Transmission queue hybrid scheduling method for time-sensitive network

Abstract

The embodiment of the invention relates to the technical field of network communication scheduling, in particular to a time-sensitive network-oriented transmission queue hybrid scheduling method, which comprises the following steps of: dividing a system scheduling period into a time-aware shaping scheduling period and a credit shaping scheduling period; for different network end systems, transmission time slots occupied by queues with the same priority and adopting time-aware shaping scheduling are set to be mutually exclusive, and transmission time slots occupied by queues with the same priority and adopting credit shaping scheduling are set to be shared; adding scheduling starting moments to the credit scheduling shapers of the transmission queues of the different network end systems, and setting the scheduling starting moments of the different network end systems to have a preset interval; the time-aware queue of each network end system transmits data by using the time-aware shaping scheduling time period, and the credit shaping queue transmits data by using the credit shaping scheduling time period. According to the method, delay jitter of service data exchange can be reduced, and the certainty of multi-service data stream hybrid transmission is improved.

Description

Technical Field

[0001] Embodiments of the present application relate to the technical field of network communication scheduling, and in particular to a transmission queue hybrid scheduling method for a time-sensitive network. Background Art

[0002] Time-Sensitive Networking (TSN) is the latest development trend of Ethernet switching technology. It ensures the certainty of key data frame transmission through mechanisms such as time synchronization, offline planning and resource reservation. In recent years, time-sensitive network technology has developed rapidly and has become a hot technology to replace dedicated buses and support IT / OT integration. It has broad application prospects in aviation, aerospace, automobiles, industrial control, rail transportation and mobile communication networks.

[0003] In a time-sensitive network system, the output port of each network end system has 8 transmission queues, and each transmission queue can use a credit-based traffic shaping algorithm to control the output timing of the service data flow. In a time-sensitive network system with a switched topology, when the output ports of multiple network end systems output multiple types of data with the same priority to the same network end system, the data with the same priority from different network end systems may arrive at the same priority queue of the switch port at the same time, causing data congestion, increasing the exchange delay of service data, and even causing packet loss, affecting the determinism of the system. In other words, a single transmission queue scheduling method based on credit shaping is difficult to achieve determinism when the output ports of multiple network end systems output multiple types of data with the same priority to the same network end system, while a single transmission queue scheduling method based on time-aware shaping will increase the complexity of time slot scheduling planning. Summary of the invention

[0004] In view of this, an embodiment of the present application proposes a transmission queue hybrid scheduling method for time-sensitive networks, which can reduce the delay jitter of business data exchange, avoid packet loss caused by insufficient switch port cache resources when data flow bursts, and effectively improve the certainty of mixed transmission of multiple business data streams.

[0005] In order to achieve the above-mentioned purpose, an embodiment of the present application provides a transmission queue hybrid scheduling method for a time-sensitive network, the method comprising the following steps: dividing the system scheduling cycle into a time-aware shaping scheduling period and a credit shaping scheduling period, the duration of the credit shaping scheduling period is based on the gated time slot control; for different network end systems, the transmission time slots occupied by the same priority queues using time-aware shaping scheduling are set to be mutually exclusive, and the transmission time slots occupied by the same priority queues using credit shaping scheduling are set to be shared; adding a scheduling start time to the credit scheduling shaper of the transmission queues of different network end systems, setting the scheduling start time of different network end systems to have a preset interval, and the preset interval is greater than the data frame transmission time of other network end systems; when the output ports of multiple network end systems output multiple types of data of the same priority to the same network end system, within a network scheduling cycle, the time-aware queues of each network end system use the time-aware shaping scheduling period to transmit data, and the credit shaping queues use the credit shaping scheduling period to transmit data.

[0006] In order to achieve the above-mentioned purpose, an embodiment of the present application also provides a transmission queue hybrid scheduling system for a time-sensitive network, including: a time period division module, which is used to divide the system scheduling cycle into a time-aware shaping scheduling period and a credit shaping scheduling period, and the duration of the credit shaping scheduling segment is based on the gated time slot control; a time slot occupancy setting module, which is used to set the transmission time slots occupied by the same priority queues using time-aware shaping scheduling to be mutually exclusive for different network end systems, and to set the transmission time slots occupied by the same priority queues using credit shaping scheduling to be shared; a scheduling start time setting module, which is used to add a scheduling start time to the credit scheduling shaper of the transmission queue of different network end systems, and set the scheduling start time of different network end systems to have a preset interval, and the preset interval is greater than the data frame transmission time of other network end systems; a data transmission module, which is used to instruct the time-aware queues of each network end system to use the time-aware shaping scheduling period to transmit data and the credit shaping queue to use the credit shaping scheduling period to transmit data within a network scheduling cycle when the output ports of multiple network end systems output multiple types of data of the same priority to the same network end system.

[0007] In order to achieve the above-mentioned purpose, an embodiment of the present application also provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a transmission queue hybrid scheduling method for a time-sensitive network as described above.

[0008] In order to achieve the above objectives, an embodiment of the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement a transmission queue hybrid scheduling method for a time-sensitive network as described above.

[0009] The embodiment of the present application proposes a hybrid scheduling method for transmission queues for time-sensitive networks. The method divides the system scheduling period of the time-sensitive network into a time-aware shaping scheduling period and a credit shaping scheduling period. The duration of the credit shaping scheduling period is based on gated time slot control. For different network end systems, the transmission time slots occupied by queues of the same priority group using time-aware shaping scheduling are set to be mutually exclusive, and the transmission time slots occupied by queues of the same priority group using credit shaping scheduling are set to be shared. A scheduling start time is added to the credit scheduling shaper of the transmission queues of different network end systems. The scheduling start time of different network end systems is set to have a preset interval, and the preset interval is greater than the data frame transmission time of other network end systems, thereby achieving deterministic control when the output ports of multiple network end systems output multiple types of data of the same priority to the same network end system, reducing the delay jitter of service data exchange, and avoiding packet loss caused by insufficient switch port cache resources when data streams burst.

[0010] In some optional embodiments, before dividing the system scheduling period into the time-aware shaping scheduling period and the credit shaping scheduling period, the method further includes: obtaining the transmission period of the time-aware shaping service data flow of each network end system in the time-sensitive network; wherein, T i Represents the transmission period of the time-aware shaping service data flow of the i-th network end system; calculates the greatest common divisor of the transmission periods of the time-aware shaping service data flows of each network end system, and uses the calculated greatest common divisor as the system scheduling period T.

[0011] In some optional embodiments, the time-aware shaping scheduling period is obtained by dividing the system scheduling period through the following steps: obtaining the transmission bandwidth of the time-aware shaping service data flow of each network end system; wherein, using B TASi represents the transmission bandwidth of the time-aware shaping service data flow of the i-th network end system; based on the system scheduling period T, the network interface communication rate V and the transmission bandwidth of the time-aware shaping service data flow of each network end system, the time-aware shaping scheduling time slot of each network end system is calculated; wherein, T1 is used i represents the time-aware shaping scheduling time slot of the i-th network end system, T1 i =B TASi *T / V; Calculate the sum of the time-aware shaping scheduling time slots of each network end system as the time-aware shaping scheduling period T1, and the time-aware shaping scheduling time slots of each network end system do not overlap in time; Among them, N represents the total number of network end systems in the time-sensitive network.

[0012] In some optional embodiments, T1 i =B TASi *T / V=α*T gcl , α is the first preset coefficient, T gcl is the minimum gating time slot of the network port; in the time-aware shaping scheduling period T1, the gating state of the i-th network end system is in the time-aware shaping scheduling time slot T1 i Set it to on in , and set it to off in other time-aware shaping scheduling time slots.

[0013] In some optional embodiments, the credit shaping scheduling period is obtained by dividing the system scheduling period through the following steps: calculating the difference between the system scheduling period T and the time-aware shaping scheduling period T1 as the credit shaping scheduling period T2; wherein T2=T-T1=β*T gcl , β is the second preset coefficient.

[0014] In some optional embodiments, the credit scheduling shaper of the transmission queue of different network end systems adds a scheduling start time, including: obtaining the transmission bandwidth of the credit shaping service data flow of each network end system; wherein, using B CBSi represents the transmission bandwidth of the credit shaping service data flow of the i-th network end system; based on the transmission bandwidth of the credit shaping service data flow of each network end system, the credit shaping service data frame transmission interval of each network end system is calculated; wherein, BAG i Indicates the credit shaping service data frame transmission interval of the i-th network end system, BAG i ≥V / B CBSi *T fi , T fi is the transmission time of a single data frame of the ith network end system; based on T fi Calculate the scheduling start time of the credit shaping scheduler of each network end system in T2; where ST i represents the scheduling start time corresponding to the i-th network end system, The scheduling start time corresponding to the first network end system is the start time of the credit shaping scheduling period T2. The interval between the scheduling start time corresponding to the i-th network end system and the scheduling start time corresponding to the i+1-th network end system is recorded as STG i .

[0015] In some optional embodiments, in T2, the scheduling start time ST corresponding to the i-th network end system i BAG iThe credit shaping scheduling queue of the i-th network end system is repeated at the time interval of ST i When the time arrives, and when there is a data frame, it starts sending data. i The transmission is completed in the time slot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings herein are incorporated into the specification and constitute a part of the specification of the present application, showing embodiments consistent with the present application and, together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 is a flow chart of a transmission queue hybrid scheduling method for a time-sensitive network provided in an embodiment of the present application;

[0018] Figure 2 It is a schematic diagram of the principle of a transmission queue hybrid scheduling method for a time-sensitive network provided in an embodiment of the present application;

[0019] Figure 3 is a structural diagram of a transmission queue hybrid scheduling system for a time-sensitive network provided in another embodiment of the present application;

[0020] Figure 4 It is a structural schematic diagram of an electronic device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0021] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0022] An embodiment of the present application proposes a transmission queue hybrid scheduling method for a time-sensitive network, which is applied to a server. The implementation details of the transmission queue hybrid scheduling method for a time-sensitive network proposed in this embodiment are described in detail below. The following content is only for the convenience of understanding the details provided, and is not necessary for the implementation of this solution. The specific process of the transmission queue hybrid scheduling method for a time-sensitive network proposed in this embodiment can be as follows: Figure 1 As shown, its working principle can be Figure 2 As shown, the method includes:

[0023] Step 101, dividing the system scheduling period into a time-aware shaping scheduling period and a credit shaping scheduling period, and the duration of the credit shaping scheduling period is based on gated time slot control.

[0024] In a specific implementation, after the time-sensitive network is built, the server can immediately calculate the system scheduling cycle and divide the system scheduling cycle into a time-aware shaping scheduling period and a credit shaping scheduling period. The duration of the credit shaping scheduling period is based on the gated time slot control.

[0025] In an example, there are N network end systems in a time-sensitive network, and the output port of each network end system has two transmission queues, one of which uses time-aware scheduling shaping, and the other uses credit scheduling shaping. The server first needs to obtain the transmission period of the time-aware shaping service data flow of each network end system in the time-sensitive network, and use T i It represents the transmission period of the time-aware shaping service data flow of the i-th network end system, and then it is necessary to calculate the greatest common divisor of the transmission periods of the time-aware shaping service data flows of each network end system, and the calculated greatest common divisor is used as the system scheduling period T. After calculating the system scheduling period T, the server can divide the system scheduling period T into the time-aware shaping scheduling period T1 and the credit shaping scheduling period T2.

[0026] In one example, for the time-aware shaping scheduling period T1, the server obtains the transmission bandwidth of the time-aware shaping service data flow of each network end system, and uses B TASi represents the transmission bandwidth of the time-aware shaping service data flow of the i-th network end system, and then based on the system scheduling period T, the network interface communication rate V and the transmission bandwidth of the time-aware shaping service data flow of each network end system, the time-aware shaping scheduling time slot of each network end system is calculated respectively, and the time-aware shaping scheduling time slot of the i-th network end system is recorded as T1 i , T1 i =B TASi *T / V, and finally calculate the sum of the time-aware shaping scheduling time slots of each network end system as the time-aware shaping scheduling period T1. N represents the total number of network end systems in the time-sensitive network. It should be noted that the time-aware shaping scheduling time slots of each network end system do not overlap in time.

[0027] In one example, T1 i =B TASi *T / V=α*T gcl , α is the first preset coefficient, T gcl is the minimum gating time slot of the network port. In the time-aware shaping scheduling period T1, the gating state of the i-th network end system is in the time-aware shaping scheduling time slot T1. i The value of α can be set by those skilled in the art according to actual needs.

[0028] In one example, for the credit shaping scheduling period T2, the server calculates the difference between the system scheduling period T and the time-aware shaping scheduling period T1 as the credit shaping scheduling period T2, T2 = T-T1 = β*T gcl , β is a second preset coefficient, which can be set by technicians in this field according to actual needs.

[0029] Step 102: for different network end systems, the transmission time slots occupied by the same priority queues using time-aware shaping scheduling are set to be mutually exclusive, and the transmission time slots occupied by the same priority queues using credit shaping scheduling are set to be shared.

[0030] In the specific implementation, for different network end systems, the server needs to set the transmission time slots occupied by the same priority queues using time-aware shaping scheduling to be mutually exclusive, and at the same time set the transmission time slots occupied by the same priority queues using credit shaping scheduling to be shared, that is, the time-aware shaping scheduling time slots corresponding to different network end systems cannot overlap, while the credit shaping scheduling time slots corresponding to different network end systems can overlap.

[0031] Step 103, adding a scheduling start time to the credit scheduling shaper of the transmission queue of different network end systems, setting the scheduling start time of different network end systems to have a preset interval, and the preset interval is greater than the data frame transmission time of other network end systems.

[0032] In a specific implementation, in order to avoid conflicts, the server needs to add a scheduling start time to the credit scheduling shaper of the transmission queue of different network end systems, and set the scheduling start time of different network end systems to have a preset interval, and the preset interval is greater than the data frame transmission time of other network end systems.

[0033] In an example, the server needs to obtain the transmission bandwidth of the credit shaping service data flow of each network end system, and the transmission bandwidth of the credit shaping service data flow of the i-th network end system can be recorded as B CBSi Then, based on the transmission bandwidth of the credit shaping service data flow of each network end system, the credit shaping service data frame transmission interval of each network end system is calculated respectively. The credit shaping service data frame transmission interval of the i-th network end system is recorded as BAG i , BAG i ≥V / B CBSi *T fi , T fi is the transmission time of a single data frame of the ith network end system. The server is based on T fi Calculate the scheduling start time of the credit shaping scheduler of each network end system in the credit shaping scheduling period T2. The scheduling start time corresponding to the i-th network end system is recorded as ST i , The scheduling start time corresponding to the first network end system is the start time of the credit shaping scheduling period T2. The interval between the scheduling start time corresponding to the i-th network end system and the scheduling start time corresponding to the i+1-th network end system is recorded as STG i .

[0034] Step 104, when the output ports of multiple network end systems output multiple types of data of the same priority level to the same network end system, within a network scheduling cycle, the time-aware queue of each network end system uses the time-aware shaping scheduling period to transmit data, and the credit shaping queue uses the credit shaping scheduling period to transmit data.

[0035] In the specific implementation, after completing the above settings, you can start the data transmission of the time-sensitive network. When the output ports of multiple network end systems simultaneously output multiple types of the same priority data to the same network end system, within a network scheduling cycle, the time-aware queue of each network end system uses the time-aware shaping scheduling period to transmit data, and the credit shaping queue uses the credit shaping scheduling period to transmit data.

[0036] It is worth noting that in the credit shaping scheduling period T2, the scheduling start time ST corresponding to the i-th network end system i BAG i The credit shaping scheduling queue of the i-th network end system is repeated at the time interval of ST i When the time arrives, and when there is a data frame, it starts sending data. i The transmission is completed in the time slot.

[0037] In this embodiment, the system scheduling period of the time-sensitive network is divided into a time-aware shaping scheduling period and a credit shaping scheduling period. The duration of the credit shaping scheduling period is based on the gated time slot control. For different network end systems, the transmission time slots occupied by the same priority queues using time-aware shaping scheduling are set to be mutually exclusive, and the transmission time slots occupied by the same priority queues using credit shaping scheduling are set to be shared. A scheduling start time is added to the credit scheduling shaper of the transmission queues of different network end systems, and the scheduling start time of different network end systems is set to have a preset interval, and the preset interval is greater than the data frame transmission time of other network end systems, thereby achieving deterministic control when the output ports of multiple network end systems output multiple types of data of the same priority to the same network end system, effectively reducing the delay jitter of business data exchange, and avoiding packet loss caused by insufficient switch port cache resources when data flow bursts.

[0038] The step division of the above methods is only for clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this application; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this application.

[0039] Another embodiment of the present application proposes a transmission queue hybrid scheduling system for a time-sensitive network. The following is a specific description of the details of the transmission queue hybrid scheduling system for a time-sensitive network proposed in this embodiment. The following content is only for the convenience of understanding the implementation details provided, and is not necessary for the implementation of this example. Figure 3 It is a schematic diagram of a transmission queue hybrid scheduling system for a time-sensitive network proposed in this embodiment, including: a time period division module 201, a time slot occupancy setting module 202, a scheduling start time setting module 203 and a data transmission module 204.

[0040] The time period division module 201 is used to divide the system scheduling period into a time-aware shaping scheduling period and a credit shaping scheduling period, and the duration of the credit shaping scheduling period is based on the gated time slot control.

[0041] The time slot occupancy setting module 202 is used to set the transmission time slots occupied by the same priority queues using time-aware shaping scheduling to be mutually exclusive for different network end systems, and to set the transmission time slots occupied by the same priority queues using credit shaping scheduling to be shared.

[0042] The scheduling start time setting module 203 is used to add scheduling start time to the credit scheduling shaper of the transmission queue of different network end systems, and set the scheduling start time of different network end systems to have a preset interval, which is greater than the data frame transmission time of other network end systems.

[0043] The data transmission module 204 is used to instruct the time-aware queue of each network end system to use the time-aware shaping scheduling period to transmit data, and the credit shaping queue to use the credit shaping scheduling period to transmit data within a network scheduling cycle when the output ports of multiple network end systems output multiple types of data of the same priority to the same network end system.

[0044] It is not difficult to find that this embodiment is a system embodiment corresponding to the above method embodiment, and this embodiment can be implemented in conjunction with the above method embodiment. The relevant technical details and technical effects mentioned in the above method embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the above method embodiment.

[0045] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed by this application, but this does not mean that there are no other units in this embodiment.

[0046] Another embodiment of the present application provides an electronic device, whose specific structure can be as follows: Figure 4 As shown, it includes: at least one processor 301; and a memory 302 that is communicatively connected to the at least one processor 301; wherein the memory 302 stores instructions that can be executed by the at least one processor 301, and the instructions are executed by the at least one processor 301 so that the at least one processor 301 can execute a transmission queue hybrid scheduling method for a time-sensitive network as described in the above-mentioned method embodiments.

[0047] Among them, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripheral devices, voltage regulators and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0048] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0049] Another embodiment of the present application relates to a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement a transmission queue hybrid scheduling method for a time-sensitive network as described in the above method embodiments.

[0050] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM (Read-Only Memory), RAM (Random Access Memory), disk or optical disk and other media that can store program codes.

[0051] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A transmission queue hybrid scheduling method for a time-sensitive network, characterized in that: include: The system scheduling cycle is divided into a time-aware shaping scheduling period and a credit shaping scheduling period, and the duration of the credit shaping scheduling period is based on the gated time slot control; For different network end systems, the transmission time slots occupied by the same priority queues using time-aware shaping scheduling are set to be mutually exclusive, and the transmission time slots occupied by the same priority queues using credit shaping scheduling are set to be shared; Adding a scheduling start time to the credit scheduling shaper of the transmission queue of different network end systems, setting the scheduling start time of different network end systems to have a preset interval, and the preset interval is greater than the data frame transmission time of other network end systems; When the output ports of multiple network end systems output multiple types of data of the same priority level to the same network end system, within a network scheduling cycle, the time-aware queue of each network end system uses the time-aware shaping scheduling period to transmit data, and the credit shaping queue uses the credit shaping scheduling period to transmit data.

2. The method according to claim 1, characterized in that: Before dividing the system scheduling period into the time-aware shaping scheduling period and the credit shaping scheduling period, it also includes: Obtaining the transmission period of the time-aware shaping service data flow of each network end system in the time-sensitive network; wherein Ti is used to represent the transmission period of the time-aware shaping service data flow of the i-th network end system; The greatest common divisor of the transmission periods of the time-aware shaping service data flows of each network end system is calculated, and the calculated greatest common divisor is used as the system scheduling period T.

3. The method according to claim 2, characterized in that The time-aware shaping scheduling period is divided from the system scheduling period by the following steps: Obtain the transmission bandwidth of the time-aware shaping service data flow of each network end system; wherein, B TASi represents the transmission bandwidth of the time-aware shaping service data flow of the i-th network end system; Based on the system scheduling period T, the network interface communication rate V and the transmission bandwidth of the time-aware shaping service data flow of each network end system, the time-aware shaping scheduling time slot of each network end system is calculated respectively; among them, T1 is used i represents the time-aware shaping scheduling time slot of the i-th network end system, T1 i =B TASi *T / V; The sum of the time-aware shaping scheduling time slots of each network end system is calculated as the time-aware shaping scheduling period T1, and the time-aware shaping scheduling time slots of each network end system do not overlap in time; wherein, N represents the total number of network end systems in the time-sensitive network.

4. The method according to claim 3, characterized in that: T1 i =B TASi *T / V=α*T gcl , α is the first preset coefficient, T gcl is the minimum gating time slot of the network port; In the time-aware shaping scheduling period T1, the gating state of the i-th network end system is in the time-aware shaping scheduling time slot T1 i Set it to on in , and set it to off in other time-aware shaping scheduling time slots.

5. The method according to claim 4, characterized in that The credit shaping scheduling period is divided from the system scheduling period by the following steps: Calculate the difference between the system scheduling period T and the time-aware shaping scheduling period T1 as the credit shaping scheduling period T2; where T2 = T-T1 = β*T gcl , β is the second preset coefficient.

6. The method according to claim 5, characterized in that The credit scheduling shaper of the transmission queue of different network end systems adds scheduling start time, including: Obtain the transmission bandwidth of the credit shaping service data flow of each network end system; where B CBSi represents the transmission bandwidth of the credit shaping service data flow of the i-th network end system; Based on the transmission bandwidth of the credit shaping service data flow of each network end system, the credit shaping service data frame transmission interval of each network end system is calculated; wherein, BAG i Indicates the credit shaping service data frame transmission interval of the i-th network end system, BAG i ≥V / B CBSi *T fi , T fi is the transmission time of a single data frame of the i-th network end system; Based on T fi Calculate the scheduling start time of the credit shaping scheduler of each network end system in the credit shaping scheduling period T2; wherein, ST i represents the scheduling start time corresponding to the i-th network end system, The scheduling start time corresponding to the first network end system is the start time of the credit shaping scheduling period T2. The interval between the scheduling start time corresponding to the i-th network end system and the scheduling start time corresponding to the i+1-th network end system is recorded as STG i .

7. The method according to claim 5, characterized in that In the credit shaping scheduling period T2, the scheduling start time ST corresponding to the i-th network end system i BAG i The credit shaping scheduling queue of the i-th network end system is repeated at the time interval of ST i When the time arrives, and when there is a data frame, it starts sending data. i The transmission is completed in the time slot.

8. A transmission queue hybrid scheduling system for time-sensitive networks, characterized in that: include: A time segmentation module is used to divide the system scheduling cycle into a time-aware shaping scheduling period and a credit shaping scheduling period, and the duration of the credit shaping scheduling period is based on the gated time slot control; A time slot occupancy setting module is used to set the transmission time slots occupied by the same priority queues using time-aware shaping scheduling to be mutually exclusive for different network end systems, and to set the transmission time slots occupied by the same priority queues using credit shaping scheduling to be shared; The scheduling start time setting module is used to add the scheduling start time to the credit scheduling shaper of the transmission queue of different network end systems, and set the scheduling start time of different network end systems to have a preset interval, and the preset interval is greater than the data frame transmission time of other network end systems; The data transmission module is used to instruct the time-aware queue of each network end system to use the time-aware shaping scheduling period to transmit data, and the credit shaping queue to use the credit shaping scheduling period to transmit data within a network scheduling cycle when the output ports of multiple network end systems output multiple types of data of the same priority to the same network end system.

9. An electronic device, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; In which, the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a transmission queue hybrid scheduling method for a time-sensitive network as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it can implement a transmission queue hybrid scheduling method for a time-sensitive network as described in any one of claims 1 to 7.

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