High-precision low-delay high-bandwidth communication scheduling method and device based on time sequence flow control, equipment and storage medium

Abstract

The invention discloses a high-precision low-delay high-bandwidth communication scheduling method and device based on time sequence flow control, equipment and a storage medium. The method comprises the following steps: performing high-precision time synchronization on communication equipment where a networking registration application is located; generating a fixed-byte time sequence flow unit sequence according to the communication equipment after high-precision time synchronization; dividing the time sequence flow unit sequence into an odd sequence and an even sequence; starting a time sequence host task and a time sequence slave task; sending the time sequence flow unit sequence to a time sequence host task and a time sequence slave task; according to the time sequence host task and the time sequence slave task, the host sends data in an odd sequence, and the slave sends data in an even sequence; after each communication device is idle after passing through the time of the four time sequence flow units, the bus is released; according to the invention, through a time sequence algorithm, the problem of serious conflict between communication reliability and a bus under a half-duplex high working condition is overcome; and reliable time base dependence is provided for a time sequence algorithm through a high-precision time synchronization algorithm.

Description

Technical Field

[0001] The present invention relates to the field of electric power technology, and in particular to a high-precision, low-latency, high-bandwidth communication scheduling method, device, equipment and storage medium based on sequential flow control. Background Art

[0002] With the development of power systems, data collection frequency requirements are gradually increasing, and real-time requirements and communication bandwidth requirements are rapidly increasing. How to ensure the communication efficiency of a high-reliability bus under high electromagnetic interference is a difficulty of current communication protocols.

[0003] At present, the two main communication methods are 485 and high-frequency carrier. Among them, 485 is used as the high-speed communication within the station, and the high-frequency carrier is used as the communication method between the dispersed devices in the substation. The communication is mainly based on the host rotation training. The collection equipment (concentrator or fusion terminal or other intelligent terminal) obtains the equipment collection information according to the equipment address in the ledger table. The communication speed is slow, especially the event information adopts a long-term rotation training method. Most substations do not have the ability to actively report. The communication rotation training cycle often exceeds 20 hours, lacks real-time performance, and is difficult to respond to emergencies.

[0004] The inventor has found through research that the bus communication scheduling method in the prior art still has at least the following defects:

[0005] In high-reliability half-duplex mode, bus conflicts are serious, and negotiation causes communication delays, reducing communication bandwidth. In addition, only the host timing is allowed and the device is not allowed to actively report.

[0006] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0007] The purpose of the present invention is to solve the problem of serious bus conflict and communication delay caused by negotiation under high-reliability half-duplex by using timing technology, and realize the active reporting work of the slave.

[0008] The present invention provides a high-precision, low-delay, and high-bandwidth communication scheduling method based on timing flow control, comprising the steps of:

[0009] S11. Perform high-precision time synchronization on the communication device where the networking registration application is located;

[0010] S12, generating a fixed-byte timing stream unit sequence according to the communication device after high-precision time synchronization; and dividing the timing stream unit sequence into an odd sequence and an even sequence; the timing stream unit is 4 bytes in length;

[0011] S13, start the timing master task and the timing slave task; and send the timing stream unit sequence to the timing master task and the timing slave task;

[0012] S14. According to the timing host task and the timing slave task, the host sends data in the odd sequence, and the slave sends data in the even sequence; each of the communication devices releases the bus after being idle for 4 timing flow units.

[0013] Preferably, in the embodiment of the present invention, after each of the communication devices has been idle for four of the timing flow units, if it is necessary to maintain the bus, it sends a heartbeat packet within the four timing flow units.

[0014] Preferably, in an embodiment of the present invention, the high-precision time synchronization includes:

[0015] The transplanted NTP algorithm is used to complete high-precision time synchronization; and the error calculation algorithm in the protocol is used to obtain the bus link communication delay and correct the delivery time;

[0016] The delayed data points are optimized based on the Kalman filter algorithm.

[0017] Preferably, in the embodiment of the present invention, the timing master task and the timing slave task include:

[0018] The timing authority is graded into master timing and slave timing; and the priority of the master timing is increased;

[0019] The timing master task is a master timing task; the timing slave task is a slave timing task.

[0020] Preferably, in an embodiment of the present invention, the number of the host timing flow unit sequences is greater than the number of the slave timing flow unit sequences.

[0021] Preferably, in the embodiment of the present invention, the starting work of each communication event is performed with the complete timing flow unit.

[0022] In another aspect of the present invention, there is also provided a high-precision, low-delay, high-bandwidth communication scheduling device based on timing flow control, comprising:

[0023] A time synchronization unit, used to perform high-precision time synchronization on the communication device where the networking registration application is located;

[0024] A timing stream unit sequence construction unit, used to generate a fixed-byte timing stream unit sequence according to the communication device after high-precision time synchronization; and divide the timing stream unit sequence into an odd sequence and an even sequence; the timing stream unit is 4 bytes in length;

[0025] A task starting unit, used for starting a timing master task and a timing slave task; and sending the timing flow unit sequence to the timing master task and the timing slave task;

[0026] The data transmission unit is used for, according to the timing host task and the timing slave task, the host sends data in the odd sequence and the slave sends data in the even sequence; each of the communication devices releases the bus after being idle for 4 timing flow units.

[0027] Preferably, in the embodiment of the present invention, the timing master task and the timing slave task include:

[0028] The timing authority is graded into master timing and slave timing; and the priority of the master timing is increased;

[0029] The timing master task is a master timing task; the timing slave task is a slave timing task.

[0030] On the other side of the embodiment of the present invention, a high-precision, low-latency, high-bandwidth communication scheduling device based on timing flow control is also provided; the high-precision, low-latency, high-bandwidth communication scheduling device based on timing flow control includes a computer program stored on a medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the methods described in the above aspects and achieves the same technical effects.

[0031] On the other hand, a storage medium is provided on which a computer program is stored. When the computer program is executed by a processor, the steps of the high-precision, low-latency, and high-bandwidth communication scheduling method based on timing flow control as described in any one of the above items are implemented.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] In the present invention, firstly, high-precision time synchronization is performed on the communication device where the networking registration application is located; a fixed-byte timing stream unit sequence is generated according to the communication device after high-precision time synchronization; and the timing stream unit sequence is divided into an odd sequence and an even sequence; the timing host task and the timing slave task are started; and the timing stream unit sequence is sent to the timing host task and the timing slave task; according to the timing host task and the timing slave task, the host sends data in an odd sequence, and the slave sends data in an even sequence; each communication device releases the bus after 4 timing stream units are idle for a period of time; the present invention overcomes the problems of communication reliability and serious bus conflicts under half-duplex high working conditions through a timing algorithm; and provides a reliable time base dependency for the timing algorithm through a high-precision time synchronization algorithm.

[0034] Furthermore, the present invention expands the basic timing algorithm, arranges timing tasks based on streaming transmission, and allows all actions to work at the specified timing, greatly reducing the number and time of byte transmission of the negotiation algorithm, and greatly reducing the communication delay caused by the protocol.

[0035] In addition, the present invention also realizes the low-latency slave machine active reporting capability.

[0036] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, and to make the above and other purposes, technical features and advantages of the present invention easier to understand, one or more preferred embodiments are listed below and described in detail with the accompanying drawings as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments will be briefly introduced below. 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 paying creative work.

[0038] Figure 1 It is a step diagram of the high-precision, low-latency, and high-bandwidth communication scheduling method based on timing flow control design described in the present invention;

[0039] Figure 2 It is a flow chart of the high-precision, low-latency, and high-bandwidth communication scheduling method based on timing flow control design described in the present invention;

[0040] Figure 3 is the flow chart of activating the coprocessor in the present invention;

[0041] Figure 4 It is the high-precision time synchronization flow chart of the present invention;

[0042] Figure 5 It is a schematic diagram of the accumulated communication delay in the present invention;

[0043] Figure 6 is a schematic diagram of time error correction data after Kalman filtering in the present invention;

[0044] Figure 7 It is the timing scheduling flow chart described in the present invention;

[0045] Figure 8 It is the main sequential task flow chart of the present invention;

[0046] Fig. 9 It is the sequential task flow chart described in the present invention;

[0047] Fig.10 It is a structural schematic diagram of the high-precision, low-latency, and high-bandwidth communication scheduling device based on the timing flow control design described in the present invention;

[0048] Fig.11 It is a schematic diagram of the structure of a high-precision, low-latency, and high-bandwidth communication scheduling device based on a timing flow control design described in the present invention. DETAILED DESCRIPTION

[0049] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0050] Unless expressly stated otherwise, throughout the specification and claims, the term "comprising"

[0051] The term “comprising” or “including” or its variations such as “comprise” or “comprises” will be understood as including the stated elements or components but does not exclude other elements or components.

[0052] In this document, the terms "first", "second", etc. are used to distinguish two different elements or parts, and are not used to limit a specific position or relative relationship. In other words, in some embodiments, the terms "first", "second", etc. can also be interchangeable.

[0053] Embodiment 1

[0054] In order to solve the problem of serious bus conflicts and communication delays caused by negotiation under high-reliability half-duplex, the timing algorithm, as the current high-efficiency data transmission algorithm, relies on fixed time slice planning and requires that each data works on a short time slice, thereby ensuring the reliability of two-way data transmission and communication while ensuring real-time performance as much as possible, and solving the communication order under different device priorities, and not delaying the reporting of low-priority data as much as possible. It is compatible with traditional round-robin training and allows the host to mainly actively inquire; the high-precision time synchronization algorithm includes time synchronization and communication time error correction. As the basis of timing, the high-precision time synchronization algorithm provides a time base for the generation of timing flow, ensuring an efficient mode that relies on timing rather than negotiation during communication.

[0055] like Figure 1 and Figure 2 As shown, in an embodiment of the present invention, a high-precision, low-latency, and high-bandwidth communication scheduling method based on timing flow control is provided, comprising the steps of:

[0056] S11. Perform high-precision time synchronization on the communication device where the networking registration application is located;

[0057] In the embodiment of the present invention, a network or a network plus satellite time synchronization method is used to complete high-precision time synchronization and generate a high-precision time base; a high-precision time synchronization process, such as Figure 4 As shown, including:

[0058] The transplanted NTP algorithm is used to complete high-precision time synchronization; and the error calculation algorithm in the protocol is used to obtain the bus link communication delay and correct the delivery time;

[0059] The delayed data points are optimized based on the Kalman filter algorithm to improve the reliability of time calibration.

[0060] The Kalman filter algorithm is as follows:

[0061] Create two matrices A and B of size k+1; A = H k+1 , A is the observation matrix, length is k, k+1 is a new data will be inserted in the algorithm; B=R k+1 , B is the covariance matrix calculated based on the observation matrix.

[0062] Among them, observation matrix A is the original data point of historical data, and B is the matrix point after the previous round of correction (A=B in the first round of correction). When the first round of calculation starts, AB are both 0 matrices. When data is inserted, it is inserted from the matrix from top to bottom and from left to right in a circular covering manner.

[0063] The covariance calculation formula is:

[0064] P k∣k =(IK k H k ) k∣k (1)

[0065] In formula (1), P k is the covariance matrix; H k is the observation matrix; k is the matrix of the predicted data; I is the unit matrix; K+1 is the predicted point, which is the first data of the next cycle.

[0066] The observation matrix A is weighted averaged by the covariance matrix B to calculate the Kalman gain, which is the covariance of the current estimated time error divided by the covariance of the estimated time error plus the covariance of the measured time error:

[0067] K k =P k∣k H k T(H k P k∣k H k T+R k )-1 (2)

[0068] In formula (2), K kThe big K is the Kalman gain, which can be understood as a calculation coefficient; the small k is the data capacity; and T is the superscript transpose.

[0069] According to formula (2), the updated state estimation equation is obtained:

[0070]

[0071] In formula (3), For the predicted value at k+1, the orthogonal projection theorem is used to calculate the estimated ratio of the estimated value to the predicted value, and then the estimated ratio is used to estimate the last estimated value, Kalman gain and measured value to calculate the current estimated value through the following formula:

[0072]

[0073] In formula (4), F k It is the state transfer matrix, which records the changes that the data has undergone from the initial state to the current recorded state. It can be understood as δx, that is, the difference component, which records the difference between two numbers.

[0074] Figure 6 is the time error correction data after Kalman filtering.

[0075] S12, generating a fixed-byte timing stream unit sequence according to the communication device after high-precision time synchronization; and dividing the timing stream unit sequence into an odd sequence and an even sequence; the timing stream unit is 4 bytes in length;

[0076] In the embodiment of the present invention, a sequence of timing stream units is divided according to a fixed byte transmission duration, thereby forming a fixed stream format and avoiding communication consumption.

[0077] Generate a fixed-byte timing stream unit sequence based on the communication equipment after high-precision time synchronization, including:

[0078] S121, the communication device first applies for the right to use the bus, and the host decides whether to grant the communication device the right to use the bus; if it agrees, it sends an authorization package; if it disagrees, it notifies the communication device that it cannot use the bus;

[0079] In the embodiment of the present invention, the host arbitrates the ownership of the bus, which reduces the bus contention overhead and thus reduces the communication consumption by about 5%.

[0080] According to the algorithm, it can be estimated that the traditional bus contention consumption is

[0081] f(x)=∑ n＝1 2 n ×0(n)

[0082] The new sequential flow mode bus consumption is:

[0083] f1(x)=∑ n＝1 0(n)

[0084] This significantly reduces the time spent on competition.

[0085] S122, the operation is the same as that when the bus acquires the timing. After the communication device acquires the bus control right, the host odd-numbered (odd sequence) timing flow unit is still used to initiate communication, and the slave even-numbered (even sequence) timing flow unit is used to initiate communication.

[0086] S13, start the timing master task and the timing slave task; and send the timing stream unit sequence to the timing master task and the timing slave task;

[0087] The accumulated communication delay in the prior art is Figure 5 As shown, the exponential curve is the accumulated communication delay number as the number of communications increases, the broken line is the accumulated communication delay number as the number of communications increases for the timing algorithm, and different slopes are curves of the cycle lengths of different timing flow units.

[0088] In the embodiment of the present invention, Figure 7 In the timing scheduling process shown, the host first sends a timing start packet; the specific timestamp of the timing start is echoed in the timing start packet, so that all communication devices can start the timing flow synchronously.

[0089] Timing master tasks and timing slave tasks, including:

[0090] The timing permissions are classified into master timing and slave timing; and the master timing priority is increased;

[0091] The timing host task is the main timing task. The specific process of the main timing task is as follows: Figure 8 As shown; the timing slave task is the slave timing task, the specific process of the slave timing task is as follows: Fig. 9 As shown; relying on unified timing for communication rather than free preemption also saves the overhead of scheduling packages.

[0092] Since most of the time is spent on master polling, the number of master timing stream unit sequences is greater than that of slave timing stream unit sequences.

[0093] S14. According to the timing host task and the timing slave task, the host sends data in the odd sequence, and the slave sends data in the even sequence; each of the communication devices releases the bus after being idle for 4 timing flow units.

[0094] In the embodiment of the present invention, after each communication device has been idle for 4 timing flow units, if it needs to maintain the bus, it needs to send a heartbeat packet within 4 timing flow units.

[0095] The start of each communication event is communicated with a complete timing flow unit. If the timing flow unit is incomplete, it waits for the start time of the next unit to ensure timing alignment.

[0096] The present invention is applied to a high-speed single-duplex 100 Hz data acquisition system, comprising the following steps:

[0097] (1) Initialize the 485 bus to a communication rate of 921600;

[0098] (2) The host synchronizes time with the cloud server via NTP, and the Beidou module uses the 1PPS interface to provide 60us time accuracy;

[0099] (3) The host starts broadcasting networking commands, wakes up the slave devices in turn according to the networking address table and priority table, and sends the device priority address packet after the slave device responds. The handshake is completed after the slave device confirms;

[0100] (4) After the network is successfully established, the host sends a delay correction command, and the slaves send test packets in sequence. The host records the time difference from the arrival to the sending of the test packet, and replies to the slave. After removing the processing time, the slave calculates the average link delay until the last device is successfully timed, and reports the communication delay of this device to the host. The slave then pushes the communication delay into the error correction sequence;

[0101] (5) The host sends a timing flow start packet. According to the device delay number, the timing flow is started in whole milliseconds;

[0102] (6) After recording the communication delay, the slave starts the communication work and records the start time before each transmission;

[0103] (7) Each time the host receives data, it records the processing time and replies to the slave;

[0104] (8) After the slave confirms the data, it records the message arrival time and sends a bus release command;

[0105] (9) After the slave obtains the communication time difference, it pushes the new error into the error correction sequence, corrects the error using Kalman filtering, and then predicts an error for the next second, which is then superimposed into the timing sequence;

[0106] (10) All hosts initiate communication in odd-numbered timing flow units, and slaves initiate communication in even-numbered timing flow units. When all timing flows of the slaves are completed, a new round of communication begins.

[0107] Through the communication method implemented by the present invention, the probability of bus conflict is low, which ensures that the communication of the host is not conflicted, and there is no need for devices to negotiate bus preemption, thereby reducing communication delays; at the same time, since the time can be corrected in each round of communication, the timing stability is guaranteed, and devices can communicate at high speed for a long time without interruption or stopping for time synchronization, thereby increasing the bus communication channel utilization rate by more than 20% and reducing the communication delay of at least 14 bytes per packet transmission time.

[0108] To summarize, the embodiments of the present invention firstly perform high-precision time synchronization on the communication device where the networking registration application is located; generate a fixed-byte timing stream unit sequence according to the communication device after high-precision time synchronization; and divide the timing stream unit sequence into an odd sequence and an even sequence; start the timing host task and the timing slave task; and send the timing stream unit sequence to the timing host task and the timing slave task; according to the timing host task and the timing slave task, the host sends data in an odd sequence, and the slave sends data in an even sequence; each communication device releases the bus after being idle for 4 timing stream units; the present invention overcomes the problems of communication reliability and serious bus conflicts under half-duplex high working conditions through a timing algorithm; and provides a reliable time base dependence for the timing algorithm through a high-precision timing algorithm.

[0109] Furthermore, the present invention expands the basic timing algorithm, arranges timing tasks based on streaming transmission, and allows all actions to work at the specified timing, greatly reducing the number and time of byte transmission of the negotiation algorithm, and greatly reducing the communication delay caused by the protocol.

[0110] In addition, the present invention also realizes the low-latency slave machine active reporting capability.

[0111] Embodiment 2

[0112] Corresponding to the method embodiment, on the other side of the embodiment of the present invention, a high-precision, low-latency, high-bandwidth communication scheduling device based on timing flow control is also provided. Fig.10 A schematic diagram showing the structure of a high-precision, low-delay, high-bandwidth communication scheduling device based on timing flow control provided by an embodiment of the present invention is shown. The high-precision, low-delay, high-bandwidth communication scheduling device based on timing flow control is Figure 1 The device corresponding to the high-precision, low-latency, high-bandwidth communication scheduling method based on timing flow control described in the corresponding embodiment is implemented by means of a virtual device. Figure 1 In the corresponding embodiment, the high-precision, low-delay, high-bandwidth communication scheduling method based on timing flow control, each virtual module constituting the high-precision, low-delay, high-bandwidth communication scheduling device based on timing flow control can be executed by an electronic device, such as a network device, a terminal device or a server. Specifically, the high-precision, low-delay, high-bandwidth communication scheduling device based on timing flow control in the embodiment of the present invention includes:

[0113] The time synchronization unit 01 is used to perform high-precision time synchronization on the communication device where the networking registration application is located;

[0114] In the embodiment of the present invention, a network or a network plus satellite time synchronization method is used to complete high-precision time synchronization and generate a high-precision time base; a high-precision time synchronization process, such as Figure 4 As shown, including:

[0115] The transplanted NTP algorithm is used to complete high-precision time synchronization; and the error calculation algorithm in the protocol is used to obtain the bus link communication delay and correct the delivery time;

[0116] The delayed data points are optimized based on the Kalman filter algorithm to improve the reliability of time calibration.

[0117] The timing stream unit sequence construction unit 02 is used to generate a fixed-byte timing stream unit sequence according to the communication device after high-precision time synchronization; and divide the timing stream unit sequence into an odd sequence and an even sequence; the timing stream unit is 4 bytes in length;

[0118] Generate a fixed-byte timing stream unit sequence based on the communication equipment after high-precision time synchronization, including:

[0119] S121, the communication device first applies for the right to use the bus, and the host decides whether to grant the communication device the right to use the bus; if it agrees, it sends an authorization package; if it disagrees, it notifies the communication device that it cannot use the bus;

[0120] In the embodiment of the present invention, the host arbitrates the ownership of the bus, which reduces the bus contention overhead and thus reduces the communication consumption by about 5%.

[0121] According to the algorithm, it can be estimated that the traditional bus contention consumption is

[0122] f(x)=∑ n＝1 2 n ×0(n)

[0123] The new sequential flow mode bus consumption is:

[0124] f1(x)=∑ n＝1 0(n)

[0125] This significantly reduces the time spent on competition.

[0126] S122, the operation is the same as that when the bus acquires the timing. After the communication device acquires the bus control right, the host odd-numbered (odd sequence) timing flow unit is still used to initiate communication, and the slave even-numbered (even sequence) timing flow unit is used to initiate communication.

[0127] The task starting unit 03 is used to start the timing master task and the timing slave task; and send the timing flow unit sequence to the timing master task and the timing slave task;

[0128] In the implementation of the present invention, the timing authority is classified into master timing and slave timing; and the master timing priority is increased;

[0129] The timing master task is the master timing task; the timing slave task is the slave timing task.

[0130] The data transmission unit 04 is used for the host to send data in the odd sequence and the slave to send data in the even sequence according to the timing host task and the timing slave task; each of the communication devices releases the bus after being idle for 4 timing flow units.

[0131] In the embodiment of the present invention, after each communication device has been idle for 4 timing flow units, if it needs to maintain the bus, it needs to send a heartbeat packet within 4 timing flow units.

[0132] The start of each communication event is communicated with a complete timing flow unit. If the timing flow unit is incomplete, it waits for the start time of the next unit to ensure timing alignment.

[0133] It should be noted that the specific implementation and technical effects of the high-precision, low-latency, high-bandwidth communication scheduling device based on timing flow control in the embodiment of the present invention can be referred to Figure 1 The corresponding high-precision, low-latency, and high-bandwidth communication scheduling method based on timing flow control will not be described here.

[0134] Embodiment 3

[0135] Corresponding to the method embodiment, in the embodiment of the present invention, a high-precision, low-latency, high-bandwidth communication scheduling device based on timing flow control is also provided, such as a terminal, a server, etc. Among them, the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to this.

[0136] The embodiment of the present invention provides a high-precision, low-latency, high-bandwidth communication scheduling based on timing flow control. Fig.11 As shown, it may include:

[0137] Processor 1, communication interface 2, memory 3 and communication bus 4;

[0138] The processor 1, the communication interface 2, and the memory 3 communicate with each other via the communication bus 4;

[0139] Optionally, the communication interface 2 may be an interface of a communication module, such as an interface of a GSM module;

[0140] The processor 1 may be a central processing unit CPU, or an application-specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0141] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0142] The processor 1 is specifically used to execute the computer program stored in the memory 3 to perform the following steps:

[0143] S11. Perform high-precision time synchronization on the communication device where the networking registration application is located;

[0144] S12, generating a fixed-byte timing stream unit sequence according to the communication device after high-precision time synchronization; and dividing the timing stream unit sequence into an odd sequence and an even sequence; the timing stream unit is 4 bytes in length;

[0145] S13, start the timing master task and the timing slave task; and send the timing stream unit sequence to the timing master task and the timing slave task;

[0146] S14. According to the timing host task and the timing slave task, the host sends data in the odd sequence, and the slave sends data in the even sequence; each of the communication devices releases the bus after being idle for 4 timing flow units.

[0147] The above product can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the high-precision, low-latency, high-bandwidth communication scheduling method based on timing flow control provided by the embodiment of the present invention.

[0148] Embodiment 4

[0149] In an embodiment of the present invention, a storage medium is further provided, which may store a program suitable for execution by a processor, wherein the program is used to:

[0150] S11. Perform high-precision time synchronization on the communication device where the networking registration application is located;

[0151] S12, generating a fixed-byte timing stream unit sequence according to the communication device after high-precision time synchronization; and dividing the timing stream unit sequence into an odd sequence and an even sequence; the timing stream unit is 4 bytes in length;

[0152] S13, start the timing master task and the timing slave task; and send the timing stream unit sequence to the timing master task and the timing slave task;

[0153] S14. According to the timing host task and the timing slave task, the host sends data in the odd sequence, and the slave sends data in the even sequence; each of the communication devices releases the bus after being idle for 4 timing flow units.

[0154] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0155] The above product can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the methods provided by other embodiments of the present invention.

[0156] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0157] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0158] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0159] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0160] It should be understood that in the embodiments of the present application, the various embodiments and features can be combined with each other to solve the aforementioned technical problems.

[0161] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0162] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A high-precision, low-latency, high-bandwidth communication scheduling method based on sequential flow control, characterized in that: Includes steps: S11. Perform high-precision time synchronization on the communication device where the networking registration application is located; S12, generating a fixed-byte timing stream unit sequence according to the communication device after high-precision time synchronization; and dividing the timing stream unit sequence into an odd sequence and an even sequence; the timing stream unit is 4 bytes in length; S13, start the timing master task and the timing slave task; and send the timing stream unit sequence to the timing master task and the timing slave task; S14. According to the timing host task and the timing slave task, the host sends data in the odd sequence, and the slave sends data in the even sequence; each of the communication devices releases the bus after being idle for 4 timing flow units.

2. The high-precision, low-latency, and high-bandwidth communication scheduling method based on timing flow control according to claim 1 is characterized in that: After each of the communication devices has been idle for four of the timing flow units, if it is necessary to maintain the bus, it sends a heartbeat packet within the four timing flow units.

3. The high-precision, low-latency, and high-bandwidth communication scheduling method based on timing flow control according to claim 2 is characterized in that: The high-precision time synchronization includes: The transplanted NTP algorithm is used to complete high-precision time synchronization; and the error calculation algorithm in the protocol is used to obtain the bus link communication delay and correct the delivery time; The delayed data points are optimized based on the Kalman filter algorithm.

4. The high-precision, low-latency, and high-bandwidth communication scheduling method based on timing flow control according to claim 3 is characterized in that: The timing master task and the timing slave task include: The timing authority is graded into master timing and slave timing; and the priority of the master timing is increased; The timing master task is a master timing task; the timing slave task is a slave timing task.

5. The high-precision, low-latency, and high-bandwidth communication scheduling method based on timing flow control according to claim 4 is characterized in that: The number of the master timing flow unit sequences is greater than that of the slave timing flow unit sequences.

6. The high-precision, low-latency, and high-bandwidth communication scheduling method based on timing flow control according to claim 5 is characterized in that: The starting work of each communication event is communicated with a complete timing flow unit.

7. A high-precision, low-latency, high-bandwidth communication scheduling device based on timing flow control, characterized in that: include: A time synchronization unit, used to perform high-precision time synchronization on the communication device where the networking registration application is located; A timing stream unit sequence construction unit is used to generate a fixed-byte timing stream unit sequence according to the communication device after high-precision time synchronization; and divide the timing stream unit sequence into an odd sequence and an even sequence; the timing stream unit is 4 bytes in length; A task start unit is used to start the timing master task and the timing slave task; and sending the timing stream unit sequence to the timing master task and the timing slave task; The data transmission unit is used for, according to the timing host task and the timing slave task, the host sends data in the odd sequence and the slave sends data in the even sequence; each of the communication devices releases the bus after being idle for 4 timing flow units.

8. The high-precision, low-latency, high-bandwidth communication scheduling device based on timing flow control according to claim 6, characterized in that: The timing master task and the timing slave task include: The timing authority is graded into master timing and slave timing; and the priority of the master timing is increased; The timing master task is a master timing task; the timing slave task is a slave timing task.

9. A high-precision, low-latency, high-bandwidth communication scheduling device based on timing flow control, characterized in that: include: Memory for storing computer programs; A processor is used to call and execute the computer program to implement the steps of the high-precision, low-latency and high-bandwidth communication scheduling method based on timing flow control as described in any one of claims 1-6.

10. A storage medium, characterized in that: It comprises a software program, which is suitable for a processor to execute the steps of the high-precision, low-latency and high-bandwidth communication scheduling method based on timing flow control as described in any one of claims 1-6.

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