System architecture for implementing DDS communication based on AUTOSAR, communication method, and device
This application discloses a system architecture for implementing data distribution service (DDS) communication based on an automotive open system architecture (AUTOSAR), a communication method, and a device that may be applied to an intelligent agent (for example, an intelligent vehicle, an intelligent connected vehicle, or an autonomous vehicle) in intelligent driving.
1 . A system for implementing data distribution service (DDS) communication based on an automotive open system architecture (AUTOSAR), the system comprising:
processing circuitry, comprising:
the AUTOSAR, wherein the AUTOSAR comprises a runtime environment (RTE) and a software component (SWC);
a data distribution service (DDS) architecture, wherein the DDS architecture is deployed in basic software (BSW) in the AUTOSAR; and
a first integrated module, wherein the first integrated module is constructed in the DDS architecture and configured to manage a message publisher and/or a message subscriber,
wherein the RTE is configured to store a mapping relationship between the first integrated module and a corresponding software component (SWC) signal, and
wherein the SWC signal is a signal sent by the SWC to the RTE and provided for the DDS architecture.
2 . The architecture according to claim 1 , wherein the first integrated module is configured to:
determine a status of pairing between at least one message publisher and at least one message subscriber based on an automatic discovery mechanism of the DDS architecture; and
when pairing between the at least one message publisher and the at least one message subscriber is completed, manage data in the at least one message publisher and/or the at least one message subscriber.
3 . The architecture according to claim 2 , wherein the first integrated module is further configured to:
obtain a target SWC signal from the RTE;
determine, based on the target SWC signal, a target message publisher corresponding to the target SWC signal, wherein the target message publisher is one of the at least one message publisher; and
instruct the target message publisher to send first target data from a target SWC to a target message subscriber, wherein the target SWC is an SWC corresponding to the target SWC signal, and wherein the target message subscriber is one of the at least one message subscriber.
4 . The architecture according to claim 2 , wherein the first integrated module is further configured to:
receive a first instruction sent by a target message subscriber, the first instruction representing that the target message subscriber has obtained second target data sent by a target message publisher, the target message publisher is-being one of the at least one message publisher, and the target message subscriber is-being one of the at least one message subscriber; and
instruct, based on the first instruction, the RTE to obtain the second target data, for a target SWC to use the second target data on the RTE.
5 . The architecture according to claim 4 , wherein the first integrated module is further configured to:
after obtaining the first instruction sent by the target message subscriber, store identification information of a message subscriber corresponding to the target message publisher; or
send the identification information to the RTE, for the RTE to store the identification information.
6 . The architecture according to claim 2 , wherein the processing circuitry further comprises:
a target module embedded in a BSW management unit (BSW-M) in the BSW, the target module is-being configured to manage an exchange process of a simple participant discovery protocol (SPDP) message and/or a simple endpoint discovery protocol (SEDP) message corresponding to each participant, wherein the exchange process is used to implement the automatic discovery mechanism of the DDS architecture.
7 . The architecture according to claim 6 , wherein the processing circuitry further comprises:
a code generation module, configured to:
generate a code snippet from SPDP information and/or SEDP information corresponding to each participant, and
assemble, based on a first participant being in an automatic discovery process, a code snippet corresponding to the first participant, to form the SPDP information and/or SEDP information corresponding to the first participant.
8 . The architecture according to claim 1 , wherein when a first SWC has a DDS history cache requirement, the first SWC meets the DDS history cache requirement by occupying memory space, and the first SWC is deployed in the AUTOSAR.
9 . The architecture according to claim 1 , wherein a first SWC occupies memory space by using stack space based on the first SWC not having a DDS history cache requirement.
10 . A method for implementing data distribution service (DDS) communication based on an automotive open system architecture (AUTOSAR), wherein the method is applied to a system architecture, wherein the system architecture comprises a first integrated module, a DDS architecture, and an AUTOSAR, the first integrated module being constructed in the DDS architecture, the DDS architecture being deployed in basic software (BSW) in the AUTOSAR, and the AUTOSAR comprising a runtime environment (RTE) and a software component (SWC), the method comprising:
receiving, by the RTE, a target SWC signal sent by a target SWC deployed in the AUTOSAR, wherein the target SWC signal is a signal sent by the target SWC to the RTE and provided for the data distribution service (DDS) architecture;
determining, by the RTE, a target integrated module corresponding to the target SWC signal based on a mapping relationship between at least the first integrated module and a corresponding SWC signal and that is stored in the RTE, wherein the first integrated module is configured to manage a message publisher and/or a message subscriber;
sending, by the RTE, the target SWC signal to the target integrated module; and
managing, by the target integrated module, a target message publisher and/or a target message subscriber based on the target SWC signal.
11 . The method according to claim 10 , wherein the first integrated module is configured to manage the message publisher and/or the message subscriber by:
determining a status of pairing between at least one message publisher and at least one message subscriber based on an automatic discovery mechanism of the DDS architecture; and
managing data in the at least one message publisher and/or the at least one message subscriber after pairing between the at least one message publisher and the at least one message subscriber is completed.
12 . The method according to claim 11 , wherein the managing, by the target integrated module, the target message publisher and/or the target message subscriber based on the target SWC signal comprises:
determining, by the target integrated module based on the target SWC signal, the target message publisher corresponding to the target SWC signal, wherein the target message publisher is one of the at least one message publisher; and
instructing, by the target integrated module, the target message publisher to send first target data from the target SWC to the target message subscriber, wherein the target message subscriber is one of the at least one message subscriber.
13 . The method according to claim 11 , further comprising:
receiving, by the target integrated module, a first instruction sent by the target message subscriber, wherein the first instruction represents that the target message subscriber has obtained second target data sent by the target message publisher, the target message publisher is one of the at least one message publisher, and the target message subscriber is one of the at least one message subscriber; and
instructing, by the target integrated module based on the first instruction, the RTE to obtain the second target data, for the target SWC to use the second target data on the RTE.
14 . The method according to claim 13 , wherein after the receiving, by the target integrated module, the first instruction sent by the target message subscriber, the method further comprises:
storing, by the target integrated module, identification information of a message subscriber corresponding to the target message publisher; or
sending, by the target integrated module, the identification information to the RTE, for the RTE to store the identification information.
15 . The method according to claim 11 , wherein execution of the automatic discovery mechanism of the DDS architecture is triggered by a target module embedded in a BSW management unit (BSW-M) in the BSW, the target module is configured to manage an exchange process of a simple participant discovery protocol (SPDP) message and/or a simple endpoint discovery protocol (SEDP) message corresponding to each participant, and the exchange process is used to implement the automatic discovery mechanism of the DDS architecture.
16 . The method according to claim 15 , further comprising:
generating, by the system architecture, a code snippet from SPDP information and/or SEDP information corresponding to each participant; and
assembling, by the system architecture based on a first participant being in an automatic discovery process, a code snippet corresponding to the first participant, to form SPDP information and/or SEDP information corresponding to the first participant.
17 . The method according to claim 10 , further comprising:
based on the target SWC has a DDS history cache requirement, determining that the target SWC meets the DDS history cache requirement by occupying memory space.
18 . The method according to claim 10 , further comprising:
based on the target SWC not have-having a DDS history cache requirement, determining that the target SWC occupies memory space by using stack space.
19 . A method for implementing DDS communication based on AUTOSAR, comprising:
performing network parameter configuration by using a network design tool based on a scalable service-oriented middleware over internet protocol (SOME/IP) design- to generate a first configuration file;
automatically filling the first configuration file with a default configuration of a DDS by using a configuration conversion tool when a parameter configuration related to the DDS is not customized in the first configuration file, to obtain a filled first configuration file;
converting, by using the configuration conversion tool, the filled first configuration file into a second configuration file that can be identified by the DDS; and
automatically supplementing, by using an AUTOSAR configuration tool, the second configuration file with a parameter configuration of an electronic control unit (ECU) related to the DDS, to obtain a supplemented second configuration file, and generating BSW code based on the supplemented second configuration file, wherein the BSW code is used to implement the method according to claim 10 .
20 . The method according to claim 19 , wherein the method further comprises:
designing a function of an SWC by using an SWC modeling tool, and generating SWC code.