3 The Open Real-Time Ethernet (ORTE) is an open source implementation of
4 Real-Time Publish-Subscribe (RTPS) communication protocol. RTPS is new
5 application layer protocol targeted to real-time communication area,
6 which is build on the top of standard UDP stack. Since there are many
7 TCP/IP stack implementations under many operating systems and RTPS
8 protocol does not have any other special HW/SW requirements, it should
9 be easily ported to many HW/SW target platforms. Because it uses only
10 UDP protocol, it retains control of timing and reliability.
14 * 2013-10-05 We are preparing a new release that will feaure Android
15 support. Stay tuned and/or test the version from our
16 [git repository](http://sourceforge.net/p/orte/orte/ci/master/tree/).
18 [ORTE 0.3.3 released](https://sourceforge.net/projects/orte/files/orte-0.3.3/).
19 This is mostly a bugfix release.
23 In the ORTE project we are developing communication middleware under
24 the OMG Data Distribution Service (DDS) for Real-Time Systems
25 specification (OMG Document formal/07-01-01). The specification
26 defines a service for efficiently distributing application data
27 between participants in a distributed application.
29 The recently-adopted DDS specification is divided into two components.
30 First defines an Application Level Interface and behavior of a DDS
31 that supports Data-Centric Publish-Subscribe (DCPS) in real-time
32 systems. Second optional Data Local Reconstruction Layer (DLRL) allows
33 distributed data to be shared by local objects located remotely from
34 each other as if the data were local. The DLRL is built on top of the
37 The DDS specification also includes a platform specific mapping to IDL
38 and therefore an application using DDS is able to switch among DDS
39 implementations with only a re-compile. DDS therefore addresses
40 'application portability.'
42 The specification does not address the protocol used by the
43 implementation to exchange messages over transports such as
44 TCP/UDP/IP, so different implementations of DDS will not interoperate
45 with each other unless vendor-specific “bridges” are provided.
47 One of the transport protocol suitable for DDS communication is
48 Real-Time Pusblish Subscribe (RTPS) wire protocol defined by OMG (OMG
49 document formal/06-08-02). The RTPS was specifically developed to
50 support the unique requirements of data-distributions systems. It's a
51 field proven technology that is deployed in thousands of industrial
56 * [[ORTE manual|orteman.pdf]]
57 * [[RTN 2008 conference paper|rtn08_orte.pdf]]
61 * [Data-Distribution Service for Real-Time Systems (DDS) standard](http://www.omg.org/technology/documents/formal/data_distribution.htm) DDS version 1.2. Latest version adopted in January 2007.
62 * [DDS Interoperability Wire Protocol standard](http://www.omg.org/cgi-bin/doc?ptc/2006-08-02)
63 * [[RTPS - Real Time Publish-Subscribe|rtps1.2.pdf]] RTPS Wire
64 Protocol Specification, version: 1.17
68 ORTE can be downloaded from
69 [a project page at SourceForge.net](http://sourceforge.net/projects/orte).
71 Note that [old releases](http://sourceforge.net/project/showfiles.php?group_id=51629&package_id=108732) are located elsewhere.
75 ORTE is collectively maintained by Michal Sojka, Pavel Píša and Petr
76 Smolik. The maintainers can be reached via email addres
77 <orte@rtime.felk.cvut.cz>.
81 Links to ORTE related projects:
83 * ORTE was developed at
84 [Czech Technical University in Prague](http://rtime.felk.cvut.cz).
86 * [OpenDDS](http://www.opendds.org)
88 OpenDDS is an open-source C++ implementation of the Object
89 Management Group's specification "Data Distribution Service for
90 Real-time Systems". OpenDDS is built on the ACE (ADAPTIVE
91 Communication Environment) abstraction layer to provide platform
92 portability. OpenDDS also leverages capabilities of TAO (The ACE
93 Orb), such as its IDL compiler and as the basis of the OpenDDS DCPS
94 Information Repository (DCPSInfoRepo).
98 The distribution provides an open-source Java-based DDS-DCPS
99 implementation. The purpose of this implementation is pedagogical
101 <http://www-adele.imag.fr/users/Didier.Donsez/dev/dds/readme.html>.
103 * [SQLbusRT](http://sourceforge.net/projects/sqlbusrt) is a software
104 package which enables SQL in a publish subscribe environment with
105 real time provisions. The software package finds it usage in:
107 * Real time measuring environments (data acquisition),
108 * Fast messaging systems,
109 * Real time database in machine automation, and SCADA systems
111 * Military battlesystems
114 * [PyPubSub](http://pypubsub.sourceforge.net/) (short for Python based
115 Publish Subscribe) is a framework for implementing a publish
116 subscribe mechanism into a Python application.
120 We are aware of the following uses of ORTE:
124 * ORTE as core message exchange mechanism in an aerodynamic wind
125 tunnel automation project, for one of the main windtunnel
126 facilities of the world. (see <http://www.dnw.aero> for more
129 * ORTE as message exchange mechanism for the Dutch government: in
130 the automation facility for public water level management in the
131 Netherlands. For an example, see
132 [this document](http://www.neeltjejans.nl/pid5027).
134 * [Flamingos](http://flamingos.felk.cvut.cz/) and
135 [CTU Dragons](http://rtime.felk.cvut.cz/dragons/en/) Eurobot teams
137 A group of university staffs and students, who are interested in
138 robotics and control engineering. Their objective is to design and
139 develop robots for various competitions.
141 <img src="robot-recycling.png" />
143 * Network Vehicle Systems -- [Paper](http://www.dcc.fc.up.pt/~edrdo/papers/mvs06.pdf)
146 This site is powered by [[ikiwiki]].
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