Ship test data playback method

Abstract

A ship test data playback method comprises the following steps: (1) collecting data in real time in an actual scene, storing the collected data and processed data needing to be played back in a memory in real time, and covering historical data with new data in the memory; (2) reading an ini configuration file, and determining a playback corresponding address of each path of video data and data needing to be filtered out of DDS data; and (3) according to the protocol type of the read data, respectively outputting the same protocol data of the read data according to the time sequence. According to the method, network environment / communication modes are not distinguished, real-time data output and multi-ship data synchronous playback can be carried out, an actual test environment is better met, and problem searching and algorithm improvement are facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of ship testing, in particular to a ship testing data playback method. Background Art

[0002] Currently, R&D personnel in the laboratory cannot reproduce the test scenario in real time and find improvements for the algorithm problems in the scenario. Various algorithms cannot be tested jointly, especially when various devices have different communication methods (udp / tcp / dds) / different data types (video stream data / algorithm data). The existing solution is for each program to store its own data separately during the test, but the main problems of this solution are: (1) The system data cannot be aligned during program joint debugging; (2) The real-time performance of the program backtest is low or cannot be achieved in real time; (3) Some data is distorted or cannot be read back at all. For example, video data can only be read back in the form of images, while DDS data cannot be read back at all. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a ship test data playback method in view of the shortcomings of the prior art. The method does not distinguish between network environment / communication mode, can perform real-time data output and synchronous playback of multi-ship data, is more in line with the actual test environment, and is conducive to finding problems and improving algorithms.

[0004] The technical problem to be solved by the present invention is achieved by the following technical solution. The present invention is a ship test data playback method, which comprises the following steps: (1) Collect data in real time in the actual scene, and store the collected data and processed data that needs to be played back in real time in the memory, and the new data in the memory overwrites the historical data; (2) Read the ini configuration file to determine the corresponding address of each channel of video data playback and the data that needs to be filtered out of the DDS data; (3) According to the protocol type of the read data, the read data is output in chronological order as data of the same protocol.

[0005] The technical problem to be solved by the present invention can be further achieved by the following technical solution. For the ship test data playback method described above, in step (1), the processed data is the data obtained after processing the collected data.

[0006] The technical problem to be solved by the present invention can be further achieved by the following technical solution. For the ship test data playback method described above, in step (2), the output destinations of various types of data in the ini configuration file are written by the user according to needs.

[0007] The technical problem to be solved by the present invention can also be further achieved by the following technical solutions. For the ship test data playback method described above, in step (2), the video data parsing and output channel data, each video data source address port number and output address port, video data stream format and decoding method, and information on whether to store data on the disk are defined through the ini configuration file. At the same time, the data list that needs to be filtered for DDS data is defined, and the dynamic filtering function of UDP packets is supported.

[0008] The technical problem to be solved by the present invention can be further achieved by the following technical solution. For the ship test data playback method described above, in step (3), after reading the latest data from the data file of the acquisition end, the protocol type of the data is first determined, and then the read data is output in chronological order according to the protocol type.

[0009] The technical problem to be solved by the present invention can be further achieved by the following technical solutions. For the ship test data playback method described above, the method processes the different protocol type messages collected in real time in the actual scene and resends them to the network, including: UDP datagram: After obtaining the entire protocol data content, the data content is sent directly to the network card, reducing the time consumption caused by using sockets and supporting IP filters; Rtsp data message: parse and convert the rtsp video data in the message to retain only the video data, and then push it to the network again according to the configuration file information; DDS data message: parse the real data from the original network DDS message, filter out unnecessary data according to the configuration file content, and then distribute it through the DDS protocol; Synchronous playback of multi-ship data: By aligning the time codes of different ship data packets, the purpose of synchronous playback of multi-ship data can be achieved.

[0010] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can truly reproduce the ship test environment, and invents the analysis and processing flow of data files, which can simultaneously replay network data of different protocols such as TCP / UDP / DDS / RTSP, and can be used for complete data reproduction of the operation process of the remote operation system, and can be used for operation analysis and operation action reproduction; 2. The present invention improves the efficiency of large data volume playback, adds the functions of acceleration, deceleration, pause and dragging time bar playback, and meets the requirements of unmanned boat measurement and control data playback; 3. Based on the reproducible network data message playback, it can help R&D personnel to find and improve the problems of visual recognition / radar recognition / assisted driving algorithms to improve efficiency; at the same time, various application programs can be copied through the playback data to improve the stability of the program, reduce the operating time of onboard equipment, and save various resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a method flow chart of the present invention; Figure 2 is a schematic diagram of a configurable file of the present invention; Figure 3 It is a schematic diagram of the operation interface of the present invention. DETAILED DESCRIPTION

[0012] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0013] A ship test data playback method obtains historical data and can play back filtered data according to the needs of R&D personnel to help R&D personnel improve visual recognition / radar recognition / assisted driving algorithms, thereby improving the authenticity and reliability of data playback; The method is applicable to the case where data collected in an actual scene is played back at a playback end, and can be executed by an electronic device, and specifically includes: S1, collecting data in real time in an actual scene, and storing the collected data and processed data to be replayed in real time in a memory, where new data overwrites historical data; Wherein, the processed data is data obtained after processing the collected data; Taking the autonomous driving scenario as an example, the actual scenario is the actual route of the autonomous driving ship; the collection end is the various sensing devices and data recording devices deployed in the autonomous driving ship. The data recording device is the data recording center of the autonomous driving system and stores the data of each module of the autonomous driving system; The modules of the autonomous driving system include: perception module / fusion module / positioning module / flight control module, etc. There is a large amount of data interaction between modules and devices. For example, the visual device will send a large amount of video data to the visual recognition program. In order to improve the efficiency of playback, it is necessary to create some memory first, and then send the memory data directly to the network card to achieve the fastest data interaction; S2, read the ini configuration file, determine the corresponding address of each channel of video data playback and the data that needs to be filtered out of the DDS data; The various data output destinations described in the ini configuration file can be written by the user as needed; Figure 2 is a schematic diagram of an ini file provided by an embodiment of the present invention, such as Figure 2 As shown in the figure, the ini file defines the video data analysis and output channel data, defines the address port number and output address port of each video data source, the video data stream format and decoding method, whether to store on disk, etc., and also defines the data list that needs to be filtered for DDS data, and supports the dynamic filtering function of UDP packets, such as Figure 3 As shown; S3, according to the protocol type of the read data, outputting the read data in chronological order respectively with the same protocol data; After reading the latest data from the data file on the acquisition end, first determine the protocol type of the data, and then output the same protocol data in chronological order according to the protocol type; For example, if the data read is udp data, the data is placed in the network memory buffer, and after the buffer is full, it is sent to the network card. If the data read is video data, the RTP format video data is decoded into general video data, and then resent to the network according to the user configuration file content. The client program can receive the data. If it is DD data, the DDS protocol data is removed to extract the real data content and then distributed through DDS.

[0014] The present invention provides a data playback method, which processes and resends different protocol type messages collected in real time in actual scenarios to the network, including: UDP datagram: After obtaining the entire protocol data content, the data content is sent directly to the network card, reducing the time consumption caused by using sockets and supporting IP filters; Rtsp data message: parse and convert the rtsp video data in the message to retain only the video data, and then push it to the network again according to the configuration file information; DDS data message: parse the real data from the original network DDS message, filter out unnecessary data according to the configuration file content, and then distribute it through the DDS protocol; Synchronous playback of multi-ship data: By aligning the time codes of different ship data packets, the purpose of synchronous playback of multi-ship data can be achieved.

[0015] Compared with the prior art, the present invention provides a ship test data playback method, which is a data collection and data playback method and system based on message middleware. The method is a data collection and data playback method designed based on message middleware in various links such as data collection, processing, and storage, which improves the stability and availability of the system. First, by designing and implementing a data collection and data playback system, the data stored in the distributed message middleware is uniformly processed and stored, and then the data is processed by derivation of a data model, and the processed data information is transmitted to the user; The present invention can help users complete analysis. During the playback process, all clients that originally participated in the transmission are played back online to show the collaboration process again, ensuring the correctness of the business processing logic during the playback process. In addition, the playback theme and start and end time are also a controllable factor, which is used to flexibly control the playback progress, making it easier to analyze the key points of business processing and focus on the execution of key businesses.

[0016] Beneficial effects of the present invention: 1. It can reproduce the ship test environment in real time, invent the analysis and processing flow of data files, and can simultaneously play back network data of different protocols such as TCP / UDP / DDS / RTSP, which can be used for complete data reproduction of the operation process of the remote control system, and can be used for operation analysis and operation action reproduction; 2. Improved the efficiency of large data playback, added acceleration, deceleration, pause and drag time bar playback functions, meeting the requirements of unmanned boat measurement and control data playback; 3. Based on the reproducible network data message playback, it can help R&D personnel to find and improve the problems of visual recognition / radar recognition / assisted driving algorithms to improve efficiency; at the same time, various application programs can be copied through the playback data to improve the stability of the program, reduce the operating time of onboard equipment, and save various resources.

Claims

1. A ship test data playback method, characterized in that: The method comprises the following steps: (1) Collect data in real time in the actual scene, and store the collected data and processed data that needs to be played back in real time in the memory, and the new data in the memory overwrites the historical data; (2) Read the ini configuration file to determine the corresponding address of each channel of video data playback and the data that needs to be filtered out of the DDS data; (3) According to the protocol type of the read data, the read data is output in chronological order as data of the same protocol.

2. The ship test data playback method according to claim 1, characterized in that: In step (1), the processed data is data obtained after processing the collected data.

3. The ship test data playback method according to claim 1, characterized in that: In step (2), the output destinations of various data in the ini configuration file are written by the user according to needs.

4. The ship test data playback method according to claim 1 or 3, characterized in that: In step (2), the ini configuration file defines the video data parsing and output channel data, each video data source address port number and output address port, video data stream format and decoding method, and whether to store the data on the disk. It also defines the data list that needs to be filtered for DDS data, and supports the dynamic filtering function of UDP packets.

5. The ship test data playback method according to claim 1, characterized in that: In step (3), after reading the latest data from the data file at the acquisition end, first determine the protocol type of the data, and then output the same protocol data in chronological order according to the protocol type.

6. The ship test data playback method according to claim 1, characterized in that: This method processes the different protocol types of messages collected in real time in actual scenarios and resends them to the network, including: UDP datagram: After obtaining the entire protocol data content, the data content is sent directly to the network card, reducing the time consumption caused by using sockets and supporting IP filters; Rtsp data message: after parsing and converting the rtsp video data in the message, only the video data is retained, and then it is pushed to the network again according to the configuration file information; DDS data message: parse the real data from the original network DDS message, filter out unnecessary data according to the configuration file content, and then distribute it through the DDS protocol; Synchronous playback of multi-ship data: By aligning the time codes of different ship data packets, the purpose of synchronous playback of multi-ship data can be achieved.

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