3 The Open Real-Time Ethernet (ORTE) is open source implementation of
4 RTPS communication protocol. RTPS is new application layer protocol
5 targeted to real-time communication area, which is build on the top of
6 standard UDP stack. Since there are many TCP/IP stack implementations
7 under many operating systems and RTPS protocol does not have any other
8 special HW/SW requirements, it should be easily ported to many HW/SW
9 target platforms. Because it uses only UDP protocol, it retains
10 control of timing and reliability.
15 [ORTE 0.3.3 released](https://sourceforge.net/projects/orte/files/orte-0.3.3/).
16 This is mostly a bugfix release.
20 In the ORTE project we are developing communication middleware under
21 the OMG Data Distribution Service (DDS) for Real-Time Systems
22 specification (OMG Document formal/07-01-01). The specification
23 defines a service for efficiently distributing application data
24 between participants in a distributed application.
26 The recently-adopted DDS specification is divided into two components.
27 First defines an Application Level Interface and behavior of a DDS
28 that supports Data-Centric Publish-Subscribe (DCPS) in real-time
29 systems. Second optional Data Local Reconstruction Layer (DLRL) allows
30 distributed data to be shared by local objects located remotely from
31 each other as if the data were local. The DLRL is built on top of the
34 The DDS specification also includes a platform specific mapping to IDL
35 and therefore an application using DDS is able to switch among DDS
36 implementations with only a re-compile. DDS therefore addresses
37 'application portability.'
39 The specification does not address the protocol used by the
40 implementation to exchange messages over transports such as
41 TCP/UDP/IP, so different implementations of DDS will not interoperate
42 with each other unless vendor-specific “bridges” are provided.
44 One of the transport protocol suitable for DDS communication is
45 Real-Time Pusblish Subscribe (RTPS) wire protocol defined by OMG (OMG
46 document formal/06-08-02). The RTPS was specifically developed to
47 support the unique requirements of data-distributions systems. It's a
48 field proven technology that is deployed in thousands of industrial
53 * [[ORTE manual|orteman.pdf]]
54 * [[RTN 2008 conference paper|rtn08_orte.pdf]]
58 * [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.
60 * [DDS Interoperability Wire Protocol standard](http://www.omg.org/cgi-bin/doc?ptc/2006-08-02) DDS Interoperability Wire Protocol.
62 * [[RTPS - Real Time Publish-Subscribe|rtps1.2.pdf]] RTPS Wire
63 Protocol Specification, version: 1.17
67 ORTE can be downloaded from
68 [a project page at SourceForge.net](http://sourceforge.net/projects/orte).
70 Note that the older releases are only available in the
71 [older repository](http://sourceforge.net/project/showfiles.php?group_id=51629&package_id=108732).
75 * Petr Smolík <petr.smolik@wo.cz>
76 * Michal Sojka <sojkam1@fel.cvut.cz>
77 * Pavel Píša <pisa@cmp.felk.cvut.cz>
79 There is no mailing list yet, sorry.
83 Links to ORTE related projects:
85 * ORTE was developed at
86 [Czech Technical University in Prague](http://rtime.felk.cvut.cz).
88 * [OpenDDS](http://www.opendds.org)
90 OpenDDS is an open-source C++ implementation of the Object
91 Management Group's specification "Data Distribution Service for
92 Real-time Systems". OpenDDS is built on the ACE (ADAPTIVE
93 Communication Environment) abstraction layer to provide platform
94 portability. OpenDDS also leverages capabilities of TAO (The ACE
95 Orb), such as its IDL compiler and as the basis of the OpenDDS DCPS
96 Information Repository (DCPSInfoRepo).
100 The distribution provides an open-source Java-based DDS-DCPS
101 implementation. The purpose of this implementation is pedagogical
103 <http://www-adele.imag.fr/users/Didier.Donsez/dev/dds/readme.html>.
105 * [SQLbusRT](http://sourceforge.net/projects/sqlbusrt) is a software
106 package which enables SQL in a publish subscribe environment with
107 real time provisions. The software package finds it usage in:
109 * Real time measuring environments (data acquisition),
110 * Fast messaging systems,
111 * Real time database in machine automation, and SCADA systems
113 * Military battlesystems
116 * [PyPubSub](http://pypubsub.sourceforge.net/) (short for Python based
117 Publish Subscribe) is a framework for implementing a publish
118 subscribe mechanism into a Python application.
122 We are aware of the following uses of ORTE:
126 * ORTE as core message exchange mechanism in an aerodynamic wind
127 tunnel automation project, for one of the main windtunnel
128 facilities of the world. (see <http://www.dnw.aero> for more
131 * ORTE as message exchange mechanism for the Dutch government: in
132 the automation facility for public water level management in the
133 Netherlands. For an example, see
134 [this document](http://www.neeltjejans.nl/pid5027).
136 * [Flamingos](http://flamingos.felk.cvut.cz/) and
137 [CTU Dragons](http://rtime.felk.cvut.cz/dragons/en/) Eurobot teams
139 A group of university staffs and students, who are interested in
140 robotics and control engineering. Their objective is to design and
141 develop robots for various competitions.
143 <img src="robot-recycling.png" />
145 * Network Vehicle Systems -- [Paper](http://www.dcc.fc.up.pt/~edrdo/papers/mvs06.pdf)
148 This site is powered by [[ikiwiki]].
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