Multipath redundant communication method and apparatus, electronic device, and storage medium

Abstract

The present invention relates to a multipath redundant communication method and apparatus, an electronic device, and a storage medium. The method comprises: in response to a topic subscription sent by a subscriber application, obtaining service data corresponding to the topic subscription and at least two communication links configured on the basis of a DDS adjustment protocol; encapsulating the service data on the basis of a DDS adjustment protocol to obtain target data packets corresponding to the at least two communication links; and respectively sending the plurality of target data packets to the subscriber application by means of the at least two communication links. In the above process, the reliability of data transmission based on a DDS adjustment protocol is improved.

Description

Multi-channel redundant communication method, device, electronic device and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on December 27, 2023, with application number 202311826748.2 and application name “Multi-channel redundant communication method, device, electronic device and storage medium”. The entire contents of the above Chinese patent application are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of communication technology, and in particular to a multi-channel redundant communication method, device, electronic device and storage medium. Background Art

[0004] In network communications, communication is achieved through the Data Distribution Service (DDS) protocol. The DDS protocol provides a data-centric connection service that distributes data in real time, efficiently, and flexibly, while ensuring data security. It can meet the needs of various distributed real-time communication applications. However, data transmission using the DDS protocol has low reliability. Summary of the Invention

[0005] In order to solve the above technical problems, the present disclosure provides a multi-channel redundant communication method, device, electronic device and storage medium.

[0006] In a first aspect, an embodiment of the present disclosure provides a multi-path redundant communication method, comprising:

[0007] In response to a topic subscription sent by a subscriber application, obtain business data corresponding to the topic subscription and at least two communication links configured based on a DDS adjustment protocol;

[0008] Encapsulating the service data according to the DDS adjustment protocol to obtain target data messages corresponding to the at least two communication links;

[0009] The plurality of target data messages are respectively sent to the subscriber application via the at least two communication links.

[0010] Optionally, the target data message includes: multiple target sub-data messages; the encapsulating the service data according to the DDS adjustment protocol to obtain the target data messages corresponding to the at least two communication links includes:

[0011] Dividing the business data to obtain multiple sub-business data;

[0012] The multiple sub-service data are encapsulated and processed according to the DDS adjustment protocol to obtain the target data message containing multiple target sub-data messages; the sub-service data and the target sub-data messages have a one-to-one correspondence.

[0013] Optionally, the DDS adjustment protocol includes a numbering parameter; and encapsulating the multiple sub-service data according to the DDS adjustment protocol to obtain the target data message including multiple target sub-data messages includes:

[0014] The multiple sub-business data are numbered to obtain data numbers, and the data numbers are used as the numbering parameters. The sub-business data are used as the payload data in the DDS adjustment protocol, and are encapsulated to obtain the multiple target sub-data messages corresponding to the multiple sub-business data.

[0015] Optionally, before responding to the topic subscription sent by the subscriber application, the method further includes:

[0016] The at least two communication links are preset according to the first address information of the target publisher application and the second address information of the subscriber application.

[0017] Optionally, the first address information includes at least two source addresses, and the second address information includes at least two destination addresses;

[0018] The presetting of the at least two communication links according to the first address information of the target publisher application and the second address information of the subscriber application comprises:

[0019] Determine the destination addresses corresponding to the at least two source addresses respectively to obtain the at least two communication links.

[0020] Optionally, dividing the business data to obtain a plurality of sub-business data includes:

[0021] Determining first sub-service data in the service data according to the target service type;

[0022] The business data is divided into the plurality of sub-business data including the first business sub-data and second business sub-data; the second business sub-data includes data in the business data except the first sub-business data.

[0023] Optionally, sending the plurality of target data messages to the subscriber application through the at least two communication links respectively includes:

[0024] sending first target sub-data messages corresponding to a plurality of first business sub-data to the subscriber application through the at least two communication links respectively;

[0025] The second target sub-data message corresponding to the second service sub-data is sent to the subscriber application through one of the at least two communication links.

[0026] Optionally, the target data message includes a communication type identifier; before sending the plurality of target data messages to the subscriber application through the at least two communication links, the method further includes:

[0027] Identify the communication type identifier corresponding to the target data message;

[0028] In a case where the communication type identifier corresponding to the target data message indicates that communication is performed based on the DDS adjustment protocol, it is determined to send a plurality of the target data messages to the subscriber application through the at least two communication links.

[0029] In a second aspect, an embodiment of the present disclosure provides a multi-path redundant communication method, including:

[0030] Send a topic subscription to the target publisher application;

[0031] Receive multiple target data messages returned by the target publisher application in response to the topic subscription through at least two communication links, deduplicate the multiple target data messages, and obtain a target data message; wherein, the target data message is a message obtained by the target publisher application encapsulating the business data corresponding to the topic subscription.

[0032] Optionally, the target data message includes multiple target sub-data messages, and the deduplication processing is performed on the multiple target data messages to obtain one target data message, including:

[0033] Decapsulating the multiple target data messages to obtain multiple sub-service data contained in each target data message; wherein the sub-service data corresponds to the target sub-data message;

[0034] The data numbers carried by the multiple sub-service data respectively contained in the multiple target data messages are matched, and one sub-service data among the multiple sub-service data with the same data number is retained to obtain the one target data message.

[0035] Optionally, before sending the topic subscription to the target publisher application, the method further includes:

[0036] A dynamic service discovery message is sent to multiple publisher applications, wherein the dynamic service discovery message includes topic subscription and business service quality, and is used to match the target publisher application corresponding to the subscriber application among the multiple publisher applications.

[0037] Optionally, before performing deduplication processing on the multiple target data messages, the method further includes:

[0038] Identifying communication type identifiers corresponding to the multiple target data messages;

[0039] In a case where the communication type identifiers corresponding to the multiple data packets indicate that communication is performed based on the DDS adjustment protocol, it is determined to perform deduplication processing on the multiple target data packets.

[0040] In a third aspect, an embodiment of the present disclosure provides a multi-channel redundant communication device, comprising:

[0041] an acquisition module configured to, in response to a topic subscription sent by a subscriber application, acquire business data corresponding to the topic subscription and at least two communication links configured based on a DDS adjustment protocol;

[0042] a target data message acquisition module, configured to encapsulate the service data according to the DDS adjustment protocol to obtain target data messages corresponding to the at least two communication links;

[0043] The sending module is configured to send the plurality of target data messages to the subscriber application through the at least two communication links respectively.

[0044] In a fourth aspect, an embodiment of the present disclosure provides a multi-channel redundant communication device, comprising:

[0045] A topic subscription sending module configured to send topic subscriptions to a target publisher application;

[0046] The target data message obtaining module is configured to receive multiple target data messages returned by the target publisher application in response to the topic subscription through at least two communication links, deduplicate the multiple target data messages, and obtain a target data message; wherein, the target data message is a message obtained by the target publisher application encapsulating the business data corresponding to the topic subscription.

[0047] In a fifth aspect, an embodiment of the present disclosure provides an electronic device, including:

[0048] one or more processors;

[0049] a storage device for storing one or more programs,

[0050] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of the first aspect and the second aspect.

[0051] In a sixth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any one of the first and second aspects.

[0052] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0053] The multi-path redundant communication method provided by the disclosed embodiments obtains business data corresponding to a topic subscription and at least two communication links configured based on the DDS adjustment protocol in response to a topic subscription sent by a subscriber application; encapsulates and processes the business data according to the DDS adjustment protocol to obtain target data messages corresponding to the at least two communication links; and respectively sends multiple target data messages to the subscriber application via the at least two communication links. Thus, by using the at least two communication links configured in the DDS adjustment protocol, multiple copies of the same message are transmitted to the subscriber via different communication links, achieving redundant transmission based on application software. This redundant transmission method increases the likelihood that the subscriber will receive a complete message, thereby improving the reliability of data transmission according to the DDS adjustment protocol. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0055] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] FIG1 is a flow chart of a multi-channel redundant communication method provided by an embodiment of the present disclosure;

[0057] FIG2 is a schematic diagram of the principle structure of a multi-channel redundant communication method provided by an embodiment of the present disclosure;

[0058] FIG3 is a flow chart of another multi-path redundant communication method provided by an embodiment of the present disclosure;

[0059] FIG4 is a schematic structural diagram of a multi-channel redundant communication device provided by an embodiment of the present disclosure;

[0060] FIG5 is a schematic structural diagram of another multi-channel redundant communication device provided by an embodiment of the present disclosure;

[0061] FIG6 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0062] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0063] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0064] In network communications, due to the communication interruption problem caused by single point failure, network engineers can solve the single point failure problem by designing a ring network to avoid communication interruption. However, since network communication is implemented based on the TSN 802.1CB protocol, this method requires that all switching devices deployed in the network support the TSN 802.1CB protocol, and additional hardware for distributing and receiving data is required, resulting in increased hardware equipment costs and the problem of complex network deployment of switching equipment.

[0065] Communication is achieved through the Data Distribution Service (DDS) protocol, which provides a data-centric connection service. It can distribute data in real time, efficiently, and flexibly, while ensuring data security. It can meet the needs of various distributed real-time communication applications. When communicating based on the DDS protocol, each application corresponds to a communication link. M applications transmit M data through M communication links, and the data transmitted by each communication link is different. In the DDS protocol, since data is transmitted in single copies, if abnormal conditions such as data loss occur during the transmission process, the subscriber will not be able to receive the complete data. The reliability of data transmission according to the DDS protocol is low.

[0066] To solve the above technical problems, an embodiment of the present disclosure provides a multi-channel redundant communication method. FIG1 is a flow chart of a multi-channel redundant communication method provided by an embodiment of the present disclosure. As shown in FIG1 , the multi-channel redundant communication method provided by an embodiment of the present disclosure can be applied to a target publisher application, and includes:

[0067] S11 . In response to a topic subscription sent by a subscriber application, obtain business data corresponding to the topic subscription, and configure at least two communication links based on a DDS adjustment protocol.

[0068] The target publisher application refers to a target publisher application for providing corresponding business data for a topic subscription sent to a subscriber application, and the DDS adjustment protocol may be a protocol obtained by adjusting the DDS protocol.

[0069] At present, the ownership quality of service (QoS) strategy of the DDS protocol is to use multiple publishers to provide multiple data sources for one subscriber to achieve reliable communication of redundant links. This approach requires multiple publishers, such as multiple publisher applications, to implement, which will lead to the complexity of the application and will also increase the consumption of memory resources. In particular, it is almost unacceptable for resource-constrained controllers such as microcontroller units (MCUs). The embodiment of the present application configures at least two communication links based on the DDS adjustment protocol. The adjustment is mainly reflected in achieving redundant communication of at least two communication links between a publisher and a subscriber. In this way, the target publisher application can respond to the topic subscription sent by the subscriber application and send the data to be transmitted to the subscriber application through each of the at least two communication links. In other words, the data can be transmitted redundantly in at least two communication links to ensure that at least one copy of the data can be reliably transmitted to the subscriber application, and the subscriber application de-redundantly processes all the received data according to the predetermined strategy of the DDS adjustment protocol to obtain the data corresponding to the topic subscription.

[0070] In some embodiments, the DDS adjustment protocol of the embodiments of the present application further includes adding a numbering parameter to the DDS protocol header. In other words, the DDS adjustment protocol may include a numbering parameter. The numbering parameter may be a parameter used in the DDS adjustment protocol to record data numbers for service data. Service data is also known as a Topic.

[0071] For example, the target publisher application may include APP1 on the vehicle-mounted function module 1, and the subscriber application may include APP2 on the vehicle-mounted function module 2. The vehicle-mounted function module 1 and the vehicle-mounted function module 2 are equivalent to two nodes in the vehicle network, and the two network nodes are connected through a network composed of multiple routers or switches.

[0072] For example, as shown in Figure 2, a subscriber application is running on node 1, and a target publisher application is running on node 2. In response to the topic subscription sent by the subscriber application, node 2 transmits two copies of the data D to be transmitted corresponding to the topic subscription to the subscriber application through the two communication links VLAN10 and VLAN20 between node 1 and node 2 respectively. After receiving the two copies of data D, the subscriber application performs de-redundancy processing to obtain one copy of data D.

[0073] Exemplarily, the target publisher application responds to the topic subscription sent by the subscriber application, and the business data corresponding to the acquired topic subscription may include: control instructions for the target module on the vehicle, log data, configuration files, multimedia data, etc., to achieve intelligent control and interconnection of the entire vehicle scene, which is not specifically limited in the embodiments of this application.

[0074] The at least two communication links described above are used to transmit business data between the target publisher application and the subscriber application. It should be noted that the target publisher application sends business data corresponding to the topic subscription to the subscriber application via each communication link. These communication links must be configured in advance within the target publisher application. To ensure reliable communication between the target publisher application and the subscriber application, the target publisher application typically provides business data corresponding to the topic subscription to the subscriber application via two or more communication links.

[0075] Specifically, when the target publisher application receives a topic subscription sent by the subscriber application, it responds to the topic subscription, obtains the business data corresponding to the topic subscription, and parses the pre-configured DDS adjustment protocol to obtain two or more communication links for sending the business data.

[0076] Optionally, based on the above embodiment, in some embodiments of the present disclosure, before executing S11, the following steps are further included:

[0077] Step A: pre-set at least two communication links according to the first address information of the target publisher application and the second address information of the subscriber application.

[0078] The first address information and the second address information are used to determine the communication link.

[0079] Specifically, the target publisher application pre-sets at least two communication links according to the first address information of the target publisher application and the second address information of the subscriber application.

[0080] Optionally, based on the above embodiment, in some embodiments of the present disclosure, different source addresses and destination addresses are included for different communication links. Based on this, the first address information includes at least two source addresses. Exemplarily, the source address can be, for example, 192.168.10.2 or 192.168.20.2. The second address information includes: at least two destination addresses; Exemplarily, the destination address can be, for example, 192.168.10.1 or 192.168.20.1, but is not limited to this. The present disclosure does not specifically limit this, and those skilled in the art can set it according to actual conditions. One implementation method of executing step A can be:

[0081] Determine destination addresses corresponding to at least two source addresses respectively to obtain at least two communication links.

[0082] Specifically, for the target publisher application, destination addresses corresponding to two or more source addresses are determined, thereby obtaining two or more communication links.

[0083] For example, following the above embodiment, for a source address of 192.168.10.2, the corresponding destination address is 192.168.10.1, or for a source address of 192.168.20.2, the corresponding destination address is 192.168.20.1, but not limited thereto. The present disclosure does not specifically limit this, and those skilled in the art may set it according to actual conditions.

[0084] It should be noted that the above-mentioned source address and destination address are determined based on the Virtual Local Area Network (VLAN). Specifically, the VLAN can divide the same physical LAN into different wide areas according to actual application requirements. When the target publisher application broadcasts multiple business data, in a wide area, the subscriber application actively initiates a topic subscription based on business needs. When the target publisher application can provide the topic subscribed by the subscriber application and at the same time meets the quality of service, the subscription is successful in the wide area link, indicating that the current publisher application is a publisher application that can provide the business data of the topic subscription to the subscriber application. Based on this, further according to the VLAN division, the first address information for the target publisher application and the second address information for the subscriber application in two or more communication links are set.

[0085] S12. Encapsulate the service data according to the DDS adjustment protocol to obtain target data messages corresponding to at least two communication links.

[0086] The target publisher application encapsulates the service data according to the data transmission format requirements of the DDS adjustment protocol to obtain target data packets corresponding to the service data. Since the service data needs to be transmitted separately via at least two communication links, the target publisher application can encapsulate the service data for the at least two communication links to obtain two or more target data packets corresponding to the at least two communication links.

[0087] In some embodiments, the first data distribution service middleware of the target publisher application can be used to encapsulate and process the business data according to the DDS adjustment protocol to obtain target data messages corresponding to at least two communication links. Among them, the data distribution service middleware is a middleware technology that is data-centric between applications or systems, adopts a publish / subscribe model, and can provide multiple service quality strategies for data distribution. The target data message can be understood as an encapsulation package obtained by encapsulating the business data. The number of the target data messages can be multiple, that is, the target data message can exist in multiple copies, and one business data can be encapsulated into multiple copies of the same target data message. The sub-business data can be part of the data in the business data, and the multiple sub-business data corresponding to the business data can include all the data of the business data. The target sub-data message can be a message obtained by encapsulating and processing the sub-business data.

[0088] In some embodiments, the target publisher application can divide the business data into multiple sub-business data and encapsulate the multiple sub-business data according to the DDS adjustment protocol to obtain a target data message containing multiple target sub-data messages. The target data message includes multiple target sub-data messages. The sub-business data and the target sub-data messages have a one-to-one correspondence, and the number parameter is used to record the data number of the sub-business data; the data number can be data recording the number of the sub-business data.

[0089] Specifically, when the target publisher application obtains the business data corresponding to the topic subscription and two or more communication links for sending the business data, the first data distribution service middleware of the target publisher application divides the business data into multiple sub-business data according to the pre-set data specifications, determines the data number corresponding to each sub-business data, records the data number through the number parameter in the DDS adjustment protocol, and encapsulates each sub-business data through the DDS adjustment protocol, thereby realizing the encapsulation of the business data. A target sub-data message corresponding to the sub-business data is obtained, that is, a target data message corresponding to the business data is obtained. Furthermore, each communication link sends the target data message, and multiple copies of the target data message are sent to the subscriber application through multiple communication links.

[0090] Optionally, based on the above embodiment, in some embodiments of the present disclosure, in order to ensure that the target publisher application sends business data corresponding to multiple topic subscriptions to the subscriber application through the first data distribution service middleware through two or more communication links, so that the subsequent subscriber application can perform deduplication processing after receiving the multiple business data, thereby preventing the subscriber application from receiving multiple business data at the same time, based on this, one implementation method of executing S12 may be:

[0091] Step B: Through the first data distribution service middleware of the target publisher application, multiple sub-business data in the business data to be sent by at least two communication links are numbered to obtain data numbers, and the data numbers are used as the numbering parameters, and the sub-business data are used as the payload data in the DDS adjustment protocol to encapsulate multiple target sub-data messages corresponding to the multiple sub-business data.

[0092] The payload data may be a portion used to record sub-service data in the DDS adjustment protocol. The payload data is also called Data, which has a similar function to Data in the DDS protocol.

[0093] Specifically, the first data distribution service middleware of the target publisher application performs numbering processing on the multiple sub-business data included in the business data to be sent by two or more communication links to obtain the data number of each sub-business data. The data number is used as the numbering parameter in the DDS adjustment protocol, and the sub-business data is used as the payload data in the DDS adjustment protocol. This embodiment does not limit other data in the DDS adjustment protocol. Then, according to the DDS adjustment protocol, the encapsulation processing of the multiple sub-business data after numbering is implemented to obtain multiple target sub-data messages corresponding to the multiple sub-business data. In this embodiment, the business data to be sent by a communication link corresponds to multiple sub-business data, and the multiple sub-business data correspond to multiple target sub-data messages, and the target data message includes the multiple target sub-data messages. Then, by encapsulating each sub-business data separately, the target data message corresponding to each communication link is obtained.

[0094] For example, the business data corresponding to the topic subscription includes n sub-business data, such as data 1, data 2, data 3, data 4...data n. The n sub-business data can be numbered according to a monotonically increasing sequence number, that is, the n sub-business data such as data 1, data 2, data 3, data 4...data n are numbered 1, 2, 3, 4...n respectively. Furthermore, the n sub-business data carrying the numbers are encapsulated to obtain n target sub-data messages. The target data messages corresponding to each communication link include the n target sub-data messages. In another example, the business data corresponding to the topic subscription includes n sub-business data, such as data 1, data 2, data 3, data 4...data n. The n sub-business data can be numbered according to a monotonically decreasing sequence number, that is, the n sub-business data such as data 1, data 2, data 3, data 4...data n are numbered n, n-1, n-2, n-3...1 respectively. Further, the n sub-business data carrying the numbers are encapsulated to obtain n target sub-data messages, and the target data messages corresponding to each communication link include the n target sub-data messages. This is not limited to this, and the present disclosure does not specifically limit it. Those skilled in the art can set it according to the actual situation. The specific implementation process of encapsulating multiple sub-business data can refer to the existing technology and will not be repeated here.

[0095] In this way, the multi-channel redundant communication method provided by the embodiment of the present disclosure, in the above process, by numbering the multiple sub-business data in the business data to be sent by each communication link, so that when the subscriber application receives multiple target data messages, it can deduplicate the multiple sub-business data included in the business data according to the numbers, thereby ensuring that in multiple communication links, for each different target sub-data message corresponding to the business data, at least one of the multiple copies can be normally transmitted to the subscriber application through the communication link, and the subscriber application can receive the business data corresponding to the topic subscription.

[0096] S13. Send multiple target data messages to subscriber applications through at least two communication links.

[0097] Specifically, after obtaining the business data to be sent by each communication link and encapsulating the target data message, the target data message is sent to the subscriber application through each communication link, so that the subscriber application obtains the business data corresponding to the topic subscription.

[0098] Exemplarily, one of the at least two target data packets may be sent via each of the at least two communication links, thereby respectively sending the at least two target data packets to the subscriber application via the at least two communication links.

[0099] Alternatively, at least one target data message among multiple target data messages can be sent through one of at least two communication links, and at least one target data message is sent on each communication link, thereby achieving the goal of sending multiple target data messages to the subscriber application through at least two communication links.

[0100] In some embodiments, each target data message sent may include multiple target sub-data messages; the specific transmission method of the multiple target sub-data messages in the network can be determined according to the protocol stack of the specific network middleware, which is not specifically limited here.

[0101] In this way, the multi-channel redundant communication method provided by the embodiment of the present disclosure obtains the business data corresponding to the topic subscription and at least two communication links configured based on the DDS adjustment protocol by responding to the topic subscription sent by the subscriber application; wherein, the DDS adjustment protocol includes a numbering parameter; through the first data distribution service middleware of the target publisher application, multiple sub-business data divided from the business data to be sent by the at least two communication links are encapsulated and processed according to the DDS adjustment protocol to obtain target data messages corresponding to the at least two communication links; wherein, the target data message includes multiple target sub-data messages, the sub-business data corresponds to the target sub-data message one-to-one, and the numbering parameter is used to record the data number of the sub-business data; through at least two communication links, the multiple target data messages are respectively sent to the subscriber application; so that the subscriber application deduplicates the multiple target data messages according to the data number. In the above process, there are two applications, a subscriber and a publisher. After the subscriber receives a topic subscription, it determines the business data and multiple communication links corresponding to the topic subscription, divides the business data into multiple sub-business data, and each sub-business data has a corresponding data number. The data number is recorded through the number parameter in the DDS adjustment protocol, and the business data is packaged according to the DDS adjustment protocol to obtain a target data message including multiple target sub-data messages. The target data message is transmitted to the subscriber through multiple communication links. The subscriber deduplicates the multiple target data messages according to the data number to obtain a target data message. Therefore, through the at least two communication links configured in the DDS adjustment protocol and the number parameter in the DDS adjustment protocol, it is possible to transmit multiple identical messages through different communication links and deduplicate the multiple identical messages so that the subscriber receives one message, thereby realizing redundant transmission based on the application software. The redundant transmission method increases the possibility of the subscriber receiving a complete message and improves the reliability of data transmission according to the DDS adjustment protocol.

[0102] In addition, in the embodiment of the present disclosure, multiple target data messages are sent to the subscriber application through different information links through the target publisher application, and multiple target data messages are received through the subscriber application, avoiding the additional setting of hardware for distributing and receiving messages, avoiding the increase in hardware equipment costs, and reducing the complexity of network deployment.

[0103] Optionally, in the process of the above embodiment, the target publisher application divides the business data to obtain multiple sub-business data, which may include:

[0104] According to the target business type, the first sub-business data in the business data is determined; the business data is divided into a plurality of sub-business data including the first business sub-data and the second business sub-data; the second business sub-data includes data in the business data except the first sub-business data.

[0105] The target service type may be a predefined service type. For example, the target service type may include a service type corresponding to a portion of service data requiring highly reliable transmission. For example, the target service type may include a control instruction type. Other types may also be defined based on actual needs, and are not specifically limited here.

[0106] In this way, the data part of the business data that requires high-reliability transmission is divided into the first business sub-data, and the other part of the business data is divided into the second business sub-data, so that different transmission strategies can be adopted according to different transmission reliability requirements, reducing the occupancy of network bandwidth while ensuring transmission reliability.

[0107] Accordingly, multiple first service sub-data can be encapsulated to obtain multiple first target sub-data messages corresponding to the multiple first service sub-data, and the second service sub-data can be encapsulated to obtain a second target sub-data message corresponding to the second service sub-data. The multiple first target sub-data messages are sent to the subscriber application via at least two communication links respectively; the second target sub-data message is sent to the subscriber application via one of the at least two communication links.

[0108] Exemplarily, one of the at least two first target sub-data messages can be sent through each of the at least two communication links, thereby sending the at least two first target sub-data messages to the subscriber application through the at least two communication links respectively.

[0109] Alternatively, at least one first target sub-data message among multiple first target sub-data messages can be sent through one of at least two communication links, and at least one first target sub-data message is sent on each communication link, thereby achieving the goal of sending multiple first target sub-data messages to the subscriber application through at least two communication links.

[0110] It can be seen that by sending multiple first target sub-data messages to the subscriber application through each of at least two communication links respectively, the reliability of transmission of the data part of the important business type can be achieved, and the target sub-data message corresponding to the second business sub-data is sent to the subscriber application through at least one of the two communication links, thereby reducing the occupancy of network bandwidth and improving network resource utilization.

[0111] Optionally, before sending multiple target data messages to the subscriber application through at least two communication links, the communication type identifier corresponding to the target data message can also be identified; when the communication type identifier corresponding to the target data message indicates that communication is based on the DDS adjustment protocol, it is determined that the multiple target data messages are sent to the subscriber application through at least two communication links.

[0112] Here, in order to mark the communication type corresponding to the data message to be transmitted so that the subscriber application of the receiving party can perform the corresponding communication protocol processing, before transmitting the data message, the data message to be transmitted can be identified first, such as the communication type identifier of the target data message. In some embodiments, the communication type identifier is used to characterize the communication protocol type corresponding to the data message. Exemplarily, the communication type identifier may include a characteristic word or a preset value of a preset field. For example, a communication type field is added to the data parameter of the DDS adjustment protocol. The communication type field is 1 to indicate that communication is based on the DDS adjustment protocol; the communication type field is 0 to indicate that communication is based on other protocols. In this way, the target publisher application can determine to transmit the target data message through at least two communication links configured based on the DDS adjustment protocol when the communication type identifier of the target data message is identified to indicate that communication is based on the DDS adjustment protocol.

[0113] It should be noted that the communication type identifier can be included in the business data corresponding to the topic subscription obtained by the target publisher application, or the communication type identifier can be written into a preset field in the target data message when the business data is encapsulated. In other words, before obtaining the business data corresponding to the topic subscription in response to the topic subscription sent by the subscriber application, the business data that needs to be transmitted via the DDS adjustment protocol, such as vehicle control command data, can be marked with a communication type identifier. The communication type identifier representing the communication based on the DDS adjustment protocol is written into the business data that needs to be transmitted via the DDS adjustment protocol, so that the target data message obtained by encapsulating the business data also includes the communication type identifier. Alternatively, when the target data message is obtained by encapsulating the business data according to the DDS adjustment protocol, the communication type identifier representing the communication based on the DDS adjustment protocol is written into a preset field of the target data message. In this way, before sending the target data message, the communication type identifier can be identified in the message to determine whether to transmit it via at least two communication links configured based on the DDS adjustment protocol.

[0114] FIG3 is a flow chart of another multi-channel redundant communication method provided by an embodiment of the present disclosure. As shown in FIG3 , the multi-channel redundant communication method provided by an embodiment of the present disclosure can be applied to a subscriber application, including:

[0115] S21. Send a topic subscription to the target publisher application.

[0116] Specifically, the subscriber application sends a topic subscription to the target publisher application to obtain the business data corresponding to the topic subscription.

[0117] Optionally, in the process of the above embodiments, in some embodiments of the present disclosure, sending a topic subscription to a target publisher application can be by broadcasting the topic subscription in a local area network in the subscriber application, but is not limited to this. The present disclosure does not specifically limit this, and those skilled in the art can set it according to actual conditions.

[0118] S22. Receive multiple target data messages respectively returned by the target publisher application in response to the topic subscription through at least two communication links, perform deduplication processing on the multiple target data messages, and obtain one target data message.

[0119] The target data message is a message obtained by encapsulating and processing the business data corresponding to the topic subscription by the target publisher application.

[0120] Specifically, in response to the topic subscription, the target publisher application returns a target data message via each communication link, and returns multiple identical target data messages to the subscriber application via at least two communication links. The second data distribution service middleware of the subscriber application, after receiving the multiple target data messages sent by the target publisher application, performs deduplication processing on the multiple target data messages to obtain a single target data message.

[0121] Optionally, in the process of the above embodiment, in some embodiments of the present disclosure, the target data packet includes multiple target sub-data packets, and one implementation of S22 may be:

[0122] Step C1: Decapsulate multiple target data messages to obtain multiple sub-service data contained in each target data message, wherein the sub-service data corresponds to the target sub-data message.

[0123] Specifically, the second data distribution service middleware of the subscriber application, after receiving multiple target data messages sent by the target publisher application, decapsulates the multiple target data sub-messages included in each target data message according to the DDS adjustment protocol, extracts the sub-business data according to the payload data in the DDS adjustment protocol, and extracts the data number according to the numbering parameter in the DDS adjustment protocol to obtain multiple sub-business data corresponding to the multiple target data sub-messages.

[0124] Step C2: Match the data numbers carried by the multiple sub-service data respectively contained in the multiple target data messages, and retain one sub-service data among the multiple sub-service data with the same data number to obtain a target data message.

[0125] Specifically, the second data distribution service middleware of the subscriber application performs matching processing according to the data numbers carried by multiple sub-business data contained in different target data messages, deletes multiple sub-business data with the same data number, and only saves one sub-business data among the multiple sub-business data with the same data number. Furthermore, a target data message is obtained based on multiple sub-business data with non-repeated data numbers.

[0126] For example, assume that there are two target data messages, namely target data message 1 and target data message 2, target data message 1 includes target sub-data message 1, target sub-data message 2, target sub-data message 3, target sub-data message 4...target sub-data message n; target data message 2 includes target sub-data message 1, target sub-data message 2, target sub-data message 3, target sub-data message 4...target sub-data message n. Decapsulate the target data message 1 and the target data message 2 to obtain multiple sub-service data carrying data numbers corresponding to the target data message 1 and the target data message 2, such as the target data message 1 carries n sub-service data with data numbers such as: data 1, data 2, data 3, data 4...data n, and the target data message 2 carries n sub-service data with data numbers such as: data 1, data 2, data 3, data 4...data n. According to the n sub-service data contained in the target data message 1, the data numbers carried are 1, 2, 3, 4...n, which are the same as the n sub-service data contained in the target data message 2. The data numbers carried by the data are 1, 2, 3, 4...n, and are matched. If it is determined that the same data numbers 1, 2, 3, 4...n exist, the data 1, data 2, data 3, data 4...data n corresponding to the same data numbers 1, 2, 3, 4...n are deleted, and the data 1, data 2, data 3, data 4...data n with the same data number is retained. Then, based on the data 1, data 2, data 3, data 4...data n, a target data message is obtained, but it is not limited to this. The present disclosure is not specifically limited, and those skilled in the art can set it according to actual conditions.

[0127] In this way, the multi-channel redundant communication method provided by the embodiment of the present disclosure sends a topic subscription to the target publisher application; through the second data distribution service middleware of the subscriber application, multiple target data messages returned by the target publisher application in response to the topic subscription through at least two communication links are received, and the multiple target data messages are deduplicated to obtain a target data message; wherein, the target data message is a message obtained by the target publisher application by encapsulating the business data corresponding to the topic subscription. In the above process, a topic subscription is sent to the publisher, and the message obtained by encapsulating the business data is transmitted to the subscriber through multiple communication links. Multiple copies of the same message are transmitted through different communication links, and the possibility of the subscriber receiving the complete message is increased by redundant transmission, thereby improving the reliability of data transmission according to the DDS adjustment protocol.

[0128] In addition, in the embodiment of the present disclosure, multiple target data messages are sent to the subscriber application through different information links through the target publisher application, and multiple target data messages are received through the subscriber application, avoiding the additional setting of hardware for distributing and receiving messages, avoiding the increase in hardware equipment costs, and reducing the complexity of network deployment.

[0129] Optionally, in the process of the above embodiment, in some embodiments of the present disclosure, before executing S21, the following steps are further included:

[0130] Send dynamic service discovery messages to multiple publisher applications.

[0131] The dynamic service discovery message includes topic subscription and business service quality. The dynamic service discovery message is used to match the target publisher application corresponding to the subscriber application among multiple publisher applications.

[0132] Specifically, a subscriber application sends a dynamic service discovery message to multiple publisher applications. The dynamic service discovery message, which includes topic subscriptions and service quality, is matched with the service data and service quality corresponding to the topic subscriptions broadcast by multiple publisher applications to determine the target publisher application for the subscriber application.

[0133] Optionally, sending dynamic service discovery messages to multiple publisher applications can be done by broadcasting dynamic service discovery messages in the local area network through the subscriber application, but is not limited to this. This disclosure does not specifically limit this, and those skilled in the art can set it according to actual conditions.

[0134] In this way, the multi-channel redundant communication method provided by the embodiment of the present disclosure can determine the corresponding target publisher application from multiple publisher applications according to the dynamic service discovery message, thereby facilitating the subsequent construction of a communication link.

[0135] Optionally, before deduplication processing is performed on multiple target data messages, communication type identifiers corresponding to the multiple target data messages may also be identified; when the communication type identifiers corresponding to the multiple data messages represent communication based on the DDS adjustment protocol, it is determined that deduplication processing is performed on the multiple target data messages.

[0136] With respect to the embodiment on the target publisher application side, the target data message may include a communication type identifier, which is used to indicate whether the target data message is communicated based on the DDS adjustment protocol. If the communication type identifiers corresponding to multiple data messages indicate that communication is based on the DDS adjustment protocol, it indicates that the multiple data messages are redundantly transmitted through at least two communication links using the method in the embodiment of the present disclosure. The subscriber application can deduplicate the multiple target data messages.

[0137] FIG4 is a schematic structural diagram of a multi-channel redundant communication device provided by an embodiment of the present disclosure, which is applied to a target publisher application. As shown in FIG4 , the multi-channel redundant communication device includes: an acquisition module 11 , a target data message acquisition module 12 , and a sending module 13 .

[0138] The acquisition module 11 is configured to respond to a topic subscription sent by a subscriber application, obtain business data corresponding to the topic subscription, and at least two communication links configured based on the DDS adjustment protocol;

[0139] a target data message acquisition module 12, configured to encapsulate the service data according to the DDS adjustment protocol to obtain target data messages corresponding to the at least two communication links;

[0140] The sending module 13 is configured to send the plurality of target data messages to the subscriber application through the at least two communication links respectively.

[0141] Optionally, the target data message includes: multiple target sub-data messages; the target data message acquisition module 12 is also configured to divide the business data to obtain multiple sub-business data; encapsulate and process the multiple sub-business data according to the DDS adjustment protocol to obtain the target data message containing multiple target sub-data messages; the sub-business data corresponds one-to-one to the target sub-data message.

[0142] Optionally, the target data message acquisition module 12 is also configured to: number the multiple sub-business data in the business data to obtain a data number, and use the data number as the numbering parameter, and use the sub-business data as the payload data in the DDS adjustment protocol to encapsulate the multiple target sub-data messages corresponding to the multiple sub-business data.

[0143] Optionally, the device further includes: a communication link setting module configured to pre-set the at least two communication links according to the first address information of the target publisher application and the second address information of the subscriber application.

[0144] Optionally, the first address information includes at least two source addresses, and the second address information includes: at least two destination addresses; a communication link setting module is specifically used to determine the destination addresses corresponding to the at least two source addresses respectively to obtain the at least two communication links.

[0145] Optionally, the target data message acquisition module 12 is also configured to determine the first sub-business data in the business data based on the target business type; divide the business data into the multiple sub-business data including the first business sub-data and the second business sub-data; the second business sub-data includes data in the business data other than the first sub-business data.

[0146] Optionally, the sending module 13 is also configured to send the first target sub-data messages corresponding to multiple first business sub-data to the subscriber application through the at least two communication links respectively; and send the second target sub-data messages corresponding to the second business sub-data to the subscriber application through one of the at least two communication links.

[0147] Optionally, the target data message acquisition module 12 is further configured to identify the communication type identifier corresponding to the target data message before sending the multiple target data messages to the subscriber application through the at least two communication links respectively; when the communication type identifier corresponding to the target data message indicates that communication is based on the DDS adjustment protocol, determine to send the multiple target data messages to the subscriber application through the at least two communication links.

[0148] FIG5 is a schematic structural diagram of another multi-channel redundant communication device provided by an embodiment of the present disclosure, which is applied to a subscriber application. As shown in FIG5 , the multi-channel redundant communication device includes: a topic subscription sending module 21 and a target data message obtaining module 22 .

[0149] Wherein, the topic subscription sending module 21 is configured to send the topic subscription to the target publisher application;

[0150] The target data message obtaining module 22 is configured to receive multiple target data messages returned by the target publisher application in response to the topic subscription through at least two communication links, deduplicate the multiple target data messages, and obtain a target data message; wherein, the target data message is a message obtained by the target publisher application encapsulating the business data corresponding to the topic subscription.

[0151] Optionally, the target data message includes multiple target sub-data messages, and the target data message obtaining module 22 is further configured to: decapsulate the multiple target data messages to obtain multiple sub-business data contained in each target data message; wherein the sub-business data corresponds to the target sub-data message; match the data numbers carried by the multiple sub-business data respectively contained in the multiple target data messages, and retain one sub-business data among the multiple sub-business data with the same data number to obtain the one target data message.

[0152] Optionally, the device also includes: a dynamic service discovery message sending module, configured to send dynamic service discovery messages to multiple publisher applications, the dynamic service discovery messages including topic subscription and business service quality, and the dynamic service discovery messages are used to match the target publisher application corresponding to the subscriber application among the multiple publisher applications.

[0153] Optionally, the target data message obtaining module 22 is further configured to identify the communication type identifiers corresponding to the multiple target data messages before deduplication processing is performed on the multiple target data messages; and determine to deduplication process the multiple target data messages when the communication type identifiers corresponding to the multiple data messages represent communication based on the DDS adjustment protocol.

[0154] It is worth noting that in the embodiment of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0155] The multi-channel redundant communication device provided in the embodiment of the present disclosure can execute the multi-channel redundant communication method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0156] Figure 6 is a structural diagram of an electronic device provided by an embodiment of the present disclosure. As shown in Figure 6, the electronic device includes a processor 510, a memory 520, an input device 530 and an output device 540; the number of processors 510 in the computer device can be one or more, and Figure 6 takes one processor 510 as an example; the processor 510, memory 520, input device 530 and output device 540 in the electronic device can be connected via a bus or other means, and Figure 6 takes connection via a bus as an example.

[0157] Memory 520, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the methods in the embodiments of the present invention. Processor 510 executes the software programs, instructions, and modules stored in memory 520 to perform various functional applications and data processing of the computer device, thereby implementing the methods provided in the embodiments of the present invention.

[0158] The memory 520 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data created based on the use of the terminal, etc. Furthermore, the memory 520 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory 520 may further include memory remotely located relative to the processor 510, and these remote memories may be connected to the computer device via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0159] The input device 530 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the electronic device, and may include a keyboard, a mouse, etc. The output device 540 may include a display device such as a display screen.

[0160] The embodiments of the present disclosure further provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to implement the method provided by the embodiments of the present disclosure.

[0161] Of course, the computer executable instructions of a storage medium containing computer executable instructions provided by an embodiment of the present invention are not limited to the operations of the method described above, and can also execute related operations in the method provided by any embodiment of the present invention.

[0162] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0163] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0164] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein. Industrial Applicability

[0165] The present application uses at least two communication links configured in the DDS adjustment protocol and the numbering parameters in the DDS adjustment protocol to achieve the transmission of multiple identical messages through different communication links and deduplicate the multiple identical messages so that the subscriber receives one message, thereby achieving redundant transmission of application-based software. The redundant transmission method increases the possibility of the subscriber receiving the complete message and improves the reliability of data transmission according to the DDS adjustment protocol.

Claims

1. A multi-channel redundant communication method, comprising: In response to a topic subscription sent by a subscriber application, obtaining service data corresponding to the topic subscription and at least two communication links configured based on the DDS adjustment protocol; Encapsulating the service data according to the DDS adjustment protocol to obtain target data packets corresponding to the at least two communication links; Sending the multiple target data packets to the subscriber application through the at least two communication links respectively.

2. The method according to claim 1, wherein The target data packet includes: multiple target sub-data packets; the encapsulating the service data according to the DDS adjustment protocol to obtain the target data packet corresponding to the at least two communication links includes: Dividing the service data to obtain multiple sub-service data; Encapsulating the multiple sub-service data according to the DDS adjustment protocol to obtain the target data packet including multiple target sub-data packets; the sub-service data corresponds to the target sub-data packet one by one.

3. The method according to claim 2, wherein The DDS adjustment protocol includes a number parameter; the encapsulating the multiple sub-service data according to the DDS adjustment protocol to obtain the target data packet including multiple target sub-data packets includes: Numbering the multiple sub-service data to obtain a data number, using the data number as the number parameter, and using the sub-service data as the payload data in the DDS adjustment protocol to encapsulate and obtain the multiple target sub-data packets corresponding to the multiple sub-service data.

4. The method according to any one of claims 1-3, wherein, Before the responding to the topic subscription sent by the subscriber application, further comprising: Pre-setting the at least two communication links according to the first address information of the target publisher application and the second address information of the subscriber application.

5. The method according to claim 4, wherein, The first address information includes at least two source addresses, and the second address information includes: at least two destination addresses; The pre-setting the at least two communication links according to the first address information of the target publisher application and the second address information of the subscriber application includes: Determining the destination addresses respectively corresponding to the at least two source addresses to obtain the at least two communication links.

6. The method according to claim 2, wherein, The dividing the service data to obtain multiple sub-service data includes: Determining first sub-service data in the service data according to the target service type; Dividing the service data into the multiple sub-service data including the first sub-service data and second sub-service data; the second sub-service data includes the data in the service data other than the first sub-service data.

7. The method according to claim 6, wherein, The sending the multiple target data packets to the subscriber application through the at least two communication links respectively includes: Sending the multiple first target sub-data packets corresponding to the multiple first sub-service data to the subscriber application through the at least two communication links respectively; Sending the second target sub-data packet corresponding to the second sub-service data to the subscriber application through one of the at least two communication links.

8. The method according to any one of claims 1-7, wherein The target data packet includes: a communication type identifier; before respectively sending multiple said target data packets to the subscriber application through the at least two communication links, the method further includes: Identifying the communication type identifier corresponding to the target data packet; When the communication type identifier corresponding to the target data packet indicates communication based on the DDS adjustment protocol, determining to send multiple said target data packets to the subscriber application through the at least two communication links.

9. A multi-path redundant communication method, including: Sending a topic subscription to a target publisher application; Receiving multiple target data packets respectively returned by the target publisher application in response to the topic subscription through at least two communication links, and performing deduplication processing on the multiple target data packets to obtain one target data packet; wherein, the target data packet is a packet obtained by the target publisher application encapsulating the service data corresponding to the topic subscription.

10. The method according to claim 9, wherein, The target data packet includes multiple target sub-data packets, and performing deduplication processing on the multiple target data packets to obtain one target data packet includes: Performing de-encapsulation processing on the multiple target data packets to obtain multiple sub-service data included in each target data packet; wherein, the sub-service data corresponds to the target sub-data packet; Matching the data numbers carried by the multiple sub-service data respectively included in the multiple target data packets, and retaining one sub-service data among the multiple sub-service data with the same data number to obtain the one target data packet.

11. The method according to claim 9 or 10, wherein, Before sending the topic subscription to the target publisher application, it further includes: Sending a dynamic service discovery packet to multiple publisher applications, the dynamic service discovery packet includes a topic subscription and service quality of service, and the dynamic service discovery packet is used to match the target publisher application corresponding to the subscriber application among the multiple publisher applications.

12. The method according to any one of claims 9-11, wherein, Before performing deduplication processing on the multiple target data packets, the method further includes: Identifying the communication type identifier corresponding to the multiple target data packets; When the communication type identifier corresponding to the multiple data packets indicates communication based on the DDS adjustment protocol, determining to perform deduplication processing on the multiple target data packets.

13. A multi-path redundant communication device, including: An acquisition module, configured to respond to a topic subscription sent by a subscriber application, and acquire the service data corresponding to the topic subscription and at least two communication links configured based on the DDS adjustment protocol; A target data packet acquisition module, configured to perform encapsulation processing on the service data according to the DDS adjustment protocol to obtain target data packets corresponding to the at least two communication links; A sending module, configured to respectively send multiple said target data packets to the subscriber application through the at least two communication links.

14. A multi-path redundant communication device, including: A topic subscription sending module, configured to send a topic subscription to a target publisher application; A target data packet obtaining module, configured to receive multiple target data packets respectively returned by the target publisher application in response to the topic subscription through at least two communication links, and perform deduplication processing on the multiple target data packets to obtain one target data packet; wherein, the target data packet is a packet obtained by the target publisher application through encapsulating the service data corresponding to the topic subscription.

15. An electronic device, comprising: One or more processors; A storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the multi-path redundant communication method according to any one of claims 1 to 8, or the multi-path redundant communication method according to any one of claims 9 to 12.

16. A computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the multi-path redundant communication method according to any one of claims 1 to 8, or the multi-path redundant communication method according to any one of claims 9 to 12 is implemented.

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