面向资源有限设备的DDS通信中间件设计

doi:10.16180/j.cnki.issn1007-7820.2022.05.008

Abstract

Abstract:

DDS has good real-time performance, scalability and data processing capabilities, and is suitable for large data volumes and diversified communication requirements in distributed scenarios. In view of the problem that the standard DDS communication middleware is too complex and huge to be deployed on the embedded devices with limited resources, after in-depth analyzing and research on the DDS specification, this study re-designs and optimizes the functions of DDS, and proposes a symmetric publish subscribe mechanism based on Kalman filter model, which reduces the redundant data in communication and realizes a lightweight and portable DDS communication middleware with C language. The communication middleware has been tested and verified on ARM + X86 platform. The experimental results show that the middleware can provide basic DDS services for applications, and improve the response speed of the system and save communication bandwidth resources in the case of occupying a small amount of resources.

Key words: embedded platform, data distribution service, Kalman filtering mode, decentralization, lightweight, portability, QoS

CLC Number:

TN104

DAI Jiangtao,GAO Bo,WAN Jiajun. Design of DDS Communication Middleware for Resource Limited Devices[J].Electronic Science and Technology, 2022, 35(5): 47-55.

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References 19

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	发送端设备	接收端设备
软件环境	RT-Thread	安装实时补丁的 Ubuntu 18.04
处理器	STM32F767ZIT6	Intel i7-9750H
处理器频率	216 MHz	2.6 GHz
内存	512 kB	16 GB
通信接口	百兆网口	千兆网口

发布者	订阅者	位置关系	关联主题	测试结果
应用A	应用B	设备内	ubuntu_topic	正常通信
应用A	应用D	设备间	stm32_topic	正常通信
应用C	应用B	设备间	stm32_topic	正常通信

消息类型	解析结果
SPDP消息包	正常解析
SEDP消息包	正常解析
数据确认数据包	正常解析
用户消息数据包	正常解析

Design of DDS Communication Middleware for Resource Limited Devices

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