The Open Real-Time Ethernet (ORTE) is an open source implementation of Real-Time Publish-Subscribe (RTPS) communication protocol. RTPS is new application layer protocol targeted to real-time communication area, which is build on the top of standard UDP stack. Since there are many TCP/IP stack implementations under many operating systems and RTPS protocol does not have any other special HW/SW requirements, it should be easily ported to many HW/SW target platforms. Because it uses only UDP protocol, it retains control of timing and reliability.
- 2012-08-15 ORTE 0.3.3 released. This is mostly a bugfix release.
In the ORTE project we are developing communication middleware under the OMG Data Distribution Service (DDS) for Real-Time Systems specification (OMG Document formal/07-01-01). The specification defines a service for efficiently distributing application data between participants in a distributed application.
The recently-adopted DDS specification is divided into two components. First defines an Application Level Interface and behavior of a DDS that supports Data-Centric Publish-Subscribe (DCPS) in real-time systems. Second optional Data Local Reconstruction Layer (DLRL) allows distributed data to be shared by local objects located remotely from each other as if the data were local. The DLRL is built on top of the DCPS layer.
The DDS specification also includes a platform specific mapping to IDL and therefore an application using DDS is able to switch among DDS implementations with only a re-compile. DDS therefore addresses 'application portability.'
The specification does not address the protocol used by the implementation to exchange messages over transports such as TCP/UDP/IP, so different implementations of DDS will not interoperate with each other unless vendor-specific “bridges” are provided.
One of the transport protocol suitable for DDS communication is Real-Time Pusblish Subscribe (RTPS) wire protocol defined by OMG (OMG document formal/06-08-02). The RTPS was specifically developed to support the unique requirements of data-distributions systems. It's a field proven technology that is deployed in thousands of industrial devices.
- Data-Distribution Service for Real-Time Systems (DDS) standard DDS version 1.2. Latest version adopted in January 2007.
- DDS Interoperability Wire Protocol standard
- RTPS - Real Time Publish-Subscribe RTPS Wire Protocol Specification, version: 1.17
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Links to ORTE related projects:
ORTE was developed at Czech Technical University in Prague.
OpenDDS is an open-source C++ implementation of the Object Management Group's specification "Data Distribution Service for Real-time Systems". OpenDDS is built on the ACE (ADAPTIVE Communication Environment) abstraction layer to provide platform portability. OpenDDS also leverages capabilities of TAO (The ACE Orb), such as its IDL compiler and as the basis of the OpenDDS DCPS Information Repository (DCPSInfoRepo).
The distribution provides an open-source Java-based DDS-DCPS implementation. The purpose of this implementation is pedagogical and demontrations http://www-adele.imag.fr/users/Didier.Donsez/dev/dds/readme.html.
SQLbusRT is a software package which enables SQL in a publish subscribe environment with real time provisions. The software package finds it usage in:
- Real time measuring environments (data acquisition),
- Fast messaging systems,
- Real time database in machine automation, and SCADA systems
- Medical systems
- Military battlesystems
PyPubSub (short for Python based Publish Subscribe) is a framework for implementing a publish subscribe mechanism into a Python application.
We are aware of the following uses of ORTE:
ORTE as core message exchange mechanism in an aerodynamic wind tunnel automation project, for one of the main windtunnel facilities of the world. (see http://www.dnw.aero for more info).
ORTE as message exchange mechanism for the Dutch government: in the automation facility for public water level management in the Netherlands. For an example, see this document.
A group of university staffs and students, who are interested in robotics and control engineering. Their objective is to design and develop robots for various competitions.
Network Vehicle Systems -- Paper
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