SYSTEMS AND METHODS FOR SYNCHRONIZING NODES OF A ROBOTIC SYSTEM

摘要

A robotic system is provided. The robotic system includes a publishing node including at least one first synchronization database that includes a plurality of attributes, each of the attributes including a tag identifying the attribute and data, a flag associated with each of the attributes, and a subscriber list. The system also includes a subscriber node including at least one second synchronization database. The publishing node is configured to set the flag associated with the attributes when the attributes are written in the at least one first synchronization database or when the data included in the attributes are modified and publish the flagged attributes to the subscriber node.

主权项

1. A publishing node comprising:
one or more processors; and a first synchronization database, the first synchronization database comprising:
a subscriber list of a plurality of first subscribers;a plurality of first attributes, each individual attribute of the plurality of first attributes including data and a tag, the tag identifying the individual attribute; anda plurality of first flags, each individual flag of the plurality of first flags being associated with a corresponding one of the plurality of first attributes and a corresponding one of the plurality of first subscribers; wherein the publishing node is configured to:
receive a first subscription message from a subscriber node, the first subscription message identifying a second attribute of the plurality of first attributes;in response to receiving the first subscription message, add the subscriber node to the subscriber list if the subscriber node is not already in the subscriber list and set the individual flag of the plurality of first flags associating the subscriber node with the second attribute;on a condition that the data included in a third attribute of the plurality of first attributes is modified and the third attribute is associated with the subscriber node by a second flag of the plurality of first flags, set the second flag; andfor each individual flag in the plurality of first flags that is set and is associated with the subscriber node, publish the associated one of the plurality of first attributes to the subscriber node.