IP Library › Granted Patent US 10,127,092

Granted Patent B1

US 10,127,092 · App. 16/039,144 · Granted Nov 13, 2018

Method and apparatus for monitoring a message transmission frequency in a robot operating system

Inventors: Yu Ma (Beijing, CN); Weide Zhang (Beijing, CN); Wei He (Beijing, CN); Haifeng Wang (Beijing, CN); Yibing Liang (Beijing, CN); Zhuo Chen (Beijing, CN)

Assignee: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

G06F9/546 G06F11/3024 G06F11/3055 G06F2209/508 Y10S901/50

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Quick Facts

Patent No.: US 10,127,092
App. No.: 16/039,144
Granted: Nov 13, 2018
Kind: B1

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Abstract

This disclosure discloses a method and apparatus for monitoring a message transmission frequency in a robot operating system. A specific implementation of the method includes: writing to-be-transmitted messages, into a pre-allocated memory; obtaining time points when the to-be-transmitted messages are written into the memory, and recording the time points in a preset time point list; determining a message transmission frequency within a preset time interval based on the time points in the time point list; and comparing the message transmission frequency with a preset message transmission frequency threshold, and generating monitoring information based on a comparing result. This implementation monitors the message transmission frequency of a process to thereby avoid information codes related to monitoring of each application from being added to the application so as to reduce the program debuging cost, and improve the monitoring efficiency.

Claims (104)

1. A method for monitoring a message transmission frequency in a robot operating system to reduce program debugging cost or improve monitoring efficiency, comprising:

writing to-be-transmitted messages into a pre-allocated memory;

obtaining time points when the to-be-transmitted messages are written into the memory, and recording the time points in a preset time point list;

determining a message transmission frequency within a preset time interval based on the time points in the time point list;

comparing the message transmission frequency with a preset message transmission frequency threshold; and

generating monitoring information based on a comparing result,

wherein the determining the message transmission frequency within the preset time interval based on the time points in the time point list comprises:

counting a number of the time points in the time point list within the preset time interval, and determining the number of the time points as a message transmission number; and

determining the message transmission frequency based on the message transmission number and the time points in the time point list,

the determining the message transmission frequency based on the message transmission number and the time points in the time point list comprises:

retrieving an earliest time point within the preset time interval from the time point list as a first message transmission time point;

retrieving a latest time point within the preset time interval from the time point list as a last message transmission time point; and

calculating the message transmission frequency in an equation of:

where T 1 represents the first message transmission time point, T n represents the last message transmission time point, n represents the message transmission number, wherein n is a positive integer greater than or equal to 2, and f represents the message transmission frequency.

2. The method according to claim 1 , further comprising:

loading a preset configuration file, wherein the configuration file is retrieved when a process is started, and the configuration file comprises identification information of the process, the message transmission frequency threshold, and transmission protocol information of the robot operating system.

3. The method according to claim 1 , wherein the obtaining the time points when the to-be-transmitted messages are written into the memory, and recording the time points in the preset time point list comprises:

invoking a preset notification function to record the time points when the to-be-transmitted messages are written into the memory.

4. The method according to claim 3 , wherein the obtaining the time points when the to-be-transmitted messages are written into the memory, and recording the time points in the preset time point list comprises:

if the time point list is full, removing an earliest time point in the time point list according to an order of the time points when the to-be-transmitted messages are written into the memory recorded in the time point list, and adding the obtained time point to the time point list.

5. The method according to claim 1 , wherein the monitoring information comprises a monitoring level, and

the comparing the message transmission frequency with the preset message transmission frequency threshold, and generating the monitoring information based on the comparing result comprises:

generating the monitoring information at a first monitoring level, if the message transmission frequency is above a first preset message transmission frequency threshold and below a second preset message transmission frequency threshold;

generating the monitoring information at a second monitoring level, if the message transmission frequency is above the second preset message transmission frequency threshold and below a third preset message transmission frequency threshold; and

generating the monitoring information at a third monitoring level, if the message transmission frequency is below the first preset message transmission frequency threshold or above the third preset message transmission frequency threshold; and

determining a message transmission state based on the monitoring information.

6. The method according to claim 1 , further comprising:

sending the monitoring information to a server supporting the robot operating system.

7. An apparatus for monitoring a message transmission frequency in a robot operating system to reduce program debugging cost or improve monitoring efficiency, the apparatus comprising:

at least one processor; and

a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:

writing to-be-transmitted messages into a pre-allocated memory;

obtaining time points when the to-be-transmitted messages are written into the memory, and recording the time points in a preset time point list;

determining a message transmission frequency within a preset time interval based on the time points in the time point list; and

comparing the message transmission frequency with a preset message transmission frequency threshold, and generating monitoring information based on a comparing result,

wherein the determining the message transmission frequency within the preset time interval based on the time points in the time point list comprises:

counting a number of the time points in the time point list within the preset time interval, and determining the number of the time points as a message transmission number; and

determining the message transmission frequency based on the message transmission number and the time points in the time point list,

the determining the message transmission frequency based on the message transmission number and the time points in the time point list comprises:

retrieving an earliest time point within the preset time interval from the time point list as a first message transmission time point;

retrieving a latest time point within the preset time interval from the time point list as a last message transmission time point; and

calculating the message transmission frequency in an equation of:

8. The apparatus according to claim 7 , wherein the operations further comprise:

9. The apparatus according to claim 7 , wherein the obtaining the time points when the to-be-transmitted messages are written into the memory, and recording the time points in the preset time point list comprises:

invoking a preset notification function to record the time points when the to-be-transmitted messages are written into the memory.

10. The apparatus according to claim 9 , wherein the obtaining the time points when the to-be-transmitted messages are written into the memory, and recording the time points in the preset time point list comprises:

11. The apparatus according to claim 7 , wherein the monitoring information comprises a monitoring level, and

the comparing the message transmission frequency with the preset message transmission frequency threshold, and generating the monitoring information based on the comparing result comprises:

determining a message transmission state based on the monitoring information.

12. The apparatus according to claim 7 , wherein operations further comprise:

sending the monitoring information to a server supporting the robot operating system.

13. A non-transitory computer-readable storage medium storing a computer program, the computer program when executed by one or more processors, causes the one or more processors to perform operations, the operations comprising: