CN111813582A - Ice service deployment and arrangement method - Google Patents

Ice service deployment and arrangement method Download PDF

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CN111813582A
CN111813582A CN202010736879.1A CN202010736879A CN111813582A CN 111813582 A CN111813582 A CN 111813582A CN 202010736879 A CN202010736879 A CN 202010736879A CN 111813582 A CN111813582 A CN 111813582A
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ice
deployment
file
data
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CN111813582B (en
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刘莹
郭京祥
张敖
李明昊
毛伟帆
朱志良
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Northeastern University China
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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for program control, e.g. control units
    • G06F9/06Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46Multiprogramming arrangements
    • G06F9/54Interprogram communication
    • G06F9/547Remote procedure calls [RPC]; Web services
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00Arrangements for software engineering
    • G06F8/30Creation or generation of source code
    • G06F8/31Programming languages or programming paradigms
    • G06F8/315Object-oriented languages
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00Arrangements for software engineering
    • G06F8/70Software maintenance or management
    • G06F8/71Version control; Configuration management
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for program control, e.g. control units
    • G06F9/06Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44Arrangements for executing specific programs
    • G06F9/451Execution arrangements for user interfaces
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for program control, e.g. control units
    • G06F9/06Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46Multiprogramming arrangements
    • G06F9/48Program initiating; Program switching, e.g. by interrupt
    • G06F9/4806Task transfer initiation or dispatching
    • G06F9/4843Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
    • G06F9/4881Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network arrangements or protocols for supporting network services or applications
    • H04L67/50Network services
    • H04L67/51Discovery or management thereof, e.g. service location protocol [SLP] or web services
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02DCLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D10/00Energy efficient computing, e.g. low power processors, power management or thermal management

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Abstract

The invention discloses an Ice service deployment and arrangement method, which comprises the following steps: developing an Ice service; ice service deployment, namely registry deployment, node deployment and application deployment; and the Ice service arrangement is visual service arrangement, service arrangement operation, data persistence storage and business process distribution. In the invention, the Ice service generation function is the required configuration file and the frame code, and the client calling code of the Ice service is perfected, so that the service calling of the Ice is more flexible; the Ice service deployment module firstly acquires service information, judges the type of a deployment file and puts the service information into a request to be deployed to the local; the service scheduling part is used for determining the service scheduling sequence by accurately defining a service flow file, wherein the bottom layer is mainly based on the previously deployed Ice service and scheduling interfaces to perform service sequential scheduling; through the operation, the problems of difficulty in developing Ice, difficulty in deploying Ice and difficulty in arranging Ice are improved.

Description

Ice service deployment and arrangement method
Technical Field
The invention relates to the technical field of service arrangement in a micro-service architecture, in particular to an Ice service deployment and arrangement method.
Background
At present, enterprise development generally refers to that each team can independently take charge of independent development of one function, and communication cost among the teams is greatly reduced. In a certain degree, the microservice transfers the complexity of interaction of each module of large-scale software to the level of a network, and transfers the complexity of integrating each module to the infrastructure for deploying the service. The complexity transfer is a good choice, the problem is well solved by the automation of infrastructure and the explosive development of cloud technology, the deployment of a plurality of nodes can be realized on one container, and a plurality of nodes can also deploy a plurality of micro-services at the same time.
However, there are two disadvantages to doing so, the communication problem and the call order problem of distributed services; in order to solve the problem that the remote procedure call architecture RPC is created in the former, RPC encapsulates bottom layer network communication and has nodes deployed by container clusters, and cross-host and cross-network communication among micro-services can be realized. When a distributed system is built, RPC enables the development of network communication logic to be simpler, and meanwhile, network communication becomes safer and more reliable, namely, the complexity of underlying network communication is hidden, developers are more concentrated on service logic, the communication of the underlying network is not needed to be known, the data is not needed to be packaged and transmitted to the other side, and the result of method calling is transmitted back to the local computer. In order to solve the latter, a service orchestration flow engine appears, and a call flow is usually specified when services are developed in the past, for example, a service calls B, B service calls C, and C service calls other micro services, which are usually hard coded, and finally, various services are caused to be spider-web-like interaction, a root and a knot, and a whole body is moved by pulling. The service flow arrangement engine can realize decoupling to the maximum extent, dynamically acquire the input and result of the service, enable the call between the micro services to be more transparent, more arranged and more expanded, and replace the predefined call logic for directly carrying out the service in a hard coding mode in each micro service.
Disclosure of Invention
The invention aims to: the method for deploying and arranging the Ice service aims to solve the problems of difficulty in developing, deploying and arranging the Ice framework.
In order to achieve the purpose, the invention adopts the following technical scheme:
the Ice service deployment and arrangement method comprises the following steps:
step 1: developing an Ice service;
step 2: the Ice service deployment comprises three parts: the method comprises the steps of registry deployment, node deployment and application deployment, and realizes high availability of service by configuring redundant nodes;
and step 3: and the Ice service arrangement comprises visual service arrangement, service arrangement operation, data persistence storage and business process release.
As a further description of the above technical solution:
the step 1 comprises the following steps:
1): firstly, acquiring input service information, judging the type of a generated file by a system, converting the service information into the file, and generating the file to the local;
2): the generated file is embedded with dynamic parameters according to the requirements input by the user, the parameters are acquired when the user inputs the parameters, and the parameters of the Ice service are dynamically configured: ip, port number, service agent and service identification;
3): the client side is packaged with Ice service framework codes, Java client side generation is carried out on the client side codes, the logic of interface generation is similar, and flexible third-party services such as monitoring services are embedded in the client side, so that the client side obtains better expansibility;
4): and automatically compiling, wherein the generated code is automatically compiled after the code is generated, and compiling information, such as warning information and error information, is fed back to a user.
As a further description of the above technical solution:
the step 2 comprises the following steps:
1) the registry is deployed, firstly, the integrity of the file is verified, secondly, whether the deployment environment meets the current deployment requirement is detected, and when the conditions meet, the deployment of the registry is locally completed;
2) the node deployment, a node corresponds to several services, and when configuring the node, we provide redundant operation, namely backup node, providing high-availability service;
3) and (3) application deployment, wherein the application deployment is to send the xml information to a target node by configuring the xml information, if the target node has a redundant node, the application (service) is also deployed to the redundant node, and the generated service has the characteristics of high security, high data transmission speed and the like of the Ice service, and also makes up the problem of insufficient availability.
As a further description of the above technical solution:
the visualization service arrangement in the step 3 comprises the following steps:
1) visual service arrangement, which provides a visual arrangement tool, and a user realizes the initial definition of the whole business process by manually dragging a component;
2) configuring attributes, configuring the dragged service component: url, parameters (in-going, out-going), attributes of the compensation service (url, parameters).
3) And generating a bpmn file, namely a service arrangement drive, according to the visual operation of the user without changing data by the user.
As a further description of the above technical solution:
the service arranging operation in the step 3 comprises the following steps:
1) analyzing and acquiring arranged service, parameter and relation data by relying on a bpmn file generated in visual service arrangement to generate a parameter data set, a service call queue and a compensation service queue;
2) parameter adaptation, arranging the acquired parameters according to the identifiers, and realizing the instant update and acquisition of data by a method of sharing a unit memory;
3) service dynamic calling, namely dynamically generating a service calling queue according to service data obtained by analyzing the bpmn file, and configuring node judgment conditions such as branches;
4) and acquiring the minimum participating set of the business process.
As a further description of the above technical solution:
the persistent storage of the data in the step 3 comprises the following steps:
1) the analyzed data is obtained in the arranging operation of the service and is stored in the object set;
2) carrying out heat ranking on data in the data management center, and releasing objects with lower ranking;
3) meanwhile, java serialization is carried out on the released data to generate a serialized file which is used as a cache of the data, the recovery speed of the data is accelerated, and the over-slow system response caused by a large number of I/O operations is avoided.
As a further description of the above technical solution:
and step 3, releasing the service flow in an Api form, and opening the service flow to a user.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
in the invention, the Ice service generation function is the basis of an Ice service auxiliary development tool, generates a configuration file and a frame code required in the Ice service development process, encapsulates the frame code, perfects a client calling code of the Ice service and enables the service calling of the Ice to be more flexible; the Ice service deployment module firstly acquires service information, judges the type of a deployment file and puts the service information into a request to be deployed to the local; the service scheduling part is used for determining the service scheduling sequence by accurately defining a service flow file, wherein the bottom layer is mainly based on the previously deployed Ice service and scheduling interfaces to perform service sequential scheduling; the method comprises the steps of obtaining operation, executing flow definition, flow file generation and flow arrangement in sequence, and executing the operation and returning a result to an interface by a system; through the operation, the problems of difficulty in developing Ice, difficulty in deploying Ice and difficulty in arranging Ice are improved.
Drawings
FIG. 1 is an architecture diagram provided by an embodiment of an Ice service deployment orchestration method according to the present invention;
FIG. 2 is a service development flow diagram provided by an embodiment of an Ice service deployment orchestration method according to the present invention;
FIG. 3 is a service deployment flow diagram provided by an embodiment of an Ice service deployment orchestration method according to the present invention;
fig. 4 is a service orchestration flow diagram provided by an Ice service deployment orchestration method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In a first embodiment, referring to fig. 1-4, an Ice service deployment orchestration method includes the following steps:
step 1: the method comprises the following steps that an Ice service generation function is used for developing an Ice service auxiliary development tool, a configuration file and a frame code which are required in the Ice service development process are generated by the function, the frame code is packaged, a client calling code of the Ice service is perfected, and the service calling of the Ice is more flexible; the Ice service development, namely a service generation module, firstly, a user inputs service information, a system judges the type of a generated file, converts the service information into the file to be generated to the local, the generated file is mainly written into the file content by a code and embedded with dynamic parameters, parameter acquisition is carried out when the user inputs the file, and the file is written by Java IO and generated to the local;
step 2: the Ice service deployment, namely a service deployment module, firstly acquires service information, judges the type of a deployment file, and places the service information into a request for deployment to the local, wherein the deployment file is mainly realized by calling a command line for packaging the Ice through Java, and then the deployment is monitored by calling a monitoring tool carried by the Ice, and the Ice service deployment comprises three parts: the method comprises the steps of registry deployment, node deployment and application deployment, and realizes high availability of service by configuring redundant nodes;
and step 3: the method comprises the following steps that Ice service arrangement is performed, wherein the bottom layer is mainly based on previously deployed Ice service and calls a connector interface to perform sequential calling of the service, the calling sequence of the service is determined through accurate definition of a service flow file, operation is acquired firstly, flow definition, flow file generation and flow arrangement are sequentially performed, and the system executes the operation and returns a result to the interface; the method comprises the steps of visual service arrangement, service arrangement operation, data persistence storage and business process release;
the step 1 comprises the following steps:
1): firstly, acquiring input service information, judging the type of a generated file by a system, converting the service information into the file, and generating the file to the local;
2): the generated file is embedded with dynamic parameters according to the requirements input by the user, the parameters are acquired when the user inputs the parameters, and the parameters of the Ice service are dynamically configured: ip, port number, service agent and service identification;
3): the client side is packaged with Ice service framework codes, Java client side generation is carried out on the client side codes, the logic of interface generation is similar, and flexible third-party services such as monitoring services are embedded in the client side, so that the client side obtains better expansibility;
4): and automatically compiling, wherein the generated code is automatically compiled after the code is generated, and compiling information, such as warning information and error information, is fed back to a user.
In a second embodiment, referring to fig. 1-4, the Ice service deployment orchestration method includes the following steps:
step 1: the method comprises the following steps that an Ice service generation function is used for developing an Ice service auxiliary development tool, a configuration file and a frame code which are required in the Ice service development process are generated by the function, the frame code is packaged, a client calling code of the Ice service is perfected, and the service calling of the Ice is more flexible; the Ice service development, namely a service generation module, firstly, a user inputs service information, a system judges the type of a generated file, converts the service information into the file to be generated to the local, the generated file is mainly written into the file content by a code and embedded with dynamic parameters, parameter acquisition is carried out when the user inputs the file, and the file is written by Java IO and generated to the local;
step 2: the Ice service deployment, namely a service deployment module, firstly acquires service information, judges the type of a deployment file, and places the service information into a request for deployment to the local, wherein the deployment file is mainly realized by calling a command line for packaging the Ice through Java, and then the deployment is monitored by calling a monitoring tool carried by the Ice, and the Ice service deployment comprises three parts: the method comprises the steps of registry deployment, node deployment and application deployment, and realizes high availability of service by configuring redundant nodes;
and step 3: the method comprises the following steps that Ice service arrangement is performed, wherein the bottom layer is mainly based on previously deployed Ice service and calls a connector interface to perform sequential calling of the service, the calling sequence of the service is determined through accurate definition of a service flow file, operation is acquired firstly, flow definition, flow file generation and flow arrangement are sequentially performed, and the system executes the operation and returns a result to the interface; the method comprises the steps of visual service arrangement, service arrangement operation, data persistence storage and business process release;
the step 2 comprises the following steps:
1) the method comprises the steps that a registry is deployed, the registry is equivalent to a server, the integrity of a file is firstly checked when the registry is deployed, whether a deployment environment meets the current deployment requirement is detected, and when the conditions meet, the registry is locally deployed;
2) the method comprises the steps that nodes are deployed, wherein the nodes are equivalent to containers below a registration center and are service deployment places, one node corresponds to a plurality of services, and meanwhile redundant operation, namely backup nodes, is provided when the nodes are configured to provide high-availability services;
3) and (3) application deployment, wherein the application deployment is to send the xml information to a target node by configuring the xml information, if the target node has a redundant node, the application (service) is also deployed to the redundant node, and the generated service has the characteristics of high security, high data transmission speed and the like of the Ice service, and also makes up the problem of insufficient availability.
In a third embodiment, referring to fig. 1-4, the Ice service deployment orchestration method includes the following steps:
step 1: the method comprises the following steps that an Ice service generation function is used for developing an Ice service auxiliary development tool, a configuration file and a frame code which are required in the Ice service development process are generated by the function, the frame code is packaged, a client calling code of the Ice service is perfected, and the service calling of the Ice is more flexible; the Ice service development, namely a service generation module, firstly, a user inputs service information, a system judges the type of a generated file, converts the service information into the file to be generated to the local, the generated file is mainly written into the file content by a code and embedded with dynamic parameters, parameter acquisition is carried out when the user inputs the file, and the file is written by Java IO and generated to the local;
step 2: the Ice service deployment, namely a service deployment module, firstly acquires service information, judges the type of a deployment file, and places the service information into a request for deployment to the local, wherein the deployment file is mainly realized by calling a command line for packaging the Ice through Java, and then the deployment is monitored by calling a monitoring tool carried by the Ice, and the Ice service deployment comprises three parts: the method comprises the steps of registry deployment, node deployment and application deployment, and realizes high availability of service by configuring redundant nodes;
and step 3: the method comprises the following steps that Ice service arrangement is performed, wherein the bottom layer is mainly based on previously deployed Ice service and calls a connector interface to perform sequential calling of the service, the calling sequence of the service is determined through accurate definition of a service flow file, operation is acquired firstly, flow definition, flow file generation and flow arrangement are sequentially performed, and the system executes the operation and returns a result to the interface; the method comprises the steps of visual service arrangement, service arrangement operation, data persistence storage and business process release;
the visualization service arrangement in the step 3 comprises the following steps:
1) visual service arrangement, which provides a visual arrangement tool, and a user realizes the initial definition of the whole business process by manually dragging a component;
2) configuring attributes, configuring the dragged service component: url, parameters (enter, exit), attributes of the compensation service (url, parameters);
3) the bpmn file is generated, namely the service arrangement drive, and is generated according to the visual operation of the user without changing data by the user;
the service arranging operation in the step 3 comprises the following steps:
1) analyzing and acquiring arranged service, parameter and relation data by relying on a bpmn file generated in visual service arrangement to generate a parameter data set, a service call queue and a compensation service queue;
2) parameter adaptation, arranging the acquired parameters according to the identifiers, and realizing the instant update and acquisition of data by a method of sharing a unit memory;
3) service dynamic calling, namely dynamically generating a service calling queue according to service data obtained by analyzing the bpmn file, and configuring node judgment conditions such as branches;
4) the minimum parameter set of the business process is obtained, the minimum parameter set meets the support condition that the whole business process can run, and because a certain parameter in the parameter of the previous service corresponds to a certain parameter of the next service, whether the parameter is a member in the minimum parameter set needs to be judged, so that the accuracy is improved;
the persistent storage of the data in the step 3 comprises the following steps:
1) the analyzed data is obtained in the arranging operation of the service and is stored in the object set;
2) carrying out heat ranking on data in the data management center, and releasing objects with lower ranking;
3) meanwhile, java serialization is carried out on the released data to generate a serialized file which is used as a cache of the data, so that the recovery speed of the data is accelerated, and the over-slow system response caused by a large amount of I/O operations is avoided;
and step 3, releasing the service flow in an Api form, and opening the service flow to a user.
The working principle is as follows: the user inputs service information, the system judges the type of the generated file, and converts the service information into a file to be generated locally; generating a file, wherein the file content is mainly written by a code, dynamic parameters are embedded in the file content, the parameters are acquired when a user inputs the file, and the file is written by Java IO and is generated to the local; then acquiring service information, judging the type of a deployment file, and putting the service information into a request to deploy to the local; the deployment file is mainly realized by calling a command line of the encapsulation Ice through Java, and then deployment monitoring is carried out by calling a monitoring tool carried by the Ice; the bottom layer is mainly based on the previously deployed Ice service and calls the interface of the Conductor to carry out the sequential calling of the service, and the calling sequence of the service is determined by accurately defining the service flow file; firstly, acquiring operation, sequentially executing flow definition, flow file generation and flow arrangement, and executing the operation and returning the result to an interface by the system.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (7)

  1. The Ice service deployment orchestration method is characterized by comprising the following steps:
    step 1: developing an Ice service;
    step 2: the Ice service deployment comprises three parts: the method comprises the steps of registry deployment, node deployment and application deployment, and realizes high availability of service by configuring redundant nodes;
    and step 3: and the Ice service arrangement comprises visual service arrangement, service arrangement operation, data persistence storage and business process release.
  2. 2. The Ice service deployment orchestration method according to claim 1, wherein step 1 comprises the steps of:
    1): firstly, acquiring input service information, judging the type of a generated file by a system, converting the service information into the file, and generating the file to the local;
    2): the generated file is embedded with dynamic parameters according to the requirements input by the user, the parameters are acquired when the user inputs the parameters, and the parameters of the Ice service are dynamically configured: ip, port number, service agent and service identification;
    3): the client side is packaged with Ice service framework codes, Java client side generation is carried out on the client side codes, the logic of interface generation is similar, and flexible third-party services such as monitoring services are embedded in the client side, so that the client side obtains better expansibility;
    4): and automatically compiling, wherein the generated code is automatically compiled after the code is generated, and compiling information, such as warning information and error information, is fed back to a user.
  3. 3. The Ice service deployment orchestration method of claim 1, wherein step 2 comprises the steps of:
    1) the registry is deployed, firstly, the integrity of the file is verified, secondly, whether the deployment environment meets the current deployment requirement is detected, and when the conditions meet, the deployment of the registry is locally completed;
    2) the node deployment, a node corresponds to several services, and when configuring the node, we provide redundant operation, namely backup node, providing high-availability service;
    3) and (3) application deployment, wherein the application deployment is to send the xml information to a target node by configuring the xml information, if the target node has a redundant node, the application (service) is also deployed to the redundant node, and the generated service has the characteristics of high security, high data transmission speed and the like of the Ice service, and also makes up the problem of insufficient availability.
  4. 4. The Ice service deployment orchestration method of claim 1, wherein the step 3 of visualizing service orchestration comprises the steps of:
    1) visual service arrangement, which provides a visual arrangement tool, and a user realizes the initial definition of the whole business process by manually dragging a component;
    2) configuring attributes, configuring the dragged service component: url, parameters (enter, exit), attributes of the compensation service (url, parameters);
    3) and generating a bpmn file, namely a service arrangement drive, according to the visual operation of the user without changing data by the user.
  5. 5. The Ice service deployment orchestration method of claim 1, wherein the orchestration operation of services in step 3 comprises the steps of:
    1) analyzing and acquiring arranged service, parameter and relation data by relying on a bpmn file generated in visual service arrangement to generate a parameter data set, a service call queue and a compensation service queue;
    2) parameter adaptation, arranging the acquired parameters according to the identifiers, and realizing the instant update and acquisition of data by a method of sharing a unit memory;
    3) service dynamic calling, namely dynamically generating a service calling queue according to service data obtained by analyzing the bpmn file, and configuring node judgment conditions such as branches;
    4) and acquiring the minimum participating set of the business process.
  6. 6. The Ice service deployment orchestration method of claim 1, wherein the persistent storage of data in step 3 comprises the steps of:
    1) the analyzed data is obtained in the arranging operation of the service and is stored in the object set;
    2) carrying out heat ranking on data in the data management center, and releasing objects with lower ranking;
    3) meanwhile, java serialization is carried out on the released data to generate a serialized file which is used as a cache of the data, the recovery speed of the data is accelerated, and the over-slow system response caused by a large number of I/O operations is avoided.
  7. 7. The Ice service deployment orchestration method of claim 1, wherein the publishing of the business processes in step 3 is to publish the orchestrated business processes in the form of Api, open to users.
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Cited By (6)

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CN114143373A (en) * 2021-11-02 2022-03-04 福建福诺移动通信技术有限公司 BPMN specification-based capability arrangement engine optimization system and method
CN114237628A (en) * 2022-02-25 2022-03-25 卓望数码技术(深圳)有限公司 Microservice arranging and calling method and device, computer equipment and storage medium
CN114500302A (en) * 2021-12-30 2022-05-13 广州新科佳都科技有限公司 ICE service arrangement method, device, terminal equipment and storage medium
CN114819483A (en) * 2022-03-14 2022-07-29 湖南大学 Flexible service arranging system and method for industrial robot
CN116610305A (en) * 2023-07-19 2023-08-18 湖南云畅网络科技有限公司 Expression arrangement method, system and storage medium for clamping groove adsorption type
CN114819483B (en) * 2022-03-14 2024-05-31 湖南大学 Flexible service arrangement system and method for industrial robot

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