Real-time Innovations, Inc.

Fernando Crespo Sanchez

Gerardo Pardo-Castellote

Alejandro De Campos Ruiz

Harishkumar Umayi Kalyanaramudu

Juan Jose Martin Carrascosa

Yusheng Yang

Rajive Joshi

Jan Van Bruaene

Tron Sjur Kindseth

Antonio Sanchez Navarro

Roshan Krishnan

Jose Maria Lopez Vega

Erin Adams McManus

José María López Vega

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.

Method for transparent zero-copy distribution of data to DDS applications

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.

Language binding for DDS types that allows publishing and receiving data without marshaling

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. A new UDP WAN transport avoids connection-based overhead inherent in TCP, which becomes increasingly problematic as the number of communication endpoints increases.

Scalable and seamless wide-area network (WAN) connectivity for data distribution service (DDS) applications using real-time publish-subscribe (RTPS) wire protocol

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.

Recipe-driven interpreter for data sample manipulation for DDS topic types

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.

Auto-tuning reliability protocol in pub-sub RTPS systems

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.

Scalable content distribution for sparse publish-subscribe systems using the object management group real-time publish-subscribe protocol

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.

Bridging data distribution services domains based on discovery data

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. Use cases include: data caching in a database; automatic persistency of all (or selected) global data-objects; distributing database contents; and multi-vendor database content transfer.

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San Jose, CA, United States of America

Fernando Crespo Sanchez