DDS structure with scalability and adaptability and node constituting the same

• US 8,874,686 B2
• Filed: 08/17/2011
• Issued: 10/28/2014
• Est. Priority Date: 11/04/2010
• Status: Active Grant

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: Jun, Hyung Kook, Lee, Soo Hyung, Kim, Kyeong Tae, Kim, Jae Hyuk, Kim, Won Tae, Park, Seung Min
• Primary Examiner(s): Avellino, Joseph E
• Assistant Examiner(s): BAILEY, DEFORREST P
• Application Number:
  US13/211,839
• Publication Number:
  US 20120117186A1
• Time in Patent Office: 1,168 Days
• Field of Search: 709/217, 370/395.52
• US Class Current: 709/217
• CPC Class Codes: G06F 9/545 where tasks reside in different layers, e.g. user- and kernel-space

Abstract

A node constituting data distribution service (DDS) structure according to an exemplary embodiment of the present invention includes a first DDS application including a first DCPS layer and a first real-time publish-subscribe (RTPS) layer and a second DDS application including a second DCPS layer communicated with the first RTPS layer.

Claims

1. A computing device constituting a data distribution service (DDS) structure, comprising:

a processor; and

a non-transitory computer-readable storage medium having

a kernel module being modifiable and including a first real-time publish-subscribe (RTPS) layer in which a part of RTPS functions is implemented;

a first DDS application including a first data-centric publish-subscribe (DCPS) layer and a second RTPS layer in which the other RTPS functions,

wherein the DCPS layer includes an RTPS socket application programming interface (API) application configured to set an RTPS socket of the second RTPS layer,

wherein the second RTPS layer is configured to transmit information relating to the RTPS socket of the second RTPS layer to a low-level socket of the first RTPS layer,

wherein the first RTPS layer is configured to generate an RTPS mapping table using the received information relating to the RTPS socket of the second RTPS layer, and

wherein the first RTPS layer transmits the RTPS mapping table to the RTPS socket of the second RTPS layer; and

a second DDS application including a second DCPS layer communicating with the first RTPS layer,

wherein the first DCPS layer and the second DCPS layer each includes a DCPS Domain Manager,

wherein each DCPS Domain Manager includes a client IPC connection structure, a server IPC connection structure, and a DCPS Connection Manager,

wherein the server IPC connection structure of the first DCPS layer is configured to enable the second DDS application to use the first RTPS layer,

wherein the client IPC connection structure of the second DCPS layer is configured to enable the second DDS application to use the first RTPS layer, and

wherein the client IPC connection structures and the server IPC connection structures are a shared message queue or a socket.

2. The computing device of claim 1, wherein the part of the RTPS functions includes at least one a discovery function, a data reception function, and an RTPS message generating function.

3. The computing device of claim 1, wherein the other RTPS functions include at least one of a history cache function and an RTPS message control function.

4. The computing device of claim 1, wherein the second RTPS layer includes an RTPS socket performing connection between the second RTPS layer and the first RTPS layer and receives data received by the first RTPS layer from the first RTPS layer in a socket form.

5. The computing device of claim 1, wherein the RTPS mapping table includes registration data for the RTPS socket of the second RTPS layer.

14. The computing device of claim 5, wherein the registration data for the RTPS socket of the second RTPS layer includes a Domainparticipant Identification (ID), a Topic ID, or a Datareader/Datawriter ID.

6. A computing device constituting a data distribution service (DDS) structure, comprising:

a processor; and

a non-transitory computer-readable storage medium having

a first DDS application including a first data-centric publish-subscribe (DCPS) layer and a first real-time publish-subscribe (RTPS) layer; and

a second DDS application including a second DCPS layer communicating with the first RTPS layer,

wherein the first DCPS layer and the second DCPS layer each includes a DCPS Domain Manager,

wherein each DCPS Domain Manager includes a client IPC connection structure, a server IPC connection structure, and a DCPS Connection Manager,

wherein the server IPC connection structure of the first DCPS layer is configured to enable the second DDS application to use the first RTPS layer,

wherein the client IPC connection structure of the second DCPS layer is configured to enable the second DDS application to use the first RTPS layer, and

wherein the client IPC connection structures and the server IPC connection structures are a shared message queue or a socket.

7. The computing device of claim 6, wherein the server IPC connection structure or the client IPC connection structure is a socket.

8. The computing device of claim 6, wherein the first DCPS layer includes a local API for enabling the first DDS application to use the first RTPS layer.

15. The computing device of claim 6, wherein the DCPS Domain Manager of the first DCPS application is configured to generate the first RTPS layer when the DCPS Domain Manager determines that no RTPS layer is being executed in the computing device.

16. The computing device of claim 6, wherein the DCPS Domain Manager of the second DCPS application is configured to

call the DCPS Connection Manager of the second DCPS application,

call the client IPC Connection Structure of the second DCPS application,

store an information relating to the first RTPS layer being executed in the node, and

connect the client IPC connection structure to the server IPC connection structure of the first DCPS application.

18. The computing device of claim 6, wherein the server IPC connection structure or the client IPC connection structure is a message queue.

9. A data distribution service (DDS) structure, comprising:

a first computing device including a first DDS application having a first data-centric publish-subscribe (DCPS) layer and a real-time publish-subscribe (RTPS) layer; and

a second computing device including a second DDS application having a second DCPS layer communicating with the first RTPS layer,

wherein the first DCPS layer and the second DCPS layer each includes a DCPS Domain Manager,

wherein each DCPS Domain Manager includes a client IPC connection structure, a server IPC connection structure, and a DCPS Connection Manager,

wherein the server IPC connection structure of the first DCPS layer is configured to enable the second DDS application to use the first RTPS layer,

wherein the client IPC connection structure of the second DCPS layer is configured to enable the second DDS application to use the first RTPS layer, and

wherein the client IPC connection structures and the server IPC connection structures are a shared message queue or a socket.

10. The DDS structure of claim 9, wherein the first computing device and the second computing device belong to the same DDS domain.

11. The DDS structure of claim 9, wherein the first computing device belongs to a DDS domain and the second computing device belongs to an external WAN environment of the DDS domain.

12. The DDS structure of claim 9, wherein the server IPC connection structure or the client IPC connection structure is a socket.

13. The DDS structure of claim 9, wherein the first DCPS layer includes a local API for enabling the first DDS application to use the first RTPS layer.

17. The DDS structure of claim 9, wherein the DCPS Domain Manager of the second DCPS application is configured to

call the DCPS Connection Manager of the second DCPS application,

call the client IPC Connection Structure of the second DCPS application,

store an information relating to the first RTPS layer being executed in the node, and

connect the client IPC connection structure to the server IPC connection structure of the first DCPS application.

19. The DDS structure of claim 9, wherein the server IPC connection structure or the client IPC connection structure is a message queue.