CN114513383A - Real-time Ethernet field bus data packet processing method based on original socket - Google Patents

Real-time Ethernet field bus data packet processing method based on original socket Download PDF

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Publication number
CN114513383A
CN114513383A CN202011277556.7A CN202011277556A CN114513383A CN 114513383 A CN114513383 A CN 114513383A CN 202011277556 A CN202011277556 A CN 202011277556A CN 114513383 A CN114513383 A CN 114513383A
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real
time ethernet
data packet
time
packet
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CN114513383B (en
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李备备
郑飂默
王诗宇
王常辉
李泽阳
李伦兴
姜志超
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Shenyang Zhongke Cnc Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40169—Flexible bus arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/22—Parsing or analysis of headers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/4026—Bus for use in automation systems

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Small-Scale Networks (AREA)

Abstract

The invention relates to a real-time Ethernet field bus network data PACKET processing method based on PACKET _ MMAP, which relates to the technical field of numerical control, in particular to the technical field of real-time Ethernet field bus, and specifically relates to a real-time Ethernet field bus data PACKET processing method based on original sockets, wherein the original sockets adopt the PACKET _ MMAP method. Firstly, analyzing a transmission path of a real-time Ethernet field bus data packet from a network card drive to a kernel network protocol stack, and establishing a capture point of the real-time Ethernet bus data packet at an inlet of the kernel network protocol stack; then, analyzing the characteristics of the data PACKET at a capture point, and establishing a data PACKET capturing and forwarding method based on the PACKET _ MMAP; and finally, designing an analysis processing method of the data packet in the real-time Ethernet bus component of the user space according to the bus protocol type of the data packet.

Description

Real-time Ethernet field bus data packet processing method based on original socket
Technical Field
The invention relates to the technical field of numerical control, in particular to the technical field of real-time Ethernet field bus, and specifically relates to a real-time Ethernet field bus data PACKET processing method based on original sockets, wherein the original sockets adopt a PACKET _ MMAP method.
Background
The PACKET-MMAP mechanism is a set of socket programming interfaces based on a memory mapping mode provided by a kernel, a kernel cache region is distributed in a kernel space and mapped to a user space, and then an application program of the user space acquires data mapped to the user space through MMAP system call. The PACKET-MMAP mechanism is very efficient and provides a configurable size ring buffer that maps to user space. In this manner, the shared buffer through kernel space and user space may also serve to reduce data copying.
The medium and low-grade numerical control system has higher requirements on real-time performance, but is limited by the fact that the performance of the system is generally longer in interpolation period. For cost reasons, the transmission method of the data packet of the real-time ethernet fieldbus is usually implemented in a simple and flexible manner, and the requirement on the transmission time of the data packet of the network is not so strict. If a PACKET _ MMAP mechanism provided by the kernel is used to capture a data PACKET at an entry of a network protocol stack, on one hand, the support of a specific network card is not required, and on the other hand, the network card driver and the kernel network protocol stack are not required to be modified, so that the transmission and processing of the network data PACKET become simpler and more flexible. Therefore, how to design a simple and efficient real-time Ethernet bus network data PACKET processing method based on a PACKET _ MMAP mechanism is a key for solving the problem of real-time and efficient transmission of the real-time Ethernet field bus network data PACKET of the middle and low-grade numerical control system.
Disclosure of Invention
In order to solve the technical problem, the invention provides a real-time Ethernet field bus network data PACKET processing method based on PACKET _ MMAP.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a real-time Ethernet field bus data PACKET processing method based on original sockets, wherein the original sockets adopt a PACKET _ MMAP method, and the method comprises the following steps:
determining a transmission path of a real-time Ethernet field bus data packet from a network card driver to a kernel network protocol stack according to debugging information output by a kernel, and establishing a capture point of the real-time Ethernet field bus data packet at an inlet of the kernel network protocol stack;
establishing a real-time Ethernet bus data PACKET forwarding method based on PACKET _ MMAP according to a real-time Ethernet bus data PACKET capturing point at the inlet of a kernel network protocol stack, and mapping the real-time Ethernet bus data PACKET into a real-time Ethernet bus component;
and analyzing the real-time Ethernet bus data packet in the real-time Ethernet bus component of the user space according to the bus protocol type of the real-time Ethernet bus data packet.
The real-time Ethernet field bus data packet type comprises any one of an EtherCAT protocol and an SSB-III protocol.
The capture point is located before the real-time Ethernet bus data packet is sent to the kernel protocol stack.
The method for establishing the real-time Ethernet bus data PACKET forwarding based on the PACKET _ MMAP specifically comprises the following steps:
opening a static memory for storing real-time Ethernet bus data packets in a kernel space;
shielding receiving interruption generated when real-time Ethernet bus data packets in the network card are mapped to a ring queue;
reading real-time Ethernet bus data packets in the ring-shaped queue to the developed static memory by continuously polling the network card;
shielding the transmission of the real-time Ethernet bus data packet to the kernel network protocol stack at the entrance of the kernel network protocol stack;
and mapping the real-time Ethernet bus data PACKET obtained by polling to a user space by adopting an MMAP memory mapping mode of the PACKET _ MMAP.
The real-time Ethernet bus number is received in an uninterrupted manner.
The real-time Ethernet bus number is read in a polling mode.
The analyzing the real-time ethernet bus data packet in the real-time ethernet bus component of the user space specifically comprises:
establishing a user mode real-time thread and setting the real-time thread as a periodic real-time thread, and completing analysis processing work of a real-time Ethernet field bus data packet in the real-time period of each user mode real-time thread;
in the beginning part of a real-time thread of a user-mode real-time Ethernet bus component, acquiring a real-time Ethernet bus data PACKET by polling in a mode of a PACKET _ MMAP original socket;
analyzing an Ethernet protocol data packet header in a real-time thread of a user-mode real-time Ethernet bus component, and determining the type of a real-time Ethernet bus data packet;
analyzing the instruction data of the real-time Ethernet bus data packet according to the type of the real-time Ethernet bus data packet;
organizing the analyzed instruction data into an NML neutral message command, and exchanging data with a real-time application program of a user space through a message communication channel of a user-mode real-time Ethernet bus assembly;
and waiting for the next period to poll the real-time Ethernet bus data packet.
The invention has the following beneficial effects and advantages:
1. the real-time Ethernet field bus adopts a standard network card to transmit data packets, and the variety and structure of hardware communication board cards are effectively reduced. The real-time ethernet field bus in the existing numerical control system still adopts the traditional communication board card form to transmit bus data, different field buses (such as EtherCAT, SSB-III real-time ethernet bus, etc.) correspond to different communication board cards, and a set of hardware board card corresponding to each field bus needs to be developed, so that the system becomes unwieldy and can not be multiplexed.
2. The real-time Ethernet bus data packet is captured and forwarded at the entrance of the kernel network protocol stack, so that the dependence on network card driving is avoided, the compatibility is good, and the use mode is more convenient and flexible. The memory mapping mechanism of the PACKET _ MMAP is adopted, so that the network data PACKET of the real-time Ethernet field bus protocol is shared to the real-time Ethernet bus assembly of the user space, the data PACKET is captured at the entrance of a network protocol stack and does not depend on a specific network card, and therefore, the method is more convenient and flexible.
3. The real-time Ethernet data packet is received in an uninterrupted mode, so that the switching of interrupted contexts is avoided, the data packet processing efficiency is improved, and the system delay is reduced. The control structure of the real-time Ethernet field bus is a master-slave control mode, in the network of the real-time Ethernet field bus, a numerical control system is a master station device for controlling the network, slave stations are controlled servo drivers, I/O and the like, and network communication is initiated by the master station, so that the master station can receive data packets fed back by the slave stations within a certain time after the data packets are sent out, and the data packets can be received in a polling mode to reduce context switching caused by interruption.
Drawings
FIG. 1 is a diagram of a real-time Ethernet Fieldbus network architecture;
fig. 2 is a diagram of a packet capture process.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention is suitable for the field of numerical control systems, is particularly suitable for application occasions of transmitting real-time Ethernet field bus network data packets by adopting a standard network card, and is particularly suitable for application occasions of transmitting real-time Ethernet field bus network data packets by adopting a standard network card in a medium-low grade numerical control system. The following is a more detailed description of embodiments of the process of the present invention, taken in conjunction with the accompanying drawings.
A real-time Ethernet field bus network data PACKET processing method based on PACKET _ MMAP comprises the following steps:
1) determining a transmission path of a real-time Ethernet field bus data packet from a network card driver to a kernel network protocol stack, and establishing a capture point of the real-time Ethernet bus data packet at an inlet of the kernel network protocol stack;
2) establishing a network data PACKET forwarding method based on PACKET _ MMAP;
3) designing an analysis processing method of the data packet in the real-time Ethernet bus assembly of the user space according to the bus protocol type of the data packet;
the transmission path of the real-time Ethernet field bus data packet from the network card driver to the kernel network protocol stack is determined, and the real-time Ethernet field bus is EtherCAT and SSB-III;
the transmission path of the real-time Ethernet field bus data packet from the network card driver to the kernel network protocol stack is determined, and the network card is any type of network card;
the capture point of the real-time Ethernet bus data packet established at the kernel network protocol stack inlet is positioned before the data is sent to the kernel protocol stack;
the method for establishing the data PACKET capturing and forwarding based on the PACKET _ MMAP uses a programming mode of an original socket;
the method for establishing the data PACKET capturing and forwarding based on the PACKET _ MMAP is characterized by comprising the following steps:
a. opening a piece of static memory in the kernel space for storing the Ethernet data packet;
b. the data receiving adopts a non-interrupt mode to shield the receiving interrupt generated by the DMA data packet of the network card to the annular queue;
c. the data reading adopts a polling mode, and the data in the annular queue is read to a newly opened memory by continuously polling the network card equipment;
d. shielding the transmission of the data packet to the kernel network protocol stack at the entrance of the kernel network protocol stack;
e. mapping the data PACKET obtained by polling to a user space by adopting a MMAP mechanism of the PACKET _ MMAP;
the method for analyzing and processing the data packet in the real-time Ethernet bus assembly designed in the user space is characterized by comprising the following steps of:
a. establishing a user mode real-time thread and setting the real-time thread as a periodic real-time thread, and completing analysis processing work of a real-time Ethernet field bus data packet in the real-time period of each user mode thread;
b. in the beginning part of a real-time thread of a user-mode real-time Ethernet bus component, acquiring a real-time Ethernet data PACKET by polling in a mode of a PACKET-MMAP original socket;
c. analyzing an Ethernet protocol data packet header in a real-time thread of a user-mode real-time Ethernet bus assembly, and determining the type of a real-time Ethernet data packet;
d. analyzing the instruction data of the data packet according to the type of the data packet;
e. and organizing the analyzed instruction data into message commands, and exchanging data with the upper-layer motion control assembly through a message communication channel of the real-time Ethernet assembly, wherein the upper-layer motion control assembly is a real-time application program and is used for trajectory planning, acceleration and deceleration control and interpolation calculation.
f. Waiting for the next cycle of polling packets.
As shown in fig. 1, the network structure of the real-time ethernet field bus based on PACKET _ MMAP is the left half of the figure, and in the default case, the network data PACKET first passes through the network card driver and the network protocol stack in the kernel space, and then is sent to the application program in the user space through the AF _ INET socket or the AF _ PACKET standard socket.
The data flow structure of the real-time Ethernet field bus based on the PACKET _ MMAP is shown in the right half part of figure 1, a real-time Ethernet data PACKET is DMA-transmitted to an annular queue inside a native network card driver through network cards, the real-time Ethernet bus data PACKET in the annular queue is mapped into the annular queue of a user space through a MMAP mechanism of the PACKET _ MMAP in a polling mode, a real-time thread in an upper layer real-time Ethernet bus component reads the real-time Ethernet data PACKET in the annular queue through the polling mechanism, the data PACKET can be analyzed and processed in the real-time Ethernet bus component, and finally data are exchanged with a motion control component on the upper layer through a message communication channel of the real-time Ethernet component.
As shown in fig. 2, the specific implementation steps of the method for capturing and processing the PACKET based on PACKET _ MMAP in the real-time ethernet fieldbus include:
A. opening up a small block of memory area statically in the kernel space for storing Ethernet data packets;
B. the data receiving adopts a non-interrupt mode to shield the receiving interrupt generated by the DMA data packet of the network card to the annular queue;
C. reading data by adopting a poll mechanism, and reading the data in the circular queue to a newly opened memory by continuously polling the network card equipment;
D. at the entrance of the kernel network protocol stack, the transmission of the data packet to the kernel network protocol stack is shielded by shielding a netif _ receive _ skb () kernel network protocol stack interface;
E. mapping the data PACKET obtained by polling to a user space by adopting a MMAP mechanism of the PACKET _ MMAP;
F. establishing a user mode real-time thread and setting the real-time thread as a periodic real-time thread by adopting a real-time thread creation method of an RT _ Preempt real-time patch, and completing analysis processing work of a real-time Ethernet field bus data packet in the real-time period of each user mode thread;
G. in the beginning part of a real-time thread of a user-mode real-time Ethernet bus component, acquiring a real-time Ethernet data PACKET by polling in a mode of a PACKET-MMAP original socket;
H. analyzing an Ethernet protocol data packet header in a real-time thread of a user mode real-time Ethernet bus assembly, and determining the type of a real-time Ethernet data packet, wherein the type of the real-time Ethernet data packet comprises EtherCAT, SSB-III and other real-time Ethernet protocols;
I. analyzing the instruction data of the data packet according to the type of the data packet, wherein the instruction data of the EtherCAT protocol comprises periodic instruction data and non-periodic instruction data, the periodic instruction data adopts the process data of the EtherCAT protocol to carry out data transmission and is divided into periodic instruction data and state data according to different transmission directions, the non-periodic instruction data adopts a mailbox of the EtherCAT protocol to carry out data transmission, and the non-periodic instruction data and the state data are respectively non-periodic instruction data and state data according to different transmission directions; the SSB-III protocol is similar to the EtherCAT protocol, the instruction data also comprises periodic instruction data and non-periodic instruction data, and the difference is that the SSB-III protocol adopts a mailbox for data transmission of the two data;
J. organizing the analyzed instruction data into message commands, and exchanging data with the upper-layer motion control assembly through a message communication channel of the real-time Ethernet assembly;
K. waiting for the next cycle of polling packets.

Claims (7)

1. A real-time Ethernet field bus data PACKET processing method based on original sockets is characterized in that the original sockets adopt a PACKET _ MMAP method, and the method comprises the following steps:
determining a transmission path of a real-time Ethernet field bus data packet from a network card driver to a kernel network protocol stack according to debugging information output by a kernel, and establishing a capture point of the real-time Ethernet field bus data packet at an inlet of the kernel network protocol stack;
establishing a real-time Ethernet bus data PACKET forwarding method based on PACKET _ MMAP according to a real-time Ethernet bus data PACKET capturing point at the inlet of a kernel network protocol stack, and mapping the real-time Ethernet bus data PACKET into a real-time Ethernet bus component;
and analyzing the real-time Ethernet bus data packet in the real-time Ethernet bus component of the user space according to the bus protocol type of the real-time Ethernet bus data packet.
2. The raw socket based real-time ethernet fieldbus data packet processing method of claim 1, wherein the real-time ethernet fieldbus data packet type comprises any one of an EtherCAT protocol and an SSB-III protocol.
3. The method of claim 1, wherein the capture point is located before the real-time ethernet bus packet is sent to the kernel protocol stack.
4. The method for processing the real-time ethernet fieldbus PACKET based on the raw socket according to claim 1, wherein the method for establishing the PACKET forwarding of the real-time ethernet bus based on PACKET _ MMAP specifically comprises:
opening a static memory for storing real-time Ethernet bus data packets in a kernel space;
shielding receiving interruption generated when real-time Ethernet bus data packets in the network card are mapped to a ring queue;
reading real-time Ethernet bus data packets in the ring-shaped queue to the developed static memory by continuously polling the network card;
shielding the transmission of the real-time Ethernet bus data packet to the kernel network protocol stack at the entrance of the kernel network protocol stack;
and mapping the real-time Ethernet bus data PACKET obtained by polling to a user space by adopting an MMAP memory mapping mode of the PACKET _ MMAP.
5. The method of claim 4, wherein the real-time Ethernet bus is received without interruption.
6. The method as claimed in claim 4, wherein the real-time Ethernet bus number is read in a polling manner.
7. The method according to claim 1, wherein the parsing of the real-time ethernet bus packet in the real-time ethernet bus component in the user space specifically comprises:
establishing a user mode real-time thread and setting the real-time thread as a periodic real-time thread, and completing analysis processing work of a real-time Ethernet field bus data packet in the real-time period of each user mode real-time thread;
in the beginning part of a real-time thread of a user-mode real-time Ethernet bus component, acquiring a real-time Ethernet bus data PACKET by polling in a mode of a PACKET _ MMAP original socket;
analyzing an Ethernet protocol data packet header in a real-time thread of a user-mode real-time Ethernet bus component, and determining the type of a real-time Ethernet bus data packet;
analyzing the instruction data of the real-time Ethernet bus data packet according to the type of the real-time Ethernet bus data packet;
organizing the analyzed instruction data into an NML neutral message command, and exchanging data with a real-time application program of a user space through a message communication channel of a user-mode real-time Ethernet bus assembly;
and waiting for the next period to poll the real-time Ethernet bus data packet.
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