CN103197664A - Embedded type controller parameter calibration system and method based on common object request breaker architecture (CORBA) - Google Patents
Embedded type controller parameter calibration system and method based on common object request breaker architecture (CORBA) Download PDFInfo
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Abstract
The invention provides an embedded type controller parameter calibration system and method based on common object request breaker architecture (CORBA) and relates to the technical field of embedded type controlling. A traditional calibration system is divided into a CORBA client-side and a CORBA server. A human-computer interaction function is achieved by the CORBA client-side, and embedded type controller work parameters and operating data are visited through an object request broker (ORB) and the CORBA server. The CORBA server is communicated with the controller, communication interface program and standardization protocol of a standardization system host machine are packaged through the CORBA technology, difference between the controller of the standardization protocol and different communication interfaces is shielded, and an uniform standardized CORBA interface is provided to achieve visiting the work parameters and the operating data of the embedded type controller. According to a device shielding underlying communication, different models of communication interfaces or standardization protocols are provided with the same communication interface, the defect that the existing standardization system is difficult to be adapted to change of the communication interfaces of the embedded type controller is overcome, and generality and adaptive capacity of the standardization system are improved.
Description
Technical field
The present invention relates to computing machine and automated control technology, embedded Control technical field particularly mainly is based on the parameter calibration technology of the embedded controller of Common Object Request Broker Architecture CORBA (Common Object Request Broker Architecture).
Background technology
Embedded system has obtained using widely in industrial control field, as automobile, Aero-Space, military affairs and other manufacturing industry etc.Along with the function of embedded control system constantly strengthens, performance improves constantly, the scale of embedded software continues to increase, shared ratio sustainable growth in cost of development.Compare with common embedded software, because the complicacy of industrial control system, the performance of embedded controller depends on its running parameter to a great extent, and running parameter is mainly determined by demarcating the coupling experiment.Demarcation is by real-time monitoring embedded controller duty, and adjusting, optimal controller running parameter make the control system operational effect reach best process.Therefore, demarcation is one of gordian technique of the efficient exploitation of embedded Control software, and the calibration system with high-level efficiency and adaptive faculty can greatly improve the development efficiency of embedded controller.
Yet, owing to have multiple different communication interface and demarcate agreement, caused the appearance of multiple calibration system.The communication interface type of present calibration system support has: serial ports, CAN(ControlAreaNetwork, controller local area network), USB(UniversalSerialBus, USB (universal serial bus)), Ethernet etc., fieldbus to other types is then seldom supported, and the above-mentioned Communications Interface Unit that different hardware manufacturer provides has different software interfaces.Demarcation agreement commonly used has: CCP(CAN Calibration Protocol, CAN demarcates agreement), XCP(eXtended Calibration Protocol, expansion demarcation agreement), KWP2000 agreement etc.Therefore above-mentioned calibration system always depends on the particular communication interface and demarcates agreement, does not have the adaptive faculty of difference being demarcated agreement and hardware interface.When the communication interface of embedded controller, when demarcating protocol variation, must develop corresponding calibration system again.Like this, in the performance history of embedded controller, just need to increase the exploitation of calibration system, thereby increased cost of development, reduced development efficiency.
Chinese patent application: based on the mixed power electric car controller scaling method of CCP agreement (application number: 200410003472.9) with based on the universal embedded caliberating device of CCP agreement and method (application number: 200510061162.7) disclose a kind of automobile controller scaling method of the CCP of employing agreement, but can only be used for the CAN bus interface, can not adapt to the embedded controller with TCP/IP, USB and other field-bus interfaces.Chinese patent application: based on automobile electronic control unit calibration system and the method (application number: 200810070030.4) proposed a kind of employing ASAP (Arbeitskreis zur Standardisierung von Applikationssystemen of ASAP standard, application system standardization effort group) calibration system mainly solves calibration system framework and data management problem, but does not relate to the otherness of bottom communication equipment.Chinese patent application: (application number: caliberating device 200810070031.9) is shared parameter by dual port RAM and embedded controller to marking device general for vehicle electronic control unit, be transmitted to higher level's calibration software by CAN again, same and particular communication interface coupling.Chinese patent application: general calibration system of automobile electronic control unit (application number: 200910191680.9) realized the self-defined and universalization at automobile electronic control unit calibration system interface, but and be unrealized to the adaptability of communication interface and demarcation agreement.
The present invention is directed between existing calibration system and the embedded controller and have strong coupling, can not adapt to multiple communication interface and the problem of demarcating agreement, propose a kind of CORBA of utilization middleware and come shielded communication interface and calibration system and the implementation method of demarcating Details Of Agreement, provide the uniform data access interface by this method for calibration system, adapt to different communication interface and the embedded controller of demarcating agreement, to improve versatility and the adaptive faculty of embedded controller parameter calibration system.
Summary of the invention
Lack different communication interface and the adaptive faculty of demarcating agreement in order to solve the embedded controller calibration system, making needs to develop supporting calibration system in the embedded controller performance history, cause the problem that cost of development increases, development efficiency reduces, the present invention proposes a kind of embedded controller parameter calibration system schema based on CORBA.CORBA is OMG (Object Management Group, one of standard of a series of relevant distributed objects computing techniques of OMG) promulgating, its main target is the interoperability issue that solves between the OO isomery application program, to support the interoperability between heterogeneous distributed application program and to be independent of platform and the object reuse of programming language.The method that the present invention proposes adopts the CORBA technology that bottom communication interface and demarcation agreement are encapsulated, unified data access interface is provided, thereby reduce the coupling between calibration system and the bottom communication interface, make the calibration system application software can visit the running parameter of dissimilar embedded controllers with uniform way.Calibration system according to this solution development has shielded bottom communication interface and the details of demarcating agreement, the demarcation demand that can satisfy the number of different types communication interface and demarcate the embedded controller of agreement overcomes the versatility that exists in the current calibration technique, the defective of bad adaptability.
The scheme that the present invention solves the problems of the technologies described above is: design a kind of calibration system of CLIENT of the CORBA of meeting data access interface, calibration system comprises: two parts of CORBA client and CORBA server.The realization of CORBA server is communicated by letter with embedded controller, utilize the CORBA technology that the communication interface driver of calibration system main frame is encapsulated with the demarcation agreement, communication interface such as USB, CAN, Ethernet and other fieldbus etc. to any type, all provide unified standard CORBA interface to realize the running parameter of embedded controller and the visit of running state data, thereby shielding different communication interface and the difference of demarcating the embedded controller of agreement make it present identical data access interface.The CORBA client realizes man-machine interaction, on the one hand through the ORB(Object Request Broker of Object Request Broker) the above-mentioned interface that provides by the CORBA server reads the embedded controller running state data and show at software interface; Adjust the controller running parameter according to embedded controller running status and control strategy in man-machine interface on the other hand, and be issued in the controller by the same-interface of CORBA server.These two parts combine, and realize complete embedded controller parameter calibration function.
The present invention utilizes OMG IDL(Interface Definition Language, IDL (Interface Definition Language)) one group of corba interface of supporting calibrating function of definition, its CORBA client in the corba interface that the ORB invoking server provides is realized embedded controller running parameter issue collection with running state data; The computing machine at server place is connected with embedded controller, and server is by running parameter and the running state data of corresponding communication interface read/write controller, and realizes exchanges data with client by corba interface.Described CORBA server is made up of corba interface layer, data management layer, communication layers and hardware driving layer.The corba interface layer is interface frame (Skeleton), utilizes the corba interface access controller parameter that meets above-mentioned IDL definition; The data management layer provides the description to controller parameter, and the reflection of a controller parameter is provided; Communication layers is the realization of demarcating agreement, adopts the XCP agreement to support dissimilar communication buss; The hardware driving layer provides the driver of dissimilar communication interface.Described CORBA client is made up of man-machine interface layer, data management layer and corba interface layer.The man-machine interface layer is the interface of calibration system, mainly comprises calibration interface and monitoring interface, and the former is used for checking/revise the embedded controller running parameter, and the latter is used for showing running state data.The data management layer is mainly used in data and resolves and store.The corba interface layer of client software is interface counterfoil (Stub), is used for the service that visit CORBA server software provides.
The present invention also proposes a kind of embedded controller parameter calibration method based on CORBA, the CORBA server is connected with embedded controller, adopt the required data access function of IDL definition calibration system, make the different communication interface present identical corba interface with the embedded controller of demarcating agreement, shielding different communication interface and the difference of demarcating agreement, all provide unified standard CORBA interface to realize visit to embedded controller running parameter and running state data providing corba interface for client-access embedded controller running parameter and running state data to the communication interface of any type; The CORBA client is passed through CORBA server access embedded controller running parameter and running state data through ORB, read embedded controller running state data and demonstration, adjust the controller running parameter according to embedded controller running status and control strategy in man-machine interface, the same-interface by the CORBA server is issued to realizes parameter calibration in the controller.
Demarcation for the controller running parameter, calibration system is initiated by the calibration system client with communicating by letter of embedded controller, send to server through ORB, be converted into the CTO packet again, send to controller by communication interface, after controller is received the CTO order, resolve and inquire about the command list (CLIST) in the native protocol stack, and operation accordingly in the fill order tabulation, the feedback response message; Server encapsulates message, returns to client.Demarcation for the controller running state parameter, client is initiated data acquisition DAQ request, send to server through ORB, be converted into the DTO packet again, send to controller by communication interface, after controller was received the DTO order, disposing voluntarily and organize by the parameter in the order need be to the controller running state data of calibration system transmission, and the cycle sends to server in accordance with regulations then
Embedded controller parameter calibration system and its implementation based on CORBA that the present invention proposes, adopt IDL definition calibrating function, make the different communication interface present identical corba interface with the embedded controller of demarcating agreement, shielding different communication interface and the difference of demarcating agreement, make the calibration system client software can adapt to the embedded controller of different communication interface, improved versatility and the adaptive faculty of calibration system.
Description of drawings
Fig. 1. the present invention is based on the embedded controller calibration system general frame of CORBA;
Fig. 2. calibration system software architecture of the present invention;
Fig. 3. calibration system server architecture figure of the present invention;
Fig. 4. calibration system client terminal structure figure of the present invention.
Embodiment
The present invention proposes a kind of CORBA of utilization middleware and comes shielded communication interface and calibration system and the implementation method of demarcating Details Of Agreement, provide the uniform data access interface by this method for calibration system, adapt to different communication interface and the embedded controller of demarcating agreement, to improve versatility and the adaptive faculty of embedded controller parameter calibration system.
Below in conjunction with accompanying drawing and instantiation the specific embodiment of the present invention is described.
Be illustrated in figure 1 as the embedded controller calibration system general frame based on CORBA that the present invention proposes.Behind the embedded controller software translating, formation controller parameter image file (* .map), be converted into the database file that meets the ASAMMCD_2 agreement by the ASAM editing machine again, information with the format description controller parameter of standard, as name variable, data type, address and size etc., use for calibration system software; Wherein, in order to improve calibration system versatility and adaptive faculty, according to CLIENT thought, the part of communicating by letter with controller in traditional calibration system is separated, be divided into two parts of CORBA client and CORBA server.CORBA server and embedded controller communicate, utilize the communication interface driver and demarcation agreement of CORBA technology encapsulation calibration system main frame, namely to communication interface such as USB, CAN, Ethernet and other fieldbus etc. of any type, all provide unified standard CORBA interface to realize the running parameter of embedded controller and the visit of running state data, make to have the different communication interface and present identical data access interface with the embedded controller of demarcating agreement, and be indifferent to the form of expression of data.The CORBA client realizes human-computer interaction function, the above-mentioned interface that provides by the CORBA server through ORB reads the embedded controller running state data and shows at software interface, and adjust the controller running parameter according to embedded controller running status and control strategy in man-machine interface, the same-interface by the CORBA server is issued to realizes parameter calibration in the controller.
Be illustrated in figure 2 as the embedded controller calibration system framework that the present invention is based on CORBA.At first define one group of corba interface and operation thereof of describing calibrating function with the OMG IDL that is independent of other language and procotol, form Interface Definition Document, shape as:
Data communication in the calibration system exists command transfer object CTO (Command Transfer Object) pattern and data transmission object DTO(Data Transfer Object) two kinds of patterns.Wherein, the command transfer object pattern realizes that by interface CaliCTO calibration system is initiated by the calibration system client software with communicating by letter of embedded controller, sends to server software through ORB, be converted into the CTO packet again, send to controller by communication interface; After controller is received the CTO order, resolve and inquire about the command list (CLIST) in the native protocol stack, if corresponding order is arranged, then carry out corresponding operation and feedback response message, if do not find, then return error message; Server encapsulates message again, returns to client and realizes complete communication process.This is a kind of synchronous working pattern, needs to demarcate the information interaction of carrying out " question-response " between main frame and the embedded controller, is mainly used in the controller running parameter and demarcates.
The data transmission object pattern is realized by interface CaliDTO, the calibration system client software is initiated data acquisition DAQ(DataAcquisition under this pattern) request, send to server through ORB, be converted into the DTO packet again, send to controller by communication interface.After controller was received the DTO order, disposing voluntarily and organize by the parameter in the order need be to the controller running state data of calibration system transmission, and the cycle independently sends to server in accordance with regulations then.Server encapsulates the data of controller autonomous transmission, adopt the CORBA notification service, be pushed to client software by event channel, realize asynchronous data transfer, make embedded controller not need to demarcate main frame by progressively control of order, high efficiency is mainly used in the controller running state data and gathers and monitoring.
Behind the idl file definition CROBA interface, by the compiling of idl compiler device, generate corresponding client counterfoil and server end skeleton code, on this basis CORBA client and the server software of development support calibrating function.
Be illustrated in figure 3 as calibration system server software structural drawing.The CORBA server software is between calibration system client software and embedded controller, with communicating by letter of the embedded controller of the interface encapsulation of IDL definition and dissimilar communication interfaces, for the client as the man-machine interface layer provides unified access interface to different controllers, realize separating of man-machine interface and controller communication mode.For realizing this goal, the CORBA server can be divided into corba interface layer, data management layer, communication layers and four level of communication interface layer.
Server corba interface layer is the framework that generates behind the idl compiler, and the interface that defines for IDL provides the framework of writing ISP's code, and the ISP is by realizing the calibrating function of IDL definition to the visit of data administration and supervision authorities.The data management layer provides the management to two class data, and a class is the metadata in the ASAM database, is used for description control device parameter characteristic, as the variable name of parameter, data type, memory address etc.; Another kind of is real work parameter and running state data from embedded controller.The data management layer makes controller automatically data designated to be sent to server software by the configuration information of DTO-ODT table with reference to the table of the object factory table DTO-ODT on the metadata configurations controller (Object Descriptor Table).The data management layer provides the memory map to controller parameter and running state data, after receiving the automatic data that send of controller, be stored in local reflection, and by the CORBA notification service be pushed to that client software shows, storage, analysis etc., realize the monitoring to the controller running status.Communication layers provides demarcating the encapsulation of agreement, in order to support dissimilar communication interfaces, adopts the XCP agreement.
The communication interface layer is the bottom of server, and the driving of different communication interface and different suppliers communication facilities is provided.When embedded controller communication interface or the change of calibration system communication facilities, only need the corresponding server of change, and do not need to change the whole calibrating system, thereby improve versatility and the adaptive faculty of calibration system.
Be illustrated in figure 4 as calibration system client-side system architecture figure.The target of client is to realize the demonstration of embedded controller running parameter and running state data, and the controller running parameter of being revised by the demarcation personnel on the interface is issued to the controller storage space.For realizing above-mentioned target, client can be divided into man-machine interface layer, data management layer, three level of corba interface layer.The interface of client man-machine interface layer mainly comprises two classes, one class is calibration interface, be used for showing the running parameter of the embedded controller that can demarcate, the demarcation personnel are after the controller running parameter is revised at such interface, be transferred to the CORBA server by the CORBA counterfoil through ORB, the corresponding parameter on the controller is upgraded; Another kind of is controller running state data observation interface, shows the controller running state data that is pushed to client by the CORBA server by event channel.The data management layer of client provides the management to ASAM database metadata and controller real data equally, reflection as controller internal storage data district, the memory function of controller data is provided, and makes an explanation and change according to the controller data of metadata to storage.The corba interface layer of client is the client counterfoil that generates behind the idl compiler, send message to the needed interface function of long-range CORBA object on the server as client-side program, client-side program is realized calibrating function to the IDL definition of embedded controller parameter by counterfoil through the ORB access server.
Claims (9)
1. based on the embedded controller parameter calibration system of CORBA, it is characterized in that, this system comprises CORBA client and CORBA server, and the CORBA client realizes human-computer interaction function, passes through CORBA server access embedded controller running parameter and running state data through ORB; The CORBA server is connected with embedded controller, server by utilizing CORBA technology encapsulates with demarcating agreement the communication interface driver of calibration system main frame, provides corba interface for client-access embedded controller running parameter and running state data.
2. embedded controller parameter calibration according to claim 1 system, it is characterized in that, the described CORBA of utilization technology to the communication interface driver of calibration system main frame with demarcate agreement and encapsulate and be specially, adopt the required data access function of IDL definition calibration system, make the different communication interface present identical corba interface with the embedded controller of demarcating agreement, shielding different communication interface and the difference of demarcating agreement all provide unified standard CORBA interface to realize visit to embedded controller running parameter and running state data to the communication interface of any type.
3. embedded controller parameter calibration according to claim 1 system, it is characterized in that, adopt the collection of CORBA notification service visit embedded controller running state data, the CORBA server obtains the controller running state data by the DTO pattern, by event channel data is distributed to the CORBA client again.
4. embedded controller parameter calibration according to claim 1 system, it is characterized in that, described CORBA server is made up of corba interface layer, data management layer, communication layers and hardware driving layer, and the corba interface layer is realized the corba interface access controller parameter of IDL definition; The data management layer provides the description to controller parameter, and the reflection of a controller parameter is provided; Communication layers adopts the XCP agreement to support dissimilar communication buss; The hardware driving layer provides the driver of dissimilar communication interface to call for communication layers.
5. embedded controller parameter calibration according to claim 1 system, it is characterized in that, described CORBA client is made up of man-machine interface layer, data management layer and corba interface layer, and the man-machine interface layer is used for checking/revising the embedded controller running parameter, shows running state data; The data management layer is used for data and resolves and store; The corba interface layer is used for the service that visit CORBA server software provides.
6. based on the embedded controller parameter calibration method of CORBA, it is characterized in that, the CORBA server is connected with embedded controller, adopt the required data access function of IDL definition calibration system, make the different communication interface present identical corba interface with the embedded controller of demarcating agreement, shielding different communication interface and the difference of demarcating agreement, communication interface to any type all provides unified standard CORBA interface, for client-access embedded controller running parameter and running state data; The CORBA client is passed through CORBA server access embedded controller running parameter and running state data through ORB, read embedded controller running state data and demonstration, adjust the controller running parameter according to embedded controller running status and control strategy in man-machine interface, the same-interface by the CORBA server is issued to realizes parameter calibration in the controller.
7. embedded controller parameter calibration method according to claim 6, it is characterized in that, adopt CORBA notification service visit embedded controller running state data, the CORBA server obtains the controller running state data by the DTO pattern, by event channel data is distributed to the CORBA client again.
8. embedded controller parameter calibration method according to claim 6, it is characterized in that, demarcation for the controller running parameter, calibration system is initiated by the calibration system client with communicating by letter of embedded controller, send to server through ORB, be converted into the CTO packet again, send to controller by communication interface, after controller is received the CTO order, resolve and inquire about the command list (CLIST) in the native protocol stack, and operation accordingly in the fill order tabulation, the feedback response message, server encapsulates message, returns to client.
9. embedded controller parameter calibration method according to claim 6, it is characterized in that, demarcation for the controller running state parameter, client is initiated data acquisition DAQ request, sends to server through ORB, is converted into the DTO packet again, send to controller by communication interface, after controller was received the DTO order, disposing voluntarily and organize by the parameter in the order need be to the controller running state data of calibration system transmission, and the cycle sends to server in accordance with regulations then.
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