RTPS

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Are data samples queued and if so, where?

My understanding is that DDS DataWriters communicate CacheChanges to the HistoryCaches of the associated RTPS Writer. This CacheChange is then propagated to the mapped RTPS Readers before notifying their associated DDS DataReaders.

From the above statement, there are queues (the HistoryCache) on the RTPS Writers and Readers.

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What protocol did DDS use before RTPS came about?

Context

The first 3 versions of the DDS specification were released in 2004, 2005, and 2006 respectively. Version 2.0 of RTPS was released in 2008:

DDS OMG Specification Versions:

1.0: Dec 2004
1.1: Dec 2005
1.2: Dec 2006
1.4: Mar 2015

RTPS OMG Specification Versions:

2.0: April 2008
2.1: Nov 2010
2.2: Sep 2014
2.3: May 2019
2.5: Apr 2022

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RTPS text based?

Is RTPS a text based wire protocol or a binary based wire protocol?

Automatic Vehicle Location and Monitoring System Based on Data Distribution Service

This paper proposes a real time Automatic Vehicle Location (AVL) and Monitoring system for pilgrims road transport coming towards city of Makkah in Saudi Arabia based on Data Distribution Service (DDS). This service is a real time publish/subscribe middleware. Using this middleware approach, we are able to locate and track a huge number of mobile vehicles and identify pilgrims for an annual Islamic gathering in the Holy City of Makkah. Performance results are demonstrated for LAN, WLAN and Bluetooth over DDS.

Publication Year: 
2014
Organization:

Remote Procedure Call over DDS (Draft spec, 4th revised submission)

RTI's draft submission to the RPC Over DDS specification. The submission defines a Remote Procedure Calls (RPC) framework using the basic building blocks of DDS, such as topics, types, and entities (e.g., datareader, datawriter) to provide request/reply semantics. It defines distributed services, characterized by a service interface, which serves as a shareable contract between service provider and a service consumer. It supports synchronous and asynchronous method invocation.

 

Author:
Conference or Venue:

RTPS middleware for real-time distributed industrial vision systems

Abstract: Designing and constructing Real-Time Distributed Industrial Vision Systems (RT-DIVS) from scratch is very complicated task. RT-DIVS has Conflicting requirements such as reasonable development cost, ease of use, reusable code and high performance. The success key in building such systems is to recognize the need for middleware software. Middleware plays a major role in developing distributed systems efficiently. Real-Time Publish-Subscribe (RTPS) model is one of the latest developments in Real-Time middleware technologies.

Publication Year: 
2005

VSI/GVA Data Model

 Overview of the UK Generic Vehicle Architecture (GVA) the motivation, architecture, and technical components.

Conference or Venue:

A Model-Driven Software Development Approach Using OMG DDS for Wireless Sensor Networks

Abstract: The development of embedded systems challenges software engineers with timely delivery of optimised code that is both safe and resource-aware. Within this context, we focus on distributed systems with small, specialised node hardware, specifically, wireless sensor net- work (WSN) systems. Model-driven software development (MDSD) promises to reduce errors and efforts needed for complex software projects by automated code generation from abstract software models. We present an approach for MDSD based on the data-centric OMG middleware standard DDS.

Publication Year: 
2010
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