CN103197664B - 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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- CN103197664B CN103197664B CN201310073028.3A CN201310073028A CN103197664B CN 103197664 B CN103197664 B CN 103197664B CN 201310073028 A CN201310073028 A CN 201310073028A CN 103197664 B CN103197664 B CN 103197664B
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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, particularly embedded Control technical field, mainly based on the parameter calibration technology of the embedded controller of Common Object Request Broker Architecture CORBA (Common Object Request BrokerArchitecture).
Background technology
Embedded system is widely used in industrial control field, as automobile, Aero-Space, military affairs and other manufacturing industry etc.Along with the function of embedded control system constantly strengthen, performance improves constantly, the scale of embedded software continues to increase, and constant shared in cost of development increases.Compared with common embedded software, due to 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 tested by calibration and determined.Demarcation is by Real-Time Monitoring embedded controller duty, adjustment, optimal controller running parameter, makes the process that control system operational effect reaches best.Therefore, demarcation is one of gordian technique of embedded Control software Efficient Development, and the calibration system with high-level efficiency and adaptive faculty greatly can improve the development efficiency of embedded controller.
But, owing to there is multiple different communication interface and demarcating agreement, result in the appearance of various calibration system.The communication interface type of current calibration system support has: serial ports, CAN(ControlAreaNetwork, controller local area network), USB(UniversalSerialBus, USB (universal serial bus)), Ethernet etc., the fieldbus of other types is then seldom supported, and the above-mentioned Communications Interface Unit that different hardware manufacturer provides has different software interfaces.Conventional demarcation agreement has: CCP(CAN Calibration Protocol, CAN demarcate agreement), XCP(eXtended Calibration Protocol, expansion demarcation agreement), KWP2000 agreement etc.Therefore above-mentioned calibration system always depends on specific communication interface and demarcates agreement, does not have the adaptive faculty of difference being demarcated to agreement and hardware interface.When communication interface, the demarcation protocol variation of embedded controller, must again develop corresponding calibration system.Like this, in the performance history of embedded controller, just need the exploitation increasing calibration system, thus add cost of development, reduce development efficiency.
Chinese patent application: based on CCP agreement mixed power electric car controller scaling method (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 adopting CCP agreement, but CAN interface can only be used for, the embedded controller with TCP/IP, USB and other field-bus interfaces can not be adapted to.Chinese patent application: based on automobile electronic control unit calibration system and the method (application number: 200810070030.4) propose a kind of employing ASAP (Arbeitskreis zur Standardisierungvon Applikationssystemen of ASAP standard, application system standardization effort group) calibration system mainly solve calibration system framework and data management problem, but do not relate to the otherness of bottom communication equipment.Chinese patent application: marking device general for vehicle electronic control unit (application number: caliberating device 200810070031.9) shares parameter by dual port RAM and embedded controller, be transmitted to higher level's calibration software by CAN again, be coupled with specific communication interface equally.Chinese patent application: general calibration system of automobile electronic control unit (application number: the self-defined and universalization 200910191680.9) achieving automobile electronic control unit calibration system interface, but and unrealized to communication interface and the adaptability of demarcating agreement.
The present invention is directed between existing calibration system and embedded controller and there is strong coupling, multiple communication interface and the problem of demarcating agreement can not be adapted to, 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, by the method for calibration system provides universal data access interface, adapt to different communication interface and the embedded controller 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 to solve embedded controller calibration system, make to need in embedded controller performance history to develop supporting calibration system, cause the problem that cost of development increases, development efficiency reduces, the present invention proposes a kind of embedded controller parameter calibration system scheme based on CORBA.CORBA is OMG (Object Management Group, one of OMG) a series of specifications about distributed object comutation technology of promulgating, its main target solves the interoperability issue between OO heterogeneous applications program, to support interoperability between heterogeneous distributed application program and the object reuse independent of platform and programming language.The method that the present invention proposes adopts CORBA technology to encapsulate bottom communication interface and demarcation agreement, unified data access interface is provided, thus the coupling reduced between calibration system and bottom communication interface, make calibration system application software can access the running parameter of dissimilar embedded controller in a uniform manner.Bottom communication interface and the details of demarcating agreement is shielded according to the calibration system of program exploitation, number of different types communication interface can be met and demarcate the demarcation demand of embedded controller of agreement, overcome exist in current calibration technique versatility, bad adaptability defect.
The scheme that the present invention solves the problems of the technologies described above is: design a kind of calibration system meeting the CLIENT/SERVER MODEL of CORBA data access interface, calibration system comprises: CORBA client and CORBA server two parts.CORBA server realizes the communication with embedded controller, CORBA technology is utilized to encapsulate the communication interface driver of calibration system main frame and demarcation agreement, to the communication interface of any type as USB, CAN, Ethernet and other fieldbus etc., unified standard CORBA interface is all provided to realize the access of running parameter to embedded controller and running state data, thus shielding different communication interface and the difference of the embedded controller of demarcation agreement, make it present identical data access interface.CORBA client realizes man-machine interaction, and the above-mentioned interface provided by CORBA server through Object Request Broker ORB (Object Request Broker) is on the one hand read embedded controller running state data and shows on software interface; In man-machine interface, adjust controller running parameter according to embedded controller running status and control strategy on the other hand, and be issued in 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)) define one group and support the corba interface of calibrating function, its CORBA client realizes issuing and the collection of running state data running parameter in embedded controller through the corba interface that ORB invoking server provides; The computing machine at server place is connected with embedded controller, and server by the running parameter of corresponding communication interface read/write controller and running state data, and realizes the 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.Corba interface layer and interface frame (Skeleton), utilize the corba interface access controller parameter meeting above-mentioned IDL and define; Data management layer provides the description to controller parameter, and provides the reflection of a controller parameter; Communication layers is the realization of demarcating agreement, adopts XCP agreement to support dissimilar communication bus; 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.Man-machine interface layer is the interface of calibration system, mainly comprises calibration interface and monitoring interface, and the former is for checking/revising embedded controller running parameter, and the latter is for showing running state data.Data management layer is mainly used in Data Analysis and storage.The corba interface layer of client software and interface counterfoil (Stub), for accessing the service that CORBA server software provides.
The present invention also proposes a kind of embedded controller parameter calibration method based on CORBA, CORBA server is connected with embedded controller, adopt the data access function of IDL definition needed for calibration system, different communication interface is made to present identical corba interface with the embedded controller demarcating agreement, shielding different communication interface and the difference of demarcating agreement, to the access that the communication interface of any type all provides unified standard CORBA interface to realize embedded controller running parameter and running state data, there is provided corba interface for client-access embedded controller running parameter and running state data, CORBA client passes through CORBA server access embedded controller running parameter and running state data through ORB, read embedded controller running state data and show, in man-machine interface, adjust controller running parameter according to embedded controller running status and control strategy, be issued in controller by the same-interface of CORBA server and realize parameter calibration.
For the demarcation of controller running parameter, the communication of calibration system and embedded controller is initiated by calibration system client, server is sent to through ORB, be converted into CTO packet again, send to controller by communication interface, after controller receives CTO order, resolve and inquire about the command list (CLIST) in native protocol stack, and operate accordingly in fill order list, feedback response message; Message encapsulates by server, returns to client.For the demarcation of controller running state parameter, client initiates data acquisition DAQ request, server is sent to through ORB, be converted into DTO packet again, controller is sent to by communication interface, after controller receives DTO order, configure voluntarily and the controller running state data transmitted to calibration system of organization need by the parameter in order, then send to server by specified period
The embedded controller parameter calibration system based on CORBA that the present invention proposes and its implementation, IDL is adopted to define calibrating function, different communication interface is made to present identical corba interface with the embedded controller demarcating agreement, shielding different communication interface and the difference of demarcating agreement, make calibration system client software can adapt to the embedded controller of different communication interface, improve versatility and the adaptive faculty of calibration system.
Accompanying drawing explanation
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, by the method for calibration system provides universal data access interface, adapt to different communication interface and the embedded controller 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 the embedded controller calibration system general frame based on CORBA that the present invention proposes.After embedded controller software translating, formation controller parameters map file (* .map), the database file meeting ASAMMCD_2 agreement is converted into again by ASAM editing machine, the information of controller parameter is described with the form of standard, as name variable, data type, address and size etc., for calibration system software application; Wherein, in order to improve calibration system versatility and adaptive faculty, according to CLIENT/SERVER MODEL thought, the part communicated with controller in traditional calibration system being separated, being divided into CORBA client and CORBA server two parts.CORBA server communicates with embedded controller, CORBA technology is utilized to encapsulate the communication interface driver of calibration system main frame and demarcation agreement, namely to the communication interface of any type as USB, CAN, Ethernet and other fieldbus etc., unified standard CORBA interface is all provided to realize the access of running parameter to embedded controller and running state data, make that there is different communication interface and present identical data access interface with the embedded controller demarcating agreement, and be indifferent to the form of expression of data.CORBA client realizes human-computer interaction function, the above-mentioned interface provided by CORBA server through ORB is read embedded controller running state data and shows on software interface, and in man-machine interface, adjust controller running parameter according to embedded controller running status and control strategy, be issued in controller by the same-interface of CORBA server and realize parameter calibration.
Be illustrated in figure 2 the embedded controller calibration system framework that the present invention is based on CORBA.First define with the OMG IDL independent of other language and procotol corba interface and the operation thereof that a group describes calibrating function, formed Interface Definition Document, shape as:
There is command transfer object CTO (Command Transfer Object) pattern and data connection object DTO(Data Transfer Object in the data communication in calibration system) pattern two kinds.Wherein, command transfer object pattern is realized by interface CaliCTO, and the communication of calibration system and embedded controller is initiated by calibration system client software, is sent to server software through ORB, be converted into CTO packet again, send to controller by communication interface; After controller receives CTO order, resolve and inquire about the command list (CLIST) in native protocol stack, if there is corresponding order, then performs and operate and feed back response message accordingly, if do not found, then return error message; Message encapsulates by server 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 embedded controller, is mainly used in controller running parameter and demarcates.
Data connection object pattern is realized by interface CaliDTO, this pattern index fixed system client software initiates data acquisition DAQ(DataAcquisition) request, be sent to server through ORB, then be converted into DTO packet, send to controller by communication interface.After controller receives DTO order, configure voluntarily and the controller running state data transmitted to calibration system of organization need by the parameter in order, then independently send to server by specified period.The data of controller autonomous transmission encapsulate by server, adopt CORBA notification service, client software is pushed to by event channel, realize asynchronous data transfer, make embedded controller not need to demarcate main frame progressively to be controlled by order, work efficiency is high, is mainly used in controller running state data and gathers and monitoring.
After idl file definition CROBA interface, compiled by idl compiler device, generate corresponding client counterfoil and server end skeleton code, can the CORBA client of development support calibrating function and server software on this basis.
Be illustrated in figure 3 calibration system server software architecture figure.CORBA server software is between calibration system client software and embedded controller, the communication of the interface encapsulation defined with IDL and the embedded controller of dissimilar communication interface, for providing the unified access interface to different controller as the client of man-machine interface layer, realize being separated of man-machine interface and controller communication mode.For realizing this goal, CORBA server can be divided into corba interface layer, data management layer, communication layers and communication interface layer four levels.
The framework generated after server corba interface layer and idl compiler, for the interface of IDL definition provides the framework writing ISP's code, the calibrating function that ISP defines by realizing IDL to the access of data management layer.Data management layer provides the management to two class data, and a class is the metadata in ASAM database, for describing controller parameter characteristic, as the variable name, data type, memory address etc. of parameter; Another kind of is real work parameter from embedded controller and running state data.Data management layer shows (Object Descriptor Table) with reference to the object factory table DTO-ODT on metadata configurations controller, and the data of specifying automatically are sent to server software by the configuration information that controller can be shown by DTO-ODT.Data management layer provides the memory map to controller parameter and running state data, after receiving the data that controller sends automatically, be stored in local reflection, and be pushed to that client software carries out showing, stores by CORBA notification service, analysis etc., realize the monitoring to controller running status.Communication layers provides the encapsulation to demarcating agreement, in order to support dissimilar communication interface, adopts XCP agreement.
Communication interface layer is the bottom of server, provides the driving of different communication interface and different suppliers communication facilities.When embedded controller communication interface or calibration system communication facilities change, only need to change corresponding server, and do not need to change whole calibration system, thus improve versatility and the adaptive faculty of calibration system.
Be illustrated in figure 4 calibration system client-side system architecture figure.The target of client is the display realizing embedded controller running parameter and running state data, and the controller running parameter that interface was revised by demarcation personnel is issued to controller storage space.For realizing above-mentioned target, client can be divided into man-machine interface layer, data management layer, corba interface layer three level.The interface of client man-machine interface layer mainly comprises two classes, one class is calibration interface, for showing the running parameter of the embedded controller that can demarcate, demarcation personnel are on such interface after change control device running parameter, be transferred to CORBA server by CORBA counterfoil through ORB, the corresponding parameter on controller is upgraded; Another kind of is controller running state data observation interface, shows the controller running state data being pushed to client by CORBA server by event channel.The data management layer of client provides the management to ASAM database metadata and controller real data equally, as the reflection in controller internal storage data district, the memory function of controller data is provided, and according to metadata, the controller data stored is made an explanation and conversion.The client counterfoil generated after the corba interface layer of client and idl compiler, send message to the interface function required for the remote CORBA objects on server as client-side program, client-side program realizes the calibrating function defined the IDL of embedded controller parameter through ORB access services device by counterfoil.
Claims (8)
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 CORBA client realizes human-computer interaction function, through ORB by CORBA server access embedded controller running parameter and running state data; CORBA server is connected with embedded controller; CORBA server by utilizing CORBA technology encapsulates the communication interface driver of calibration system main frame and demarcation agreement, provides corba interface for client-access embedded controller running parameter and running state data;
The described CORBA of utilization technology is carried out encapsulation to the communication interface driver of calibration system main frame with demarcation agreement and is specially, adopt the data access function of IDL definition needed for calibration system, different communication interface is made to present identical corba interface with the embedded controller demarcating agreement, shielding different communication interface and the difference of demarcating agreement, to the access that the communication interface of any type all provides unified standard CORBA interface to realize embedded controller running parameter and running state data.
2. embedded controller parameter calibration system according to claim 1, it is characterized in that, adopt the collection of CORBA notification service access embedded controller running state data, CORBA server obtains controller running state data by DTO pattern, then by event channel by data publication to CORBA client.
3. embedded controller parameter calibration system according to claim 1, 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 corba interface layer realizes the corba interface access controller parameter of IDL definition; Data management layer provides the description to controller parameter, and provides the reflection of a controller parameter; Communication layers adopts XCP agreement to support dissimilar communication bus; Hardware driving layer provides the driver of dissimilar communication interface to call for communication layers.
4. embedded controller parameter calibration system according to claim 1, it is characterized in that, described CORBA client is made up of man-machine interface layer, data management layer and corba interface layer, and man-machine interface layer is used for checking/revise embedded controller running parameter, display running state data; Data management layer is used for Data Analysis and storage; The service that corba interface layer provides for accessing CORBA server software.
5. based on the embedded controller parameter calibration method of CORBA, it is characterized in that, CORBA server is connected with embedded controller, adopt the data access function of IDL definition needed for calibration system, different communication interface is made to present identical corba interface with the embedded controller demarcating agreement, shielding different communication interface and the difference of demarcating agreement, unified standard CORBA interface is all provided, for client-access embedded controller running parameter and running state data to the communication interface of any type; CORBA client passes through CORBA server access embedded controller running parameter and running state data through ORB, read embedded controller running state data and show, in man-machine interface, adjust controller running parameter according to embedded controller running status and control strategy, be issued in controller by the same-interface of CORBA server and realize parameter calibration.
6. embedded controller parameter calibration method according to claim 5, it is characterized in that, adopt CORBA notification service access embedded controller running state data, CORBA server obtains controller running state data by DTO pattern, then by event channel by data publication to CORBA client.
7. embedded controller parameter calibration method according to claim 5, it is characterized in that, for the demarcation of controller running parameter, the communication of calibration system and embedded controller is initiated by calibration system client, server is sent to through ORB, be converted into CTO packet again, controller is sent to by communication interface, after controller receives CTO order, resolve and inquire about the command list (CLIST) in native protocol stack, and operating accordingly in fill order list, feedback response message, message encapsulates by server, returns to client.
8. embedded controller parameter calibration method according to claim 5, it is characterized in that, for the demarcation of controller running state parameter, client initiates data acquisition DAQ request, is sent to server, then is converted into DTO packet through ORB, controller is sent to by communication interface, after controller receives DTO order, configure voluntarily and the controller running state data transmitted to calibration system of organization need by the parameter in order, then send to server by specified period.
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| CN103684849A (en) * | 2013-11-22 | 2014-03-26 | 汉柏科技有限公司 | Method and system for shielding network devices |
| CN110161898B (en) * | 2019-04-11 | 2022-04-15 | 广西电网有限责任公司电力科学研究院 | Transformer substation inspection robot resource sharing system compatible with multiple intelligent agents |
| CN111565140B (en) * | 2020-04-10 | 2021-08-24 | 中电科航空电子有限公司 | Distributed aeronautical communication middleware capable of simultaneously supporting CAN bus and Ethernet |
| CN116501713B (en) * | 2023-06-26 | 2023-09-22 | 成都谐盈科技有限公司 | Method for realizing distributed file system |
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