DDS and TSN-oriented service interlayer mapping method and related device

Abstract

The invention belongs to the technical field of communication, and discloses a DDS and TSN-oriented service interlayer mapping method and a related device, and the method comprises the steps: receiving a DDS layer data packet, and extracting a mapping network parameter in the DDS layer data packet; obtaining a mapping service parameter of the TSN layer data packet based on a preset mapping relation according to the mapping network parameter; extracting service data in the DDS layer data packet and constructing a TSN layer data packet in combination with the mapping service parameters of the TSN layer data packet; the mapping relation is obtained in the following mode: the mapping relation between the mapping network parameters of the DDS layer data packet and the mapping service parameters of the TSN layer data packet is set according to the theme of the DDS layer and the QoS strategy. According to the method, the mapping relation is established through the fields of the DDS data packet, interlayer mapping between the DDS and the TSN is achieved, high efficiency of the mapping process is guaranteed, the mapping method is irrelevant to a manufacturer and a version of the application layer DDS, a bottom layer operating system and a hardware platform, and universality is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of communication technology and relates to a service layer mapping method and related devices for DDS and TSN. Background Art

[0002] DDS (Data Distribution Service) is a distributed communication specification that uses a publish-subscribe model. Operating at the application layer, DDS serves as data distribution middleware, enabling end-to-end data communication based on a standard socket interface. DDS supports the transmission of various types of services. When implementing network communication using DDS, only the data's QoS (Quality of Service) requirements and transport layer parameters need to be configured, simplifying user-layer communication configuration. TSN (Time-Sensitive Networking) is a low-level network technology that complies with multiple IEEE (Institute of Electrical and Electronics Engineers) 802 protocol standards and operates at the data link layer. TSN categorizes services into three types: Scheduled Traffic (ST), Audio and Video Bridging (AVB), and Best Effort (BE), assigning different network transmission priorities to different service types. By defining a time-sensitive mechanism for data transmission, TSN enhances the determinism and reliability of standard Ethernet, ensuring real-time, deterministic, and reliable data transmission.

[0003] DDS and TSN are horizontal standards at different protocol levels. Fusion of these two technologies can amplify their respective strengths. TSN at the data link layer can ensure real-time and deterministic communication for DDS services at the application layer. DDS at the application layer can simplify TSN configuration at the data link layer and improve network compatibility. Currently, there are two main approaches to integrating DDS and TSN. The first approach integrates DDS and TSN through an adaptation layer and a QoS configuration module. This involves establishing a DDS communication adaptation layer and a TSN network adaptation layer between DDS and TSN to encapsulate and parse custom data formats. A separate QoS configuration module configures peer network parameters and the underlying TSN enablement for publishers and subscribers. The second approach integrates DDS and TSN by setting identifiers in the QoS. This approach distinguishes network scenarios, real-time status, and traffic load in the DDS QoS configuration. This is then parsed in TSN, and the corresponding control policies are invoked based on these flags.

[0004] However, the first fusion solution mentioned above is only applicable to systems that use the same data distribution service at the application layer, and has the drawback of being unable to communicate with other systems. The second fusion solution involves secondary development of the DDS protocol, and the identifiers set in the QoS are not universal, resulting in high complexity and high cost of use. In summary, both existing DDS and TSN fusion solutions require customized development of the QoS parameters in DDS, which is incompatible with upper-layer services from other versions or manufacturers. This leads to problems such as non-universality, difficulty in development, and high application costs. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a service layer mapping method and related devices for DDS and TSN.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a service layer mapping method for DDS and TSN, comprising: receiving a DDS layer data packet and extracting mapping network parameters in the DDS layer data packet; obtaining mapping service parameters of the TSN layer data packet based on a preset mapping relationship according to the mapping network parameters; extracting service data in the DDS layer data packet, and constructing a TSN layer data packet in combination with the mapping service parameters of the TSN layer data packet; wherein the mapping relationship is obtained in the following manner: setting a mapping relationship between the mapping network parameters of the DDS layer data packet and the mapping service parameters of the TSN layer data packet according to the subject and QoS policy of the DDS layer.

[0007] Optionally, the mapping network parameters include one or more of the following: source MAC address, destination MAC address, source IP address, destination IP address, source port number, and destination port number; the mapping service parameters of the TSN layer data packet include one or more of the following: virtual link identifier, service type, and service priority.

[0008] Optionally, the preset mapping relationship is implemented in the form of static storage query or linear calculation.

[0009] Optionally, when setting the mapping relationship between the mapping network parameters of the DDS layer data packet and the mapping business parameters of the TSN layer data packet: when the forwarding mode of the current business flow is unicast, the mapping network parameters of the DDS layer data packet and the mapping business parameters of the TSN layer data packet are one-to-one mapping; when the forwarding mode of the current business flow is multicast, the mapping network parameters of the DDS layer data packet and the mapping business parameters of the TSN layer data packet are many-to-one mapping.

[0010] Optionally, before obtaining the mapping service parameters of the TSN layer data packet based on the preset mapping relationship according to the mapping network parameters, the method further includes: checking the legality of the mapping network parameters.

[0011] Optionally, it also includes: receiving TSN layer data packets and extracting mapping business parameters of the TSN layer data packets; obtaining mapping network parameters based on the mapping business parameters and a preset mapping relationship; extracting network parameters corresponding to the mapping network parameters in the TSN layer data packets and comparing them with the mapping network parameters. When the comparison results are consistent, executing the TSN layer data packet receiving process; otherwise generating a prompt message.

[0012] Optionally, before obtaining the mapped network parameters based on the preset mapping relationship according to the mapped service parameters, the method further includes: checking the legality of the mapped service parameters.

[0013] In a second aspect, the present invention provides a service layer mapping system for DDS and TSN, comprising: an extraction module for receiving DDS layer data packets and extracting mapping network parameters in the DDS layer data packets; a mapping module for obtaining mapping service parameters of TSN layer data packets based on a preset mapping relationship according to the mapping network parameters; a data packet construction module for extracting service data in the DDS layer data packets, and constructing TSN layer data packets in combination with the mapping service parameters of the TSN layer data packets; wherein the mapping relationship is obtained in the following manner: according to the subject and QoS policy of the DDS layer, a mapping relationship between the mapping network parameters of the DDS layer data packets and the mapping service parameters of the TSN layer data packets is set.

[0014] In a third aspect of the present invention, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method for mapping service layers between DDS and TSN when executing the computer program.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-mentioned service layer mapping method for DDS and TSN.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention is a method for mapping between service layers of DDS and TSN. According to the network scale and characteristics, combined with the subject and QoS policy of the DDS layer, a mapping relationship between the mapping network parameters of the DDS layer data packet and the mapping service parameters of the TSN layer data packet is set, so as to achieve information matching between the mapping network parameters in the DDS layer data packet and the mapping service parameters in the TSN layer data packet, and achieve matching between the DDS layer application message and the different real-time data frames of the TSN layer. By using the existing fields in the DDS data packet, namely the mapping network parameters, to construct a mapping relationship, the inter-layer mapping between DDS and TSN is achieved, and the efficiency of the mapping process is guaranteed; and the mapping method is independent of the manufacturer, version, underlying operating system and hardware platform of the application layer DDS, and has universal applicability. Based on this inter-layer mapping method, the complex underlying TSN network configuration can be shielded by using DDS technology at the application layer to enhance network flexibility, and the real-time and deterministic nature of the DDS service can be enhanced by using TSN technology at the data link layer. The combination of the two has the advantages of efficient mapping, strong versatility and low development and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of the service layer mapping method for DDS and TSN according to an embodiment of the present invention.

[0018] Figure 2 This is a specific flowchart of DDS to TSN mapping in an embodiment of the present invention.

[0019] Figure 3 This is a specific flowchart of TSN to DDS mapping in an embodiment of the present invention.

[0020] Figure 4 This is a structural block diagram of the service layer mapping system for DDS and TSN according to an embodiment of the present invention.

[0021] Figure 5 This is a diagram of the functional architecture of an end node according to an embodiment of the present invention.

[0022] Figure 6 This is a network connection topology diagram of an embodiment of the present invention.

[0023] Among them, 1-application layer DDS middleware; 2-operating system; 3-TSN end system; 4-protocol stack; 5-device driver; 6-mapping table module; 7-inter-layer mapping module; 8-selection of mapping parameters; 9-determination of mapping rule module; 10-formation of mapping relationship table module; 11-extraction module; 12-legitimacy check module; 13-execution mapping mechanism module; 14-parameter comparison and verification module; 15-first interface; 16-second interface; 17-first TSN end node; 18-TSN switch node; 19-second TSN end node; 20-first application layer DDS; 21-first data link layer TSN; 22-second data link layer TSN; 23-second application layer DDS; 24-third data link layer TSN. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only 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 making creative efforts should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] The present invention is described in further detail below with reference to the accompanying drawings: See also Figure 1 In one embodiment of the present invention, a service layer mapping method for DDS and TSN is provided, which can achieve the matching between the application message of the DDS layer and the different real-time data frames of the TSN layer, thereby realizing the effective integration of DDS technology and TSN technology to improve network transmission performance.

[0027] Specifically, the service layer mapping method for DDS and TSN of the present invention includes the following steps: S1: Receives DDS layer data packets and extracts mapping network parameters in the DDS layer data packets.

[0028] S2: According to the mapping network parameters, the mapping service parameters of the TSN layer data packet are obtained based on the preset mapping relationship.

[0029] S3: Extract the service data from the DDS layer data packet and construct the TSN layer data packet by combining it with the mapped service parameters of the TSN layer data packet.

[0030] The mapping relationship is obtained by setting a mapping relationship between the mapping network parameters of the DDS layer data packet and the mapping service parameters of the TSN layer data packet according to the subject and QoS policy of the DDS layer.

[0031] The present invention is a method for mapping between service layers of DDS and TSN. According to the network scale and characteristics, combined with the subject and QoS policy of the DDS layer, a mapping relationship between the mapping network parameters of the DDS layer data packet and the mapping service parameters of the TSN layer data packet is set, so as to achieve information matching between the mapping network parameters in the DDS layer data packet and the mapping service parameters in the TSN layer data packet, and achieve matching between the DDS layer application message and the different real-time data frames of the TSN layer. By using the existing fields in the DDS data packet, namely the mapping network parameters, to construct a mapping relationship, the inter-layer mapping between DDS and TSN is achieved, and the efficiency of the mapping process is guaranteed; and the mapping method is independent of the manufacturer, version, underlying operating system and hardware platform of the application layer DDS, and has universal applicability. Based on this inter-layer mapping method, the complex underlying TSN network configuration can be shielded by using DDS technology at the application layer to enhance network flexibility, and the real-time and deterministic nature of the DDS service can be enhanced by using TSN technology at the data link layer. The combination of the two has the advantages of efficient mapping, strong versatility and low development and maintenance costs.

[0032] In one possible implementation, the mapped network parameters include one or more of the following: source MAC (Media Access Control) address, destination MAC address, source IP (Internet Protocol) address, destination IP address, source port number, and destination port number; and the mapped service parameters of the TSN layer data packet include one or more of the following: virtual link identifier, service type, and service priority.

[0033] For explanatory purposes, in a DDS and TSN converged system, mapping relationships are used to match the QoS parameters of DDS topics and different services with the different real-time service flows of TSN. Establishing these mapping relationships is a prerequisite for achieving the convergence of DDS and TSN communication systems. These mapping relationships are generally bidirectional, with DDS-to-TSN mapping implemented on the sender side and TSN-to-DDS mapping implemented on the receiver side.

[0034] In a possible implementation, the preset mapping relationship is implemented in the form of static storage query or linear calculation. Explanatoryally, the static storage query can be in the form of a mapping relationship table.

[0035] In a possible implementation, the mapping relationship between the mapping network parameters of the DDS layer data packet and the mapping business parameters of the TSN layer data packet is set: when the forwarding mode of the current business flow is unicast, the mapping network parameters of the DDS layer data packet and the mapping business parameters of the TSN layer data packet are one-to-one mapping; when the forwarding mode of the current business flow is multicast, the mapping network parameters of the DDS layer data packet and the mapping business parameters of the TSN layer data packet are many-to-one mapping.

[0036] For example, the process for dynamically establishing a mapping relationship between the sender and the receiver is the same, as follows: 1) Determine the DDS layer topic and QoS policy based on current user needs. Based on this, determine the mapping object for the DDS layer packet. However, since the DDS layer packet does not contain the DDS layer topic and QoS policy, the mapping network parameters in the DDS layer packet are further used for representation. For example, to ensure mapping efficiency and protocol compliance, a single or multiple different topics and QoS policies can be selected to represent different quality of service requirements.

[0037] 2) Determine the TSN layer's virtual link identifier, service type, and service priority based on the current network traffic characteristics, and then determine the mapping service parameters for the TSN layer data packet. For example, to ensure mapping efficiency and protocol specifications, a single or multiple different virtual link identifiers, service types, and service priorities are selected as mapping service parameters to represent different service real-time and bandwidth requirements.

[0038] 3) Mapping rules are divided into one-to-one mapping and many-to-one mapping according to the forwarding mode of the current business flow. When the business flow is unicast (one source end sends to one destination end), the mapping rule is one-to-one mapping, that is, the mapping business parameters of a group of TSN layer data packets correspond to the mapping network parameters of a group of DDS layer data packets; when the business flow is multicast (one source end sends to multiple destination ends), the mapping rule is many-to-one mapping, that is, the mapping business parameters of a group of TSN layer data packets correspond to the mapping network parameters of multiple groups of DDS layer data packets.

[0039] 4) A mapping relationship is formed based on the selected mapping parameters and mapping rules. To improve mapping efficiency, the mapping relationship table is implemented in memory based on the actual network situation and the current implementation is written to the configuration information. The implementation can be divided into two types: static storage query and linear calculation.

[0040] 5) During actual communication, the mapping relationship is used to obtain the output parameters (the mapping network parameters of the DDS layer data packet or the mapping business parameters of the TSN layer data packet) from the input parameters (the mapping network parameters of the DDS layer data packet or the mapping business parameters of the TSN layer data packet), and then the corresponding sending / receiving process is executed according to the parameters.

[0041] In a possible implementation, before obtaining the mapped service parameters of the TSN layer data packet based on the mapped network parameters and a preset mapping relationship, the method further includes: checking the legality of the mapped network parameters.

[0042] For example, check whether the IP address in the mapped network parameters of the DDS layer data packet is within the current network segment and whether the port number is within the limited range, etc., to ensure the correctness of the mapped network parameters of the DDS layer data packet.

[0043] In a possible implementation, the service layer mapping method for DDS and TSN further includes: receiving TSN layer data packets and extracting mapping service parameters of the TSN layer data packets; obtaining mapping network parameters based on a preset mapping relationship according to the mapping service parameters; extracting network parameters corresponding to the mapping network parameters in the TSN layer data packets and comparing them with the mapping network parameters. When the comparison results are consistent, executing the TSN layer data packet receiving process; otherwise, generating a prompt message.

[0044] Explanatory, during reception, the mapping business parameters in the TSN layer data packet are mainly mapped to the mapping network parameters of the DDS layer data packet for comparison to ensure correct transmission.

[0045] In a possible implementation manner, before obtaining the mapped network parameters based on the mapped service parameters and a preset mapping relationship, the method further includes: checking the legality of the mapped service parameters.

[0046] For example, check whether the virtual link identifier in the mapping service parameters of the TSN layer data packet is within the specified range, whether the priority matches the service type and whether it is within the specified range, etc., to ensure the correctness of the mapping service parameters of the TSN layer data packet.

[0047] For example, see Figure 2 , shows the mapping from DDS to TSN at the sending end. The main process is as follows: 1) First, parse the DDS layer data packet, extract the mapping network parameters of the DDS layer data packet as mapping input parameters, and check the legality of the input parameters.

[0048] 2) Determine the mapping implementation method by reading the current configuration information. If the configuration information is to query the mapping relationship table, the mapping output parameters are obtained according to the mapping input parameters by querying the mapping relationship table; if the configuration information is to calculate the mapping rule, the mapping output parameters are calculated according to the mapping algorithm based on the mapping input parameters and the legitimacy of the mapping output parameters is determined.

[0049] 3) The mapping output parameters are the mapping business parameters of the TSN layer data packet, and are combined with the business data of the DDS layer data packet to complete the TSN layer data packet framing.

[0050] For example, see Figure 3 , shows the mapping from TSN to DDS at the receiving end. The main process is as follows: 1) First, parse the TSN layer data packet, extract the mapping business parameters of the TSN layer data packet as mapping input parameters, and check the legality of the input parameters.

[0051] 2) Determine the mapping implementation method by reading the current configuration information. If the configuration information is to query the mapping relationship table, the mapping output parameters are obtained according to the mapping input parameters by querying the mapping relationship table; if the configuration information is to calculate the mapping rule, the mapping output parameters are calculated according to the mapping algorithm based on the mapping input parameters and the legitimacy of the mapping output parameters is determined.

[0052] 3) Parse the TSN layer data packet, obtain the content in the TSN layer data packet corresponding to the mapped network parameters of the DDS layer data packet, and compare and verify it with the mapped network parameters of the DDS layer data packet to further determine the correctness of the transmitted TSN layer data packet.

[0053] 4) Execute the data receiving process.

[0054] In one possible implementation, a functional test is performed on the DDS and TSN inter-layer mapping methods. A network consisting of two end nodes and a switch node is built. Both end nodes use DDS technology at the application layer and TSN technology at the data link layer. The network plans two services with different real-time requirements, and results monitoring and data verification are performed at the end nodes.

[0055] After the communication was completed, there was no packet loss or error. Different real-time services were able to successfully reach the peer node after inter-layer mapping. The average delay jitter of the DDS statistical service was less than 200us. This shows that the DDS and TSN inter-layer mapping method designed by the present invention achieves the mapping of different real-time services in the network, which can ensure the real-time and deterministic data communication. The results show that the present invention has good feasibility. The use of dynamic construction of mapping tables and inter-layer service mapping mechanism can flexibly and efficiently complete service mapping, meeting expectations.

[0056] The following are device embodiments of the present invention, which can be used to perform the method embodiments of the present invention. For details not disclosed in the device embodiments, please refer to the method embodiments of the present invention.

[0057] See also Figure 4 In another embodiment of the present invention, a service layer mapping system for DDS and TSN is provided, which can be used to implement the above-mentioned service layer mapping method for DDS and TSN. Specifically, the service layer mapping system for DDS and TSN includes an extraction module, a mapping module and a data packet construction module.

[0058] Among them, the extraction module is used to receive DDS layer data packets and extract the mapping network parameters in the DDS layer data packets; the mapping module is used to obtain the mapping business parameters of the TSN layer data packets based on the preset mapping relationship according to the mapping network parameters; the data packet construction module is used to extract the business data in the DDS layer data packets, and construct the TSN layer data packets in combination with the mapping business parameters of the TSN layer data packets; wherein the mapping relationship is obtained in the following way: according to the subject and QoS policy of the DDS layer, the mapping relationship between the mapping network parameters of the DDS layer data packets and the mapping business parameters of the TSN layer data packets is set.

[0059] In one possible implementation, the DDS- and TSN-oriented service layer mapping system further includes: a mapping parameter selection module, a mapping rule determination module, and a mapping relationship table formation module. The mapping parameter selection module is configured to determine mapping network parameters based on the DDS layer's subject and QoS policy; and to determine mapping service parameters based on the service parameters of the TSN layer's data packets. The mapping rule determination module is configured to establish a mapping relationship between the mapping network parameters of the DDS layer's data packets and the mapping service parameters of the TSN layer's data packets. The mapping relationship table formation module is configured to generate a mapping relationship table based on the mapping relationship.

[0060] In a possible implementation, the DDS and TSN-oriented service layer mapping system further includes: a legitimacy check module for checking the legitimacy of the mapped network parameters of the DDS layer data packet and for checking the legitimacy of the mapped service parameters of the TSN layer data packet.

[0061] In a possible implementation, the DDS and TSN-oriented service layer mapping system further includes a parameter comparison and verification module configured to compare network parameters corresponding to the mapped network parameters in the TSN layer data packet with the mapped network parameters.

[0062] In one possible implementation, see Figure 5 , shows the functional architecture of the end node. Among them, the protocol stack 4, device driver 5, mapping table module 6 and inter-layer mapping module 7 are all functional modules within the operating system. The mapping table module 6 is composed of a mapping parameter selection module 8, a mapping rule determination module 9 and a mapping relationship table formation module 10. The inter-layer mapping module 7 is composed of an extraction module 11, a legality check module 12, an execution mapping mechanism module 13 and a first parameter comparison verification module 14. Figure 6 , shows the network connection topology, the first TSN end node 17 is composed of the first application layer DDS20 and the first data link layer TSN21; the TSN switch node 18 mainly includes the second data link layer TSN22; the second TSN end node 19 is composed of the second application layer DDS23 and the third data link layer TSN24.

[0063] During the communication process, when the end node acts as a sender, data is sent from the application layer DDS middleware 1 to the operating system 2 via the first interface 15, and the protocol stack 4 encapsulates the data layer by layer. The device driver 5 mainly implements software and hardware interaction. The service layer mapping system for DDS and TSN of the present invention is mainly composed of a mapping table module 6 and an inter-layer mapping module 7. The mapping table module 6 realizes the dynamic construction of the mapping table, and the inter-layer mapping module 7 implements the main service mapping process. The data is then sent to the TSN end system 3 via the second interface 16, and then sent to the network by the TSN end system 3 via the physical link; when the end node acts as a receiver, data is sent from the TSN end system 3 to the operating system 2 via the second interface 16. The device driver 5 mainly implements software and hardware interaction, the mapping table module 6 serves as the basis for mapping execution, the inter-layer mapping module 7 mainly completes the service mapping work, and then the protocol stack 4 parses the data layer by layer, and finally sends it to the application layer DDS middleware 1 via the first interface 15.

[0064] The following describes the communication process by taking the first TSN end node 17 sending a UDP (User Datagram Protocol) data packet to the second TSN end node 19 as an example.

[0065] 1) The application layer DDS middleware 1 in the first TSN end node 17 generates a data payload.

[0066] 2) When sending data for the first time, the application layer DDS middleware 1 needs to be initialized, configure topics and QoS, and execute the peer discovery process, which specifically includes the following: First, create the DCPS (Data-Centric Publish-Subscribe) system entity, including domains, topics, participants, publishers, subscribers, data writers, and data readers; second, configure topics and select corresponding QoS policies based on the current data type. When sending and receiving data of the same type, it is necessary to ensure that the topics and QoS policies of both ends match; finally, based on the current network scale, adopt centralized discovery or point-to-point discovery to implement DDS layer communication chain establishment. Here, since the network only contains two end nodes, the point-to-point discovery method is selected to establish the DDS layer connection.

[0067] 3) The application layer DDS middleware 1 encapsulates the data payload, adds DDS layer header information, and then calls the first interface 15 to send the data to the operating system 2.

[0068] 4) The protocol stack 4 in the operating system 2 encapsulates the data layer by layer, adding a UDP header, an IP header, and a MAC header in sequence.

[0069] 5) The mapping table module 6 in the operating system 2 constructs a mapping relationship table according to established rules.

[0070] 6) The inter-layer mapping module 7 in the operating system 2 performs mapping operations, specifically including: selecting the source IP address, destination IP address and UDP destination port number fields from the data packet as mapping input parameters; performing a validity check on the input parameters, including the format and value range; determining the mapping implementation method based on the configuration parameters, here using the method of querying the mapping table; obtaining the virtual link identifier, priority and queue information as output parameters based on the mapping relationship table and the input parameters.

[0071] 7) The device driver 5 in the operating system 2 sends the data and output parameters to the TSN end system 3 via the second interface 16.

[0072] 8) In the TSN end system 3, the TSN stream type is distinguished based on the output parameters, and the corresponding fields of the TSN frame are filled.

[0073] 9) The TSN end system 3 sends the data to the TSN switch node 18.

[0074] 10) The TSN switch node 18 receives the data and forwards the data to the second TSN end node 19 according to the forwarding table.

[0075] 11) The TSN end system 3 of the second TSN end node 19 receives and parses the data frame, and extracts the virtual link identifier, priority, and queue information as input parameters.

[0076] 12) The TSN end system 3 sends the input parameters and the parsed data frame to the operating system 2 via the second interface 16.

[0077] 13) The device driver 5 in the operating system 2 receives data and input parameters.

[0078] 14) The mapping table module 6 in the operating system 2 constructs a mapping relationship table according to established rules.

[0079] 15) The inter-layer mapping module 7 in the operating system 2 performs mapping operations, including: checking the validity of input parameters, including data format and value range; determining the mapping implementation method based on the configuration parameters, here using the method of querying the mapping table; obtaining the source IP address, destination IP address and UDP destination port number as output parameters based on the mapping relationship table and input parameters; extracting the above output parameters from the data frame and comparing them with the mapped parameters.

[0080] 16) The protocol stack 4 in the operating system 2 parses the data frame layer by layer, removing the MAC header, IP header, and UDP header in sequence.

[0081] 17) The operating system 2 passes the data upward to the application layer DDS middleware 1 via the first interface 15.

[0082] 18) The application layer DDS middleware 1 parses and verifies the data payload, removes the DDS layer header information after verification, and finally delivers the data to the upper layer user.

[0083] All relevant contents of each step involved in the embodiment of the aforementioned DDS and TSN-oriented service layer mapping method can be referred to the functional description of the functional modules corresponding to the DDS and TSN-oriented service layer mapping system in the embodiment of the present invention, and will not be repeated here.

[0084] The module division in the embodiments of the present invention is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in various embodiments of the present invention may be integrated into a single processor, exist physically as separate modules, or two or more modules may be integrated into a single module. The integrated modules may be implemented in either hardware or software functional modules.

[0085] In another embodiment of the present invention, a computer device is provided, comprising a processor and a memory, wherein the memory is used to store a computer program, the computer program including program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of the service layer mapping method for DDS and TSN.

[0086] In another embodiment of the present invention, a storage medium is provided, specifically a computer-readable storage medium (Memory). The computer-readable storage medium is a memory device in a computer device, used to store programs and data. It is understood that the computer-readable storage medium herein may include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides storage space that stores the terminal's operating system. Furthermore, the storage space also stores one or more instructions suitable for being loaded and executed by a processor. These instructions may be one or more computer programs (including program code). It should be noted that the computer-readable storage medium herein may be a high-speed RAM memory or a non-volatile memory, such as at least one disk storage device. The processor may load and execute the one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the DDS and TSN service layer mapping method described in the above-mentioned embodiment.

[0087] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0088] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0089] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A service layer mapping method for DDS and TSN, characterized in that: include: Receive DDS layer data packets and extract mapping network parameters in the DDS layer data packets; According to the mapping network parameters, the mapping service parameters of the TSN layer data packet are obtained based on the preset mapping relationship; Extract the business data from the DDS layer data packet and construct the TSN layer data packet by combining it with the mapped business parameters of the TSN layer data packet; The mapping relationship is obtained by setting a mapping relationship between the mapping network parameters of the DDS layer data packet and the mapping service parameters of the TSN layer data packet according to the subject and QoS policy of the DDS layer.

2. The service layer mapping method for DDS and TSN according to claim 1, characterized in that: The mapping network parameters include one or more of the following: source MAC address, destination MAC address, source IP address, destination IP address, source port number, and destination port number; The mapping service parameters of the TSN layer data packet include one or more of the following: virtual link identifier, service type and service priority.

3. The service layer mapping method for DDS and TSN according to claim 1, characterized in that: The preset mapping relationship is implemented in the form of static storage query or linear calculation.

4. The service layer mapping method for DDS and TSN according to claim 1, characterized in that: When setting the mapping relationship between the mapping network parameters of the DDS layer data packet and the mapping service parameters of the TSN layer data packet: When the forwarding mode of the current service flow is unicast, the mapping network parameters of the DDS layer data packet and the mapping service parameters of the TSN layer data packet are mapped one to one; When the forwarding mode of the current service flow is multicast, the mapping network parameters of the DDS layer data packet and the mapping service parameters of the TSN layer data packet are many-to-one mapping.

5. The service layer mapping method for DDS and TSN according to claim 1, characterized in that: Before obtaining the mapping service parameters of the TSN layer data packet based on the preset mapping relationship according to the mapping network parameters, the method further includes: checking the legality of the mapping network parameters.

6. The service layer mapping method for DDS and TSN according to claim 1, characterized in that: Also includes: Receive TSN layer data packets and extract the mapping business parameters of the TSN layer data packets; According to the mapped service parameters, a mapped network parameter is obtained based on a preset mapping relationship; Extract the network parameters corresponding to the mapped network parameters in the TSN layer data packet and compare them with the mapped network parameters. When the comparison results are consistent, execute the TSN layer data packet receiving process; otherwise, generate a prompt message.

7. The service layer mapping method for DDS and TSN according to claim 6, characterized in that: Before obtaining the mapped network parameters based on the preset mapping relationship according to the mapped service parameters, the method further includes: checking the legality of the mapped service parameters.

8. A service layer mapping system for DDS and TSN, characterized in that: include: An extraction module, configured to receive a DDS layer data packet and extract mapping network parameters from the DDS layer data packet; A mapping module is used to obtain mapping service parameters of TSN layer data packets based on the mapping network parameters and the preset mapping relationship; The data packet construction module is used to extract the business data in the DDS layer data packet and construct the TSN layer data packet by combining the mapped business parameters of the TSN layer data packet; The mapping relationship is obtained by setting a mapping relationship between the mapping network parameters of the DDS layer data packet and the mapping service parameters of the TSN layer data packet according to the subject and QoS policy of the DDS layer.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the DDS- and TSN-oriented service layer mapping method are implemented 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, the steps of the service layer mapping method for DDS and TSN are implemented as described in any one of claims 1 to 7.

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