Product Overview

• What Is RTI Connext Micro?
• Supported DDS Features
• Programming Languages Support
• RTI Supported Platforms
• Buildable Source
• Safety Certifiability
• Standards and Interoperability

What Is RTI Connext Micro?

RTI Connext Micro is network middleware for distributed real-time applications. It provides the communications service programmers need to distribute time-critical data between embedded and/or enterprise devices or nodes. RTI Connext Micro uses the publish-subscribe communications model to make data distribution efficient and robust. RTI Connext Micro simplifies application development, deployment and maintenance and provides fast, predictable distribution of time-critical data over a variety of transport networks. With RTI Connext Micro, you can:

• Perform complex one-to-many and many-to-many network communications.
• Customize application operation to meet various real-time, reliability, and quality-of-ser-vice goals.
• Provide application-transparent fault tolerance and application robustness.
• Use a variety of transports.

RTI Connext Micro implements the Data-Centric Publish-Subscribe (DCPS) API within the OMG’s Data Distribution Service (DDS) for Real-Time Systems. DDS is the first standard developed for the needs of real-time systems. DCPS provides an efficient way to transfer data in a distributed system.

With RTI Connext Micro, systems designers and programmers start with a fault-tolerant and flexible communications infrastructure that will work over a wide variety of computer hardware, operating systems, languages, and networking transport protocols. RTI Connext Micro is highly configurable so programmers can adapt it to meet the application’s specific communication requirements.

Publish-subscribe middleware

RTI Connext Micro is based on a publish-subscribe communications model. Publish-subscribe (PS) middleware provides a simple and intuitive way to distribute data. It decouples the software that creates and sends data—the data publishers—from the software that receives and uses the data—the data subscribers. Publishers simply declare their intent to send and then publish the data. Subscribers declare their intent to receive, then the data is automatically delivered by the middleware. Despite the simplicity of the model, PS middleware can handle complex patterns of information flow. The use of PS middleware results in simpler, more modular distributed applications. Perhaps most importantly, PS middleware can automatically handle all network chores, including connections, failures, and network changes, eliminating the need for user applications to program of all those special cases. What experienced network middleware developers know is that handling special cases accounts for over 80% of the effort and code.

RTI Connext Micro supports mechanisms that go beyond the basic publish-subscribe model. The key benefit is that applications that use RTI Connext Micro for their communications are entirely decoupled. Very little of their design time has to be spent on how to handle their mutual interactions. In particular, the applications never need information about the other participating applications, including their existence or locations. RTI Connext Micro automatically handles all aspects of message delivery, without requiring any intervention from the user applications, including:

• determining who should receive the messages
• where recipients are located,
• what happens if messages cannot be delivered.

This is made possible by how RTI Connext Micro allows the user to specify Quality of Service (QoS) parameters as a way to configure automatic-discovery mechanisms and specify the behavior used when sending and receiving messages. The mechanisms are configured up-front and require no further effort on the user's part. By exchanging messages in a completely anonymous manner, RTI Connext Micro greatly simplifies distributed application design and encourages modular, well-structured programs. Furthermore, RTI Connext Micro includes the following features, which are designed to meet the needs of distributed real-time applications:

• Data-centric publish-subscribe communications Simplifies distributed application programming and provides time-critical data flow with minimal latency.
  • Clear semantics for managing multiple sources of the same data.
  • Efficient data transfer, customizable Quality of Service, and error notification.
  • Notification by a callback routine on data arrival to minimize latency.
  • Notification when data does not arrive by an expected deadline.
  • Ability to send the same message to multiple computers.
• User-definable data types - Enables you to tailor the format of the information being sent to each application.
• Reliable messaging - Enables subscribing applications to specify reliable delivery of samples.
• Multiple Communication Networks - Multiple independent communication networks (domains) each using RTI Connext Micro can be used over the same physical network. Applications are only able to participate in the domains to which they belong. Individual applications can be configured to participate in multiple domains.
• Symmetric architecture - Makes your application robust:
  • No central server or privileged nodes, so the system is robust to node failures.
  • Subscriptions and publications can be dynamically added and removed from the system at any time.
• Pluggable Transports Framework - Includes the ability to define new transport plug-ins and run over them. RTI Connext Micro comes with a standard UDP/IP pluggable transport and a intra-participant transport. New transports can be implemented for a variety of transport mechanisms, including backplanes, switched fabrics, and new networking technologies.
• Multi-language support - Includes APIs for the C and C++.
• Multi-platform support - Includes support for flavors of UNIX, real-time operating systems, and Windows. (Consult the Platform Notes to see which platforms are supported in this release.)
• Compliance with Standards
  • API complies with the DCPS layer of the OMG’s DDS specification.
  • Data types comply with OMG Interface Definition LanguageTM (IDL).
  • Data packet format complies with the International Engineering Consortium’s (IEC’s) publicly available specification for the RTPS wire protocol.

What Can RTI Connext Micro Do?

Under the hood, Connext goes beyond basic publish-subscribe communication to target the needs of applications with high-performance, real-time, and/or low-overhead requirements. It features:

• Peer-to-peer, publish-subscribe communications — The most elegant, flexible data com- munications model.
  • Simplified distributed application programming
  • Time-critical data flow with minimal latency
  • Clear semantics for managing multiple sources of the same data.
  • Customizable Quality of Service and error notification.
  • Notifications when applications fail to meet their deadlines.
  • Ability to send the same message to multiple subscribers efficiently, including support for reliable multicast.
• Reliable messaging.
• Multiple communication networks — Multiple independent communication networks (domains), each using RTI Connext Micro, can be used over the same physical network to isolate unrelated systems or subsystems. Individual applications can participate in one or multiple domains.
• Symmetric architecture — Makes your application robust. No central server or privileged nodes means your system is robust to application and/or node failures.
• Dynamic—Topics, subscriptions, and publications can be added or removed from the system at any time.
• Multi-platform and heterogeneous system support — Applications based on RTI Connext Micro can communicate transparently with each other regardless of the underlying operating system or hardware. Consult the Release Notes to see which platforms are supported in this release.
• Vendor neutrality and standards compliance — The RTI Connext Micro API complies with the DDS specification. On the network, it supports the open DDS Interoperability Protocol, Real-Time Publish Subscribe (RTPS), which is also an open standard from the OMG.

Other Connext Products

RTI Connext Micro is one of several products in the RTI Connex family of products:

RTI Connext DDS addresses the sophisticated data bus requirements in complex systems including an API compliant with the Object Management Group (OMG) Data Distribution Service (DDS) specification. DDS is the leading data-centric publish/subscribe (DCPS) messaging standard for integrating distributed real-time applications. Connext DDS is the dominant industry implemen- tation with benefits including:

• OMG-compliant DDS API
• Advanced features to address complex systems
• Advanced Quality of Service (QoS) support
• Comprehensive platform and network transport support
• Seamless interoperability with Connext Micro and Connext Messaging

RTI Connext Integrator is a flexible integration infrastructure for OT systems, legacy systems and bridging to IT applications while requiring little or no modification. Connext Integrator is based on a proven foundation of technology and tools used in highly diverse systems, often with extreme real-time performance requirements. Connext Integrator benefits include:

• Support of a rich set of integration capabilities including Message Translator, Content Enricher, Content Remover, Splitter and Aggregator
• Integration support for standards including JMS, SQL databases, file, socket, Excel, OPC, STANAG, LabVIEW, Web Services and more
• Ability for users to create custom integration adapters
• Database Service integration for Oracle, MySQL and other relational databases
• Tools for visualizing, debugging and managing all systems in real-time
• Connext Integrator includes these components:
  • RTI Routing Service
  • RTI Routing Service Adapter SDK

RTI Connext Tools includes a rich set of components to accelerate debugging and testing while easing management of deployed systems. These components include:

• Administration Console
• Analyzer
• Distributed Logger
• Monitor
• Monitoring Library
• Recording Service

Supported DDS Features

RTI Connext Micro supports a subset of the DDS DCPS standard. A brief overview of the supported features are listed here. For a detailed list, please refer to Reference Manuals.

DDS Entity Support

RTI Connext Micro supports the following DDS entities. Please refer to the documentation for details.

• DomainParticipantFactory
• DomainParticipant
• Topic
• Publisher
• Subscriber
• DataWriter
• DataReader

DDS QoS Policy Support

RTI Connext Micro supports the following DDS Qos Policies. Please refer to the documentation for details.

• DDS_DataReaderProtocolQosPolicy
• DDS_DataReaderResourceLimitsQosPolicy
• DDS_DataWriterProtocolQosPolicy
• DDS_DataWriterResourceLimitsQosPolicy
• DDS_DeadlineQosPolicy
• DDS_DiscoveryQosPolicy
• DDS_DomainParticipantResourceLimitsQosPolicy
• DDS_DurabilityQosPolicy
• DDS_EntityFactoryQosPolicy
• DDS_HistoryQosPolicy
• DDS_LivelinessQosPolicy
• DDS_OwnershipQosPolicy
• DDS_OwnershipStrengthQosPolicy
• DDS_ReliabilityQosPolicy
• DDS_ResourceLimitsQosPolicy
• DDS_RtpsReliableWriterProtocol_t
• DDS_SystemResourceLimitsQosPolicy
• DDS_TransportQosPolicy
• DDS_UserTrafficQosPolicy
• DDS_WireProtocolQosPolicy

Programming Languages Support

RTI Connext Micro supports language bindings for the following languages:

• C
• C++ - Note that there are two C++ language bindings for DDS. RTI Connext Micro supports the "old" style language binding.

RTI Supported Platforms

RTI Connext Micro is available as pre-built binaries for the following platforms.

• Linux Supported Platform
• Windows Supported Platforms
• VxWorks Supported Platforms
• Android Supported Platforms
• iOS Supported Platforms

Note that RTI only tests on a subset of the possible combinations of OS and CPU. Please refer to the following tables for a list of specific platforms and the specific configurations that are tested by RTI.

Linux Supported Platform

Operating System	CPU	Compiler	RTI Architecture Abbreviation
Red Hat Enterprise Linux 6.0, 6.1 (2.6 kernel)	x86	gcc 4.4.5	i86Linux2.6gcc4.4.5

Linux Build Instructions

RTI Architecture	Required System Libraries	Required Compiler Flags
i86Linux2.6gcc4.4.5 (Release)	-ldl -lnsl -lm- lpthread -lrt	-fPIC -DLINUX -DRTI_GCC4 -DRTI_LINUX26 -DRTI_LINUX -DRTI_POSIX_THREADS -DRTI_POSIX_SEMAPHORES -DRTI_CPU_AFFINITY -O -Wall -Wno-unknown-pragmas -DRTI_UNIX -DRTS_UNIX -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=I80586 -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6 -DNDEBUG
i86Linux2.6gcc4.4.5 (Debug)	-ldl -lnsl -lm- lpthread -lrt	-fPIC -DLINUX -DRTI_GCC4 -DRTI_LINUX26 -DRTI_LINUX -DRTI_POSIX_THREADS -DRTI_POSIX_SEMAPHORES -DRTI_CPU_AFFINITY -g -DRTI_PRECONDITION_TEST -Wall -Wno-unknown-pragmas -DRTI_UNIX -DRTS_UNIX -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=I80586 -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6

Windows Supported Platforms

Operating System	CPU	Compiler	RTI Architecture Abbreviation
Windows 7	x86	Visual Studio 2010	i86Win32VS2010

Windows Build Instructions

RTI Architecture	Required System Libraries	Required Compiler Flags
i86Win32VS2010	netapi32.lib advapi32.lib user32.lib WS2_32.lib Iphlpapi.lib winmm.lib	/D “RTI_WIN32” /D “WIN32”/Gd /MT (Static Release) /MTd (Static Debug) /MD (Dynamic Release) /MDd (Dynamic Debug) /D “NDDS_DLL_VARIABLE (Dynamic) /D “NDEBUG” (Release)

VxWorks Supported Platforms

Operating System	CPU	Compiler	RTI Architecture Abbreviation
VxWorks 6.9	Pentium 32-bit	gcc 4.3.3	For Kernel Modules: pentiumVx6.9gcc4.3.3 For Real Time Processes: pentiumVx6.9gcc4.3.3_rtp
VxWorks 6.9	PPC32	gcc 4.3.3	For Kernel Modules: ppc604Vx6.9gcc4.3.3 For Real Time Processes: ppc604Vx6.9gcc4.3.3_rtp
VxWorks Cert 6.6.4.1	PPC32 e500v2	gcc 4.1.2	ppce500v2VxCert6.6.4.1gcc4.1.2

VxWorks Build Instructions

RTI Architecture	Required Compiler Flags
pentiumVx6.9gcc4.3.3 (Release)	-march=pentium -m32 -fno-builtin -ansi - DCPU=PENTIUM -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_GCC4 -D_WRS_KERNEL -D__PROTOTYPE_5_0 -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -O -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PENTIUM -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6 -DNDEBUG
pentiumVx6.9gcc4.3.3 (Debug)	-march=pentium -m32 -fno-builtin -ansi -DCPU=PENTIUM -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_GCC4 -D_WRS_KERNEL -D__PROTOTYPE_5_0 -g -DRTI_PRECONDITION_TEST -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PENTIUM -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6
pentiumVx6.9gcc4.3.3_rtp (Release)	-march=pentium -m32 -ansi -DCPU=PENTIUM -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_GCC4 -mrtp -D__PROTOTYPE_5_0 -O -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DRTI_RTP -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PENTIUM -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6 -DNDEBUG
pentiumVx6.9gcc4.3.3_rtp (Debug)	-march=pentium -m32 -ansi -DCPU=PENTIUM -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_GCC4 -mrtp -fPIC -D__PROTOTYPE_5_0 -g -DRTI_PRECONDITION_TEST -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DRTI_RTP -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PENTIUM -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6
ppc604Vx6.9gcc4.3.3 (Release)	-m32 -mstrict-align -ansi -fno-builtin -mlongcall -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_USE_MUNCH -DRTI_GCC4 -D_WRS_KERNEL -D__PROTOTYPE_5_0 -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -O2 -fno-strict-aliasing -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PPC32 -DRTI_ENDIAN_BIG -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6 -DNDEBUG
ppc604Vx6.9gcc4.3.3 (Debug)	-m32 -mstrict-align -ansi -fno-builtin -mlongcall -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_USE_MUNCH -DRTI_GCC4 -D_WRS_KERNEL -D__PROTOTYPE_5_0 -g -DRTI_PRECONDITION_TEST -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PPC32 -DRTI_ENDIAN_BIG -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6
ppc604Vx6.9gcc4.3.3_rtp (Release)	-mhard-float -mstrict-align -m32 -mregnames -ansi -mlongcall -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_USE_MUNCH -DRTI_GCC4 -DRTI_RTP -mrtp -D__PROTOTYPE_5_0 -O2 -fno-strict-aliasing -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DRTI_RTP -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PPC32 -DRTI_ENDIAN_BIG -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6 -DNDEBUG
ppc604Vx6.9gcc4.3.3_rtp (Debug)	-mhard-float -mstrict-align -m32 -mregnames -ansi -mlongcall -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_USE_MUNCH -DRTI_GCC4 -DRTI_RTP -mrtp -fPIC -D__PROTOTYPE_5_0 -g -DRTI_PRECONDITION_TEST -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DRTI_RTP -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PPC32 -DRTI_ENDIAN_BIG -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6
ppce500v2VxCert6.6.4.1gcc4.1.2 (Release)	-m32 -mstrict-align -mcpu=8548 -mfloat-gprs=double -mspe=yes -mabi=spe -ansi -fno-exceptions -fno-builtin -Wall -msdata=eabi -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=e500v2gnu -VXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=6 -DCERT -DRTI_CERT -DRTI_ENDIAN_BIG -DRTI_VXWORKS -DOSAPI_PLATFORM=4 -O -DNDEBUG
ppce500v2VxCert6.6.4.1gcc4.1.2 (Debug)	-m32 -mstrict-align -mcpu=8548 -mfloat-gprs=double -mspe=yes -mabi=spe -ansi -fno-exceptions -fno-builtin -Wall -msdata=eabi -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=e500v2gnu -VXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=6 -DCERT -DRTI_CERT -DRTI_ENDIAN_BIG -DRTI_VXWORKS -DOSAPI_PLATFORM=4 -O -g

Android Supported Platforms

Operating System	CPU	Compiler	RTI Architecture Abbreviation
Android NDK, Revision 8d	ARMv7	gcc 4.7	armv7leAndroidR8Dgcc4.7

Android Build Instructions

RTI Architecture	Required Compiler Flags
armv7leAndroidR8Dgcc4.7	-march=armv7-a -mfpu=neon -msoft-float -mlong-calls

To be able to use the RTI Connext Micro libraries, the Android manifest should have the following permissions:

• android.permission.INTERNET
• android.permission.CHANGE_WIFI_MULTICAST_STATE
• android.permission.CHANGE_WIFI_STATE

iOS Supported Platforms

RTI Connext Micro has been built for iOS 8.2 and tested on and iPad target with A8 and iOS 8.1. Note that the bundles only contain static libraries.

Operating System	CPU	Compiler	RTI Architecture Abbreviation
iOS 8.2	armv7	Xcode 6.2/clang 6.0	armv7iOS8clang6.2
iOS 8.2	armv7s	Xcode 6.2/clang 6.0	armv7siOS8clang6.2
iOS 8.2	arm64	Xcode 6.2/clang 6.0	arm64iOS8clang6.2

iOS Build Instructions

RTI Architecture	Required Compiler Flags	Required System Libraries
armv7iOS8clang6.2	-DRTI_IOS -arch armv7 -Wno-trigraphs -fpascal-strings -fasm-blocks -fmessage-length=0 -fdiagnostics-show-note-include-stack -fmacro-backtrace-limit=0 -O0 -Wno-missing-field-initializers -Wno-missing-prototypes -Wno-return-type -Wno-missing-braces -Wparentheses -Wswitch -Wno-unused-function -Wno-unused-label -Wno-unused-parameter -Wno-unused-variable -Wunused-value -Wno-empty-body -Wno-uninitialized -Wno-unknown-pragmas -Wno-shadow -Wno-four-char-constants -Wno-conversion -Wno-constant-conversion -Wno-int-conversion -Wno-bool-conversion -Wno-enum-conversion -Wpointer-sign -Wno-newline-eof	-isysroot /iPhoneOS.platform/Developer/SDKs/iPhoneOS8.2.sdk
armv7siOS8clang6.2	-DRTI_IOS -arch armv7s -Wno-trigraphs -fpascal-strings -fasm-blocks -fmessage-length=0 -fdiagnostics-show-note-include-stack -fmacro-backtrace-limit=0 -O0 -Wno-missing-field-initializers -Wno-missing-prototypes -Wno-return-type -Wno-missing-braces -Wparentheses -Wswitch -Wno-unused-function -Wno-unused-label -Wno-unused-parameter -Wno-unused-variable -Wunused-value -Wno-empty-body -Wno-uninitialized -Wno-unknown-pragmas -Wno-shadow -Wno-four-char-constants -Wno-conversion -Wno-constant-conversion -Wno-int-conversion -Wno-bool-conversion -Wno-enum-conversion -Wpointer-sign -Wno-newline-eof	-isysroot /iPhoneOS.platform/Developer/SDKs/iPhoneOS8.2.sdk
arm64iOS8clang6.2	-DRTI_IOS -arch arm64 -Wno-trigraphs -fpascal-strings -fasm-blocks -fmessage-length=0 -fdiagnostics-show-note-include-stack -fmacro-backtrace-limit=0 -O0 -Wno-missing-field-initializers -Wno-missing-prototypes -Wno-return-type -Wno-missing-braces -Wparentheses -Wswitch -Wno-unused-function -Wno-unused-label -Wno-unused-parameter -Wno-unused-variable -Wunused-value -Wno-empty-body -Wno-uninitialized -Wno-unknown-pragmas -Wno-shadow -Wno-four-char-constants -Wno-conversion -Wno-constant-conversion -Wno-int-conversion -Wno-bool-conversion -Wno-enum-conversion -Wpointer-sign -Wno-newline-eof	-isysroot /iPhoneOS.platform/Developer/SDKs/iPhoneOS8.2.sdk

Buildable Source

RTI Connext Micro is available as a buildable source. You can build the source yourself, in your own development environment, and port RTI Connext Micro to your own platforms. With the open-source build tool cmake, you can generate native makefiles and workspaces for any of the cmake-supported platforms. For building embedded platforms such as VxWorks, consult cmake documentation or contact RTI Support to create the necessary cross-compilation toolchain files.

RTI Connext Micro is known to run on the following 32 bit CPU's:

• PPC
• i86
• MIPS
• ARM
• M68K

RTI Connext Micro is known to run on the following OSs:

• Linux
• uC
• uLinux
• Darwin
• Win32
• Android
• ThreadX
• FreeRTOS
• VxWorks
• iOS
• TI Stellaris Cortex-M3 with only TI device drivers, no OS
• QNX

RTI Connext Micro is known to run with the following network stacks:

• Linux
• Win32
• VxWorks Network stack
• ThreadX Network stack
• RTNet
• lwIP (event and blocking mode)
• QNX Network stack

Buildable source is available in a separate downloadable bundle. Contact sales.nosp@m.@rti.nosp@m..com to request access.

Safety Certifiability

RTI Connext Micro is the foundation for RTI Connext DDS Cert, a certifiable configuration for safety-critical systems.

Cert API

A further subset of RTI Connext Micro's APIs constitute the available APIs for RTI Connext DDS Cert. Of note, APIs that reclaim allocated memory, such as delete or finalize APIs, are unecessary and thus unavailable in Cert.

Standards and Interoperability

RTI Connext Micro implements the Object Management Group (OMG) Data Distribution Service (DDS) standard (version 1.2), and the Real-Time Publish-Subscribe (RTPS) wire interoperabilty protocol standard (version 2.1).

RTI Connext Micro supports a subset of the submessages defined by the Real-Time Publish-Subscribe (RTPS) interoperability specification. Data fragment submessages are not supported. The messages are compatible with Wireshark and its RTPS packet dissector.

Interoperability between RTI Connext Micro and both RTI Data Distribution Service 4.5d and RTI Connext 5.1.0 has been verified between example HelloWorld applications and with the rtiddsspy utility.

Compatibility with the following RTI tools and services has not been verified: Routing Service, Federation Service, Analyzer, Spreadsheet Add-In, Real-Time Connect, and Recording Service. Nevertheless, they may currently be compatible, assuming that the RTI Connext Micro application is using the dynamic endpoint discovery plugin. Monitor and Limited Bandwidth Plug-Ins are not compatible with RTI Connext Micro.