Abstract: A method is provided for performing zero-copy distribution of data samples between applications running on the same node in a system using an Object Management Group (OMG) Data Distribution Service (DDS) and/or a Real-Time Publish Subscribe (RTPS) protocol. Further provided is a method for selecting the network representation to communicate with a DataReader in a system using an Object Management Group (OMG) Real-Time Publish Subscribe (RTPS) protocol. Still further provided is the combination of these two methods to communicate transparently using zero-copy within the same node and not using zero-copy for different nodes. Embodiments of this invention lead to a relatively small communication latency that is constant and independent of the data size for applications running within a single node.

Abstract: A method for reducing a number of copies required to send a data sample with a Data Distribution Service (DDS) type in a system using an Object Management Group (OMG) Data Distribution Service (DDS) and a Real-Time Publish Subscribe (RTPS) protocol is provided. Key to the invention is the definition/creation of a memory representation of the data samples for the DDS type that is equal to the network representation of the data samples for the DDS type. Sending of data samples to the DataReader is accomplished without making a serialization copy of the data samples, and for the receiving the data samples from the DataWriter is accomplished without making a deserialization copy of the data samples. Further, a method is provided for accessing to a network representation of data samples with a DDS type in a system using an OMG DDS and a RTPS protocol.

Abstract: Object Management Group (OMG) Data Distribution Service (DDS) DomainParticipants communication methods and system are provided using the Real-Time Publish Subscribe (RTPS) wire protocol over one or more wide area networks (WAN). Three main issues are addressed: Network Address Translation traversal, Changes in IP addresses, and Efficient bandwidth utilization. Embodiments lead to a scalable solution for WAN Connectivity of DDS Applications using RTPS Wire Protocol. This is a connectionless solution that works on top of UDP as the IP transport. The key benefits of this solution are: Low latency communication with reliable and best-effort data delivery, Minimal data loss when moving across networks, including firewalls/NATs, Minimal migration impact for existing applications. No changes to the API, and Scalability using UDP versus legacy TCP solution.

Abstract: A bidirectional conversion method is provided between a memory representation and a network representation of data samples associated with a DDS type in a system using an Object Management Group DDS and a Real-Time Publish Subscribe (RTPS) protocol that is more potent, maintainable, and with a smaller footprint. A first conversion recipe is generated using a type description and a language binding information that transforms any data sample associated with the type description from a first memory representation to a network representation, and this first conversion recipe is generated only once. A second conversion recipe is generated using a type description and language binding information that transforms any data sample associated with the type description from the network representation to a second memory representation, and this second conversion recipe is generated only once. Both generated first and second conversion recipes are then executed on all data samples.

Abstract: A method for reducing a number of copies required to send a data sample with a Data Distribution Service (DDS) type in a system using an Object Management Group (OMG) Data Distribution Service (DDS) and a Real-Time Publish Subscribe (RTPS) protocol is provided. Key to the invention is the definition/creation of a memory representation of the data samples for the DDS type that is equal to the network representation of the data samples for the DDS type. Sending of data samples to the DataReader is accomplished without making a serialization copy of the data samples, and for the receiving the data samples from the DataWriter is accomplished without making a deserialization copy of the data samples. Further, a method is provided for accessing to a network representation of data samples with a DDS type in a system using an OMG DDS and a RTPS protocol.

Abstract: Adaptive tuning techniques are provided for data communications in an Object Management Group (OMG) Real-Time Publish Subscribe (RTPS) Protocol operable over a communication network to provide good throughput/latency tradeoff as well as efficient bandwidth utilization. With this invention, latency under high throughput conditions can be reduced several times compared with the latency obtained with traditional non-adaptive approaches.

Abstract: Adaptive tuning techniques are provided for data communications in an Object Management Group (OMG) Real-Time Publish Subscribe (RTPS) Protocol operable over a communication network to provide good throughput/latency tradeoff as well as efficient bandwidth utilization. With this invention, latency under high throughput conditions can be reduced several times compared with the latency obtained with traditional non-adaptive approaches.

Abstract: Adaptive tuning techniques are provided for data communications in an Object Management Group (OMG) Real-Time Publish Subscribe (RTPS) Protocol operable over a communication network to provide good throughput/latency tradeoff as well as efficient bandwidth utilization. With this invention, latency under high throughput conditions can be reduced several times compared with the latency obtained with traditional non-adaptive approaches.

Abstract: Publisher-side content based filtering methods and systems are provided to select which subscribers shall receive each data-message sent by a publisher using an Object Management Group (OMG) Real-Time Publish-Subscribe (RTPS) protocol. Methods and systems are provided for writer-side content based filtering and data distribution from a publisher to a plurality of subscribers using an Object Management Group (OMG) Real-Time Publish-Subscribe (RTPS) protocol. Methods and systems are provided for performing scalable content-based filtering and distribution from a publisher to a plurality of subscribers using the Object Management Group (OMG) Real-Time Publish-Subscribe (RTPS) protocol.

Abstract: Bridging data distributed service (DDS) domains in a networked system based on discovery data is provided. Each DDS domain includes DDS software applications capable of publishing data and subscribing to data. A DDS domain bridge is communicatively coupled with the DDS software applications of both DDS domains. The DDS domain bridge monitors discovery data provided by the DDS software applications for a topic name, a topic type, and/or QoS properties. The DDS domain bridge includes creation rules and enabling rules controlling input/output DDS dataflow objects. Based on the state of the DDS dataflow objects set by the rules, uni- or bi-directional DDS dataflow is established between the input and output DDS dataflow objects enabling data propagation between DDS software applications of DDS domains.

Abstract: A method of providing transports for a data distribution middleware over a plurality of transport networks is provided. A data distribution middleware with a pluggable transport layer is provided. A plurality of transport plugins in the transport layer are provided. Aliases are assigned to each of the transport plugins of the plurality of transport plugins, wherein at least one of the transport plugins of the plurality of transport plugins has a plurality of aliases.

Abstract: Techniques for execution of multiple threads in a multithreaded computing programming environment are disclosed. The techniques are especially well suited for environments that use multilayered programming architecture where a higher layer can build on the functions provided by a lower layer where the delay time is an important consideration. In one aspect, the conceptual notion of a “Worker” effectively serves to represent the thread-specific execution context for a thread of execution (“thread”) in a multithreaded computing environment. Another aspect, provides the notion of an Exclusion Area (EA) as logical lock that serves to protect shared resources in a multithreaded environment. The combination of the worker and EA are used to provide a powerful framework that, among other things, allows minimizing of the delay time.

Abstract: A real-time protocol for real-time network programming applications is disclosed. The protocol is executable on a computer network having a plurality of nodes that include applications, a network stack, an operating system, and middleware capable of executing real-time operations. The protocol can use group objects to model physical and logical devices connected to the network wherein each group object comprises at least one variable. Changes in these variables are encapsulated in variable change messages which are propagated in the network using communication objects. Also described is a real-time messaging format useful for implementing the protocol.

Abstract: A real-time protocol for real-time network programming applications is disclosed. The protocol is executable on a computer network having a plurality of nodes that include applications, a network stack, an operating system, and middleware capable of executing real-time operations. The protocol can use group objects to model physical and logical devices connected to the network wherein each group object comprises at least one variable. Changes in these variables are encapsulated in variable change messages which are propagated in the network using communication objects. Also described is a real-time messaging format useful for implementing the protocol.

Abstract: A real-time protocol for real-time network programming applications is disclosed. The protocol is executable on a computer network having a plurality of nodes that include applications, a network stack, an operating system, and middleware capable of executing real-time operations. The protocol can use group objects to model physical and logical devices connected to the network wherein each group object comprises at least one variable. Changes in these variables are encapsulated in variable change messages which are propagated in the network using communication objects. Also described is a real-time messaging format useful for implementing the protocol.

Abstract: Techniques for execution of multiple threads in a multithreaded computing programming environment are disclosed. The techniques are especially well suited for environments that use multilayered programming architecture where a higher layer can build on the functions provided by a lower layer where the delay time is an important consideration. In one aspect, the conceptual notion of a “Worker” effectively serves to represent the thread-specific execution context for a thread of execution (“thread”) in a multithreaded computing environment. Another aspect, provides the notion of an Exclusion Area (EA) as logical lock that serves to protect shared resources in a multithreaded environment. The combination of the worker and EA are used to provide a powerful framework that, among other things, allows minimizing of the delay time.

Abstract: A method of operating real-time middleware associated with at least one node of a data distribution system is provided. At least one pool of a plurality of fixed block size units of memory of the node is allocated (e.g., via an operating system call). Based on loan requests for dynamic memory elements on behalf of a user application executing on the node, an indication of at least one of the allocated fixed block size units to be lent is provided. A list of which allocated fixed block size units are being lent from the pool is maintained, including maintaining the list based on return requests, on behalf of the user application executing on the node, of fixed block size units of the pool. Substantially all of the dynamic memory elements of the real-time middleware associated with the node are provided from the at least one pool of allocated fixed block size units based on the loan requests on behalf of the user application.

Abstract: A bridge to integrate representation of global data space in Data Distribution Service (DDS) and Data Management Systems (DBMS). The DDS concept of a keyed topic and a type is mapped to the DBMS notion of a keyed table and schema representing data-object instances. Rules are specified for translating between a DBMS table record and the DDS wire format representation. Four bridge components are possible: Bridge-DDS-DBMS-Publication to store outgoing published data; Bridge-DDSDBMS-Subscription to store incoming subscribed data; Bridge-DBMS-DDS-Publication to publish changes to a DBMS table; and Bridge-DBMS-DDS-Subscription to update a DBMS Table based on received data subscriptions from the network. Mechanisms are provided for preventing publication of data seen by DDS, and for preventing application of changes already made in a DBMS table.

Abstract: A development tool combines advantages of a simulation tool with an object-oriented modeling tool, including a real-time mathematical matrix library and an object model. The tool is applicable to any intelligent control system. A composite object group (COG) contains both sampled-data and event-driven capabilities. COGs merge procedural and object-oriented programming, and provide explicit, graphical integration of both types of processing and are fully hierarchical. A control system is built up of object-oriented components, including these types: atomic, interface, data flow and state transition. A finite state machine (FSM) component is built from states, transitions, events and state transition components. Data flow components provide sampled-data capabilities. FSMs provide event-drive capabilities. Each component may include methods and attributes.

Abstract: A composite object group (COG) data structure embodied in a computer-readable medium for building a control system that has both a clock cycle and event processing is provided. An interface for passing information to and from the COG data structure is provided. One or more data flow objects are provided in the COG to accept input data and to produce output data on the clock cycle. The data flow object is connected to the interface and provides sampled-data processing for the control system. One or more state machine objects are provided in the COG; each includes a plurality of states and a plurality of transitions between the states that are each triggered by an event. The state machine object provides event-driven processing for the control system, whereby the COG data structure provides both sampled-data and event-driven processing for the control system.