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.
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.
59 * [DDS Interoperability Wire Protocol standard](http://www.omg.org/cgi-bin/doc?ptc/2006-08-02)
60 * [[RTPS - Real Time Publish-Subscribe|rtps1.2.pdf]] RTPS Wire
61 Protocol Specification, version: 1.17
65 ORTE can be downloaded from
66 [a project page at SourceForge.net](http://sourceforge.net/projects/orte).
67 Note that the older releases are only available in the
68 [older repository](http://sourceforge.net/project/showfiles.php?group_id=51629&package_id=108732).
72 * Petr Smolík <petr.smolik@wo.cz>
73 * Michal Sojka <sojkam1@fel.cvut.cz>
74 * Pavel Píša <pisa@cmp.felk.cvut.cz>
76 There is no mailing list yet, sorry.
80 Links to ORTE related projects:
82 * ORTE was developed at
83 [Czech Technical University in Prague](http://rtime.felk.cvut.cz).
85 * [OpenDDS](http://www.opendds.org)
87 OpenDDS is an open-source C++ implementation of the Object
88 Management Group's specification "Data Distribution Service for
89 Real-time Systems". OpenDDS is built on the ACE (ADAPTIVE
90 Communication Environment) abstraction layer to provide platform
91 portability. OpenDDS also leverages capabilities of TAO (The ACE
92 Orb), such as its IDL compiler and as the basis of the OpenDDS DCPS
93 Information Repository (DCPSInfoRepo).
97 The distribution provides an open-source Java-based DDS-DCPS
98 implementation. The purpose of this implementation is pedagogical
100 <http://www-adele.imag.fr/users/Didier.Donsez/dev/dds/readme.html>.
102 * [SQLbusRT](http://sourceforge.net/projects/sqlbusrt) is a software
103 package which enables SQL in a publish subscribe environment with
104 real time provisions. The software package finds it usage in:
106 * Real time measuring environments (data acquisition),
107 * Fast messaging systems,
108 * Real time database in machine automation, and SCADA systems
110 * Military battlesystems
113 * [PyPubSub](http://pypubsub.sourceforge.net/) (short for Python based
114 Publish Subscribe) is a framework for implementing a publish
115 subscribe mechanism into a Python application.
119 We are aware of the following uses of ORTE:
123 * ORTE as core message exchange mechanism in an aerodynamic wind
124 tunnel automation project, for one of the main windtunnel
125 facilities of the world. (see <http://www.dnw.aero> for more
128 * ORTE as message exchange mechanism for the Dutch government: in
129 the automation facility for public water level management in the
130 Netherlands. For an example, see
131 [this document](http://www.neeltjejans.nl/pid5027).
133 * [Flamingos](http://flamingos.felk.cvut.cz/) and
134 [CTU Dragons](http://rtime.felk.cvut.cz/dragons/en/) Eurobot teams
136 A group of university staffs and students, who are interested in
137 robotics and control engineering. Their objective is to design and
138 develop robots for various competitions.
140 <img src="robot-recycling.png" />
142 * Network Vehicle Systems -- [Paper](http://www.dcc.fc.up.pt/~edrdo/papers/mvs06.pdf)
145 This site is powered by [[ikiwiki]].
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