Design And Implementation Of Robot Middleware In Android Environment

In recent years,the rapid development of robotics and the increasing demand in the commercial market have led to the expansion of robot applications from the industrial field to education and services.Robots need to support a large number of common software functions based on user needs.In the development process of robot applications,not only the concurrency technology but also the communication model needs to be written.At the same time,the software development and code reuse of the robot become difficult due to the difference in hardware structure and software environment.Deploying applications on the Android platform has the advantage of man-machine interaction and portability,its use of scenes is more and more extensive,in order to improve the reusability of robot software code,reduce the skills requirements of robot software developers,accelerate robot software iteration Development progress,based on the BAOS(roBot Advanced Operating System)independently developed by South China University of Technology,this paper has carried out an iterative upgrade of the framework and added ANode middleware..The main work includes the following three aspects:First,the software model of ANode middleware is proposed,and the concept of interactive components is defined,which simplifies the development of robot applications.In order to solve the scenario of the robot's chain data request,the ANode middleware added a JSONRPC network communication model based on message queue synchronization on the basis of the publish-subscribe communication model of the compatible BAOS system,which enriched the communication means of the single-point control robot.In addition,a decentralized network communication structure is proposed,which adopts the communication model of discovery service and discovery theme,which eliminates the hidden danger brought by the central node downtime.The ANode middleware runtime requests the user Android project project from the server to download and execute the robot program.Second,in order to quickly develop a robot application based on ANode middleware,a web-based online IDE tool was developed,which presets common robot multiplexing components.The online visual IDE uses the framework of Vue to develop.Mxgraph is introduced to support the user to drag the interface components.Monaco is introduced to allow users to edit code and develop personalization capabilities for interface components using the editor.It provides developers with cloud storage for robot applications.On the one hand,it ensures the security of user robot applications,and on the other hand,it saves users from the cost of local data storage and data maintenance,and facilitates users' convenient access to robot application projects.Thirdly,the function and performance of the communication layer of the ANode in this paper are tested.This paper demonstrates how to use the online visualization Web IDE proposed in this paper to develop the SNode runtime variable monitoring application,and uses it to develop the teaching robot,fun education robot and assistant service robot.The test and application results show that the ANode and online visualization IDE provided in this paper have good applicability.