Module data interaction method of robot, electronic equipment and storage medium

Abstract

The invention provides a module data interaction method of a robot, electronic equipment and a storage medium. The robot comprises a first module and a second module. The method comprises the following steps: receiving a data processing request through the first module; acquiring corresponding to-be-processed data and a read-write lock corresponding to the to-be-processed data through the first module according to the data processing request, and writing the to-be-processed data into a corresponding shared memory according to the read-write lock; and reading the to-be-processed data from the shared memory through the second module according to the read-write lock so as to realize data interaction between the modules. The read-write operation of the to-be-processed data is completed through the shared memory and the read-write lock, so that the data interaction among multiple modules of the robot is realized, the transmission delay in the data interaction process is reduced, and the real-time performance of the system is improved.

Description

technical field [0001] The present application relates to the technical field of computer software, in particular, to a robot module data interaction method, electronic equipment and storage media. Background technique [0002] Nowadays, robots are more and more widely used in the whole society. In the process of realizing functions, robots need to complete data interaction with more sensors. The real-time performance of data interaction is related to the security response speed of the system. As the robot system With more and more functions, the real-time performance of data interaction between modules is very important. [0003] In order to solve the above problems, the current module interaction method adopted by the robot is based on the data distribution service DDS architecture used in the robot system ROS2. DDS uses socket technology in the data interaction mode, which cannot avoid the socket loopback interface. The communication process, which needs to be processed ...

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Problems solved by technology

[0003] In order to solve the above problems, the current module interaction method adopted by the robot is based on the data distribution service DDS architecture adopted in the robot system ROS2. DDS uses socket technology in the data interaction mode, which cannot avoid the socket loopback (socket loopback) interface. The communication process, which needs to be processed by a large number of kernel protocol stacks, wastes a lot of time, which has a great impact on the real-time interaction scenario of multi-module data in the robot system

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