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The Open Real-Time Ethernet (ORTE) is open source implementation of
RTPS communication protocol. RTPS is new application layer protocol
targeted to real-time communication area, which is build on the top of
standard UDP stack. Since there are many TCP/IP stack implementations
under many operating systems and RTPS protocol does not have any other
special HW/SW requirements, it should be easily ported to many HW/SW
target platforms. Because it uses only UDP protocol, it retains
control of timing and reliability.
## News
* 2012-08-15
[ORTE 0.3.3 released](https://sourceforge.net/projects/orte/files/orte-0.3.3/).
This is mostly a bugfix release.
## Introduction
In the ORTE project we are developing communication middleware under
the OMG Data Distribution Service (DDS) for Real-Time Systems
specification (OMG Document formal/07-01-01). The specification
defines a service for efficiently distributing application data
between participants in a distributed application.
The recently-adopted DDS specification is divided into two components.
First defines an Application Level Interface and behavior of a DDS
that supports Data-Centric Publish-Subscribe (DCPS) in real-time
systems. Second optional Data Local Reconstruction Layer (DLRL) allows
distributed data to be shared by local objects located remotely from
each other as if the data were local. The DLRL is built on top of the
DCPS layer.
The DDS specification also includes a platform specific mapping to IDL
and therefore an application using DDS is able to switch among DDS
implementations with only a re-compile. DDS therefore addresses
'application portability.'
The specification does not address the protocol used by the
implementation to exchange messages over transports such as
TCP/UDP/IP, so different implementations of DDS will not interoperate
with each other unless vendor-specific “bridges” are provided.
One of the transport protocol suitable for DDS communication is
Real-Time Pusblish Subscribe (RTPS) wire protocol defined by OMG (OMG
document formal/06-08-02). The RTPS was specifically developed to
support the unique requirements of data-distributions systems. It's a
field proven technology that is deployed in thousands of industrial
devices.
## Documents
Documentation
* [[ORTE manual|orteman.pdf]]
Conference papers
* [[RTN 2008|rtn08_orte.pdf]]
Specifications
* [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.
* [DDS Interoperability Wire Protocol standard](http://www.omg.org/cgi-bin/doc?ptc/2006-08-02) DDS Interoperability Wire Protocol.
* [[RTPS - Real Time Publish-Subscribe|rtps1.2.pdf]] RTPS Wire
Protocol Specification, version: 1.17
## Download
* ORTE can be downloaded from SourceForge.net.
Note that we have not yet migrated the releases from the
[older repository](http://sourceforge.net/project/showfiles.php?group_id=51629&package_id=108732).
## Support
* Petr Smolík
* Michal Sojka
* Pavel Píša
There is no mailing list yet, sorry.
## Links
Links to ORTE related projects:
* Czech Technical University in Prague
ORTE was developed by
[Czech Technical University in Prague](http://rtime.felk.cvut.cz).
* OpenDDS
OpenDDS is an open-source C++ implementation of the Object
Management Group's specification "Data Distribution Service for
Real-time Systems". OpenDDS is built on the ACE (ADAPTIVE
Communication Environment) abstraction layer to provide platform
portability. OpenDDS also leverages capabilities of TAO (The ACE
Orb), such as its IDL compiler and as the basis of the OpenDDS DCPS
Information Repository (DCPSInfoRepo).
* [OpenDDS homepage](http://www.opendds.org)
* JacORB DDS
The distribution provides an open-source Java-based DDS-DCPS
implementation. The purpose of this implementation is pedagogical
and demontrations
* SQLbusRT
[SQLbusRT](http://sourceforge.net/projects/sqlbusrt) is a software package which enables SQL in a publish subscribe environment with real time provisions. The software package finds it usage in:
* Real time measuring environments (data acquisition),
* Fast messaging systems,
* Real time database in machine automation, and SCADA systems
* Medical systems
* Military battlesystems
### PyPubSub
[PyPubSub](http://pypubsub.sourceforge.net/) (short for Python based Publish Subscribe) is a framework for implementing a publish subscribe mechanism into a Python application
## References
We are aware of the following uses of ORTE:
* Imtech
* ORTE as core message exchange mechanism in an aerodynamic wind
tunnel automation project, for one of the main windtunnel
facilities of the world. (see for more info)
* ORTE as message exchange mechanism for the Dutch government: in
the automation facility for public water level management in the
Netherlands. For an example, see
* CTU Dragons - Eurobot
We are a group of university staffs and students, who are interested
in robotics and control engineering. Our objective is designing and
developing robots for various competitions.
[Website](http://rtime.felk.cvut.cz/dragons/en/)
* Network Vehicle Systems
[Paper](http://www.dcc.fc.up.pt/~edrdo/papers/mvs06.pdf)
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