UC故事2012/05/03 - 2 Server 文档

 

1. 分布式XXX概要

Q:Top Serverr管理资源,到底管理哪些东东?

Q:命令的传递总是通过Top Server吗?

Q:GC中的Physica Node图如何保存的?数据结构?

Q:Box支持通过用户所在节点之外的(或任意的)节点加入一个指定会议吗?

Q:创建、加入会议的流程描述似乎不正确:创建会议的过程应该在ping request里就全部处理完毕了,并由GC返回给client,而非由client再次直接向info发请求?

Q:多个Physical Node中的Physical Server内的conference对象到底是在什么时候创建的?

Q:client得到的Info Server IP路径信息,在server与server之间为什么也使用?Server与Server之间传递信息为什么不使用mcs/port?没有用还是用了?

 

2. Box4.X Info Detail

Q:Info RouteTable中的Node用什么来标识的?或者Node根本不用标志,只是server需要标志?(比如master server port或slave server port之类)

Q:模块图

McsProvider到底什么职责?

Regulator与App层之间的连线的含义?(Register send data pdu regulator,When ?)

gcc geeral contral与info svr connect之间的关系是什么?(register pdu callback, when ?)

  A:info svr connect负责new connection的处理(如当一个clinet ping的时候),

       它可以处理不同种类的pdu,需要gcc在适当时候注册不同的handler,以进行不同处理。 2012/07/15

 

Q:port与数据传递

各种不同种类的port之间的数据传递实例?路径?

 

Q:CInfoSvrConnect的地位到底是什么?与第一个包到达有什么关系?

   A:处理各种new connection, 如client ping的时候

Q:Enroll Conference的sequence diagram如何理解?

Q:default channel到底何种业务含义?

 CInfoSID m_TopConfLocalPortID;
 CInfoSID m_DefaultChannel_All;
 CInfoSID m_DefaultChannel_AllUser;
 CInfoSID m_DefaultChannel_AllLoalPort;

 

杂问:

Q:MB模块在每一个info/gc server中都存在?其间的关于group等信息在每一个server都有copy?

Q:GC在选sub server的时候,会否出现同一个physical node里的不同server,选作某一个conference中不同级别的server的情况?

Q:mcs中的channel(非channel port)与client session层的channel是同一个语义吗?

    A:I think so. 2012/07/15

 

Q:关于gcc层与mcs的关系:目前似乎是这样:

要从mcs接收数据,使用LocalPort

要向mcs发送数据,直接使用mcs thread proxy(为什么不使用local port?

 

Q:conference的instance到底是在ping的时候创建的还是在create/join conference的时候创建的?具体过程如何?(两个不同文档的说法不一)

 

ros2 run learning_service service_object_server [INFO] [1752123589.000416759] [service_object_server]: Receiving video frame Traceback (most recent call last): File "/opt/ros/galactic/lib/python3.8/site-packages/cv_bridge/core.py", line 99, in encoding_to_cvtype2 return getCvType(encoding) RuntimeError: Unrecognized image encoding [yuv422_yuy2] During handling of the above exception, another exception occurred: Traceback (most recent call last): File "/home/wheeltec/dev_ws1/install/learning_service/lib/learning_service/service_object_server", line 33, in <module> sys.exit(load_entry_point('learning-service==0.0.0', 'console_scripts', 'service_object_server')()) File "/home/wheeltec/dev_ws1/install/learning_service/lib/python3.8/site-packages/learning_service/service_object_server.py", line 75, in main rclpy.spin(node) # 循环等待ROS2退出 File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/__init__.py", line 196, in spin executor.spin_once() File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/executors.py", line 712, in spin_once raise handler.exception() File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/task.py", line 239, in __call__ self._handler.send(None) File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/executors.py", line 418, in handler await call_coroutine(entity, arg) File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/executors.py", line 343, in _execute_subscription await await_or_execute(sub.callback, msg) File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/executors.py", line 107, in await_or_execute return callback(*args) File "/home/wheeltec/dev_ws1/install/learning_service/lib/python3.8/site-packages/learning_service/service_object_server.py", line 56, in listener_callback image = self.cv_bridge.imgmsg_to_cv2(data, 'bgr8') # 将ROS的图像消息转化成OpenCV图像 File "/opt/ros/galactic/lib/python3.8/site-packages/cv_bridge/core.py", line 169, in imgmsg_to_cv2 dtype, n_channels = self.encoding_to_dtype_with_channels(img_msg.encoding) File "/opt/ros/galactic/lib/python3.8/site-packages/cv_bridge/core.py", line 104, in encoding_to_dtype_with_channels return self.cvtype2_to_dtype_with_channels(self.encoding_to_cvtype2(encoding)) File "/opt/ros/galactic/lib/python3.8/site-packages/cv_bridge/core.py", line 101, in encoding_to_cvtype2 raise CvBridgeError(e) cv_bridge.core.CvBridgeError: Unrecognized image encoding [yuv422_yuy2]
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