Research On Robot Software Component And Network Communication Model

Robot software is an important part of the robot.In the actual development process,the robot software and hardware usually have a high degree of coupling,which makes the robot software code is difficult to reuse.In addition,the development of robot applications often requires the use of parallel technology and a variety of complex algorithms,such as image recognition algorithms,path planning algorithms,which brings difficulty to the development of robot software.In order to improve the reusability of the robot software code,reduce the difficulty of the robot software development and shorten the development cycle of the robot software,this paper designs a simple,easy-to-use,support concurrency and reusable component model,and designs a corresponding network communication model.For the component model,this paper proposes a data-flow driven program operation method based on the characteristics of components;we use the unified template packaging the callback function,so that the callback function has a unified invocation style;we use the thread pool which is responsible for the implementation of callback function to reduce the overhead of thread creation and destruction;we use the thread-safe queue to achieve the data buffer of the component input ports In the multi-threaded environment to ensure data security;In addition,we also use the YAML files to record the properties of the component information and the connection between the components.For the network communication model,this paper designs a network component model and a communication model based on publish-subscribe patterns;the epoll model of Linux is used to realize the network monitor function of the communication nodes;The unified message format is developed to facilitate the information exchange between the nodes;The map structure in C ++ STL library is used to store the node information;At the same time,the use of the heartbeat-detection function can ensure the reliability of communication between nodes.Finally,the component model and network communication model designed in this paper are applied to the application development of small Q robot.After testing,it has reached the preset target and has certain usability.