for the communication middleware in each multi-core heterogeneous computing unit, the publishing node is used to send messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs, and the subscription node is used to receive messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs; When the multi-core heterogeneous computing units of two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units, and the communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message; wherein, in response to the first algorithm unit and the second algorithm unit communicating by sending messages, a first cross-chip message transmission process is set in the multi-core heterogeneous computing unit of the first algorithm unit, and a second cross-chip message transmission process is set in the multi-core heterogeneous computing unit of the second algorithm unit; The microcontrol unit is configured to include a message receiving node, a first algorithm unit module, and a second algorithm unit module, and the message receiving node is configured to be connected to the first cross-chip message transmission process and the second cross-chip message transmission process, and the first algorithm unit module and the second algorithm unit module are configured to be connected to the message receiving node; The message receiving main node monitors and obtains the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parses the sending address information of the messages, and stores the corresponding transmitted messages in the first algorithm unit module or the second algorithm unit module according to the sending address information of the messages, including: the message receiving main node monitors and obtains the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parses the sending address information of the messages; in response to the sending address information of the message being the service address of the multi-core heterogeneous computing unit of the first algorithm unit, the corresponding transmitted message is stored in the first algorithm unit module; in response to the sending address information of the message being the service address of the multi-core heterogeneous computing unit of the second algorithm unit, the corresponding transmitted message is stored in the second algorithm unit module.

2. The communication message conversion processing method according to claim 1, characterized in that: When the multi-core heterogeneous computing units of the two algorithm units communicate, a communication middleware bridge is set in the multi-core heterogeneous computing unit of one of the algorithm units, and the communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message. The steps include: In response to the first algorithm unit communicating with the second algorithm unit by sending a message, setting a communication middleware bridge in the multi-core heterogeneous computing unit corresponding to the second algorithm unit; Acquire a communication algorithm of a communication middleware of a multi-core heterogeneous computing unit of the first algorithm unit as a first communication algorithm, and acquire a communication algorithm of a communication middleware of a multi-core heterogeneous computing unit of the second algorithm unit as a second communication algorithm; In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the first algorithm unit, it converts the message corresponding to the first communication algorithm into a message corresponding to the second communication algorithm, and sends the converted message to the subscribing node of the second algorithm unit; In response to the publishing node of the second algorithm unit sending a message to the subscription node of the first algorithm unit, after the communication middleware bridge receives the message sent by the publishing node of the second algorithm unit, it converts the message corresponding to the second communication algorithm into the message corresponding to the first communication algorithm, and sends the converted message to the subscription node of the first algorithm unit.

3. The communication message conversion processing method according to claim 2, characterized in that: After the step of setting a communication middleware bridge in the multi-core heterogeneous computing unit corresponding to the second algorithm unit in response to the first algorithm unit communicating with the second algorithm unit by sending a message, the method further includes: In response to a publishing node of the first algorithm unit sending a message to a subscribing node of the second algorithm unit, the publishing node of the first algorithm unit sends the sent message to the second cross-chip message transmission process through the first cross-chip message transmission process, and the second cross-chip message transmission process transmits the received message sent by the publishing node of the first algorithm unit to the communication middleware bridge; In response to the publishing node of the second algorithm unit sending a message to the subscription node of the first algorithm unit, the publishing node of the second algorithm unit transmits the sent message to the communication middleware bridge, and the communication middleware bridge sends the converted message to the first cross-chip message transmission process through the second cross-chip message transmission process, and the first cross-chip message transmission process transmits the received message to the subscription node of the first algorithm unit.

4. The communication message conversion processing method according to claim 2, characterized in that: The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node receiving the message, including the following steps: In response to the publishing node of the first algorithm unit sending a message to the subscribing node of the second algorithm unit, the communication middleware bridge converts the message corresponding to the first communication algorithm into a message corresponding to the second communication algorithm by data conversion, deep copy or shallow copy; In response to the publishing node of the second algorithm unit sending a message to the subscribing node of the first algorithm unit, the communication middleware bridge converts the message corresponding to the second communication algorithm into the message corresponding to the first communication algorithm by data conversion, deep copy or shallow copy.

5. The communication message conversion processing method according to claim 1, characterized in that: The steps of the message receiving main node monitoring and acquiring the messages transmitted in the first cross-chip message transmission process and the second cross-chip message transmission process in real time and parsing the sending address information of the messages include: The message receiving main node monitors the transmission direction of messages between the first cross-chip message transmission process and the second cross-chip message transmission process in real time; In response to a message being sent from the first cross-chip message transmission process to the second cross-chip message, the message receiving node obtains the transmitted message from the first cross-chip message transmission process, and obtains a service address of a multi-core heterogeneous computing unit of a first algorithm unit where the first cross-chip message transmission process is located; In response to a message being sent from the second cross-chip message transmission process to the first cross-chip message, the message receiving node obtains the transmitted message from the second cross-chip message transmission process and obtains the service address of the multi-core heterogeneous computing unit of the second algorithm unit where the second cross-chip message transmission process is located.

6. A communication message conversion management device, characterized in that: For implementing the communication message conversion processing method according to any one of claims 1 to 5, the device comprises: The communication middleware information acquisition module is used to acquire the communication middleware of all algorithm units that implement the target system function. The communication middleware of each algorithm unit has a communication algorithm. An information publishing and subscription mechanism module is used to set up a multi-core heterogeneous computing unit corresponding to the communication middleware of each algorithm unit, and set up a publishing node and a subscription node for the communication middleware in each multi-core heterogeneous computing unit. The publishing node is used to send messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs, and the subscription node is used to receive messages according to the communication algorithm of the communication middleware of the algorithm unit to which it belongs; A communication algorithm conversion module is used to set a communication middleware bridge in the multi-core heterogeneous computing unit of one of the algorithm units when the multi-core heterogeneous computing units of two algorithm units communicate. The communication middleware bridge is used to convert the communication algorithm corresponding to the message sent by the publishing node into the communication algorithm corresponding to the subscribing node that receives the message.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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