[[!toc levels=1]]
-ORTE is an open source C implementation of the Object Management
-Group (OMG) Data Distribution Service (DDS).
-
-## 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.
+The Open Real-Time Ethernet (ORTE) is an open source implementation of
+Real-Time Publish-Subscribe (RTPS) communication protocol. RTPS is an
+application layer protocol targeted at real-time communication area,
+which is built on the top of standard UDP stack. Because it uses only
+the UDP protocol, it retains control of timing and reliability. 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. ORTE currently runs on Linux, FreeBSD, Windows, Android and
+RTEMS.
+
+## News
+
+* 2015-05-27 [Video demo of ORTE for Android published](https://youtu.be/M4FYampNDLs).
+* 2015-01-30 We setup a [buildbot instance](http://compile.felk.cvut.cz:8011/waterfall).
+* 2013-10-28 [ORTE 0.3.4 released](https://sourceforge.net/projects/orte/files/orte-0.3.4/).
+ It features Android support.
+* 2013-10-05 We are preparing a new release that will feature Android
+ support. Stay tuned and/or test the version from our
+ [git repository](http://sourceforge.net/p/orte/orte/ci/master/tree/).
+* 2012-08-15
+ [ORTE 0.3.3 released](https://sourceforge.net/projects/orte/files/orte-0.3.3/).
+ This is mostly a bugfix release.
## Documents
-Conference papers
-
-* [[RTN 2008|rtn08_orte.pdf]]
+* [[ORTE manual|orteman.pdf]]
+* [[ORTE conference paper (2008)|rtn08_orte.pdf]]
+* [[ORTE for Android paper (RTLWS 2013)|rtlws2013-orte-android.pdf]] ([[slides|rtlws2013-orte-android-slides.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
+ Specifications
+
+* [Data-Distribution Service (DDS) related standards](http://www.omg.org/spec/#DDS)
+ – ORTE implements the RTPS protocol. It offers its own API, not the
+ DDS API.
+* [The Real-time Publish-Subscribe Wire Protocol (DDSI-RTPS)](http://www.omg.org/spec/DDSI-RTPS/)
+ – this is a newer version of the protocol implemented by ORTE.
+* [[Real Time Publish-Subscribe (RTPS) 1.0|rtps1.2.pdf]] – ORTE
+ implements this version of the protocol.
## Download
-* ORTE can be downloaded from <a
- href="http://sourceforge.net/projects/orte">SourceForge.net</a>.
-
- 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).
-
-## Links
-
-### OpenDDS
+ORTE can be downloaded from
+[a project page at SourceForge.net](https://sourceforge.net/projects/orte/files/).
-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).
+Development happens mainly in topic branches of
+[our git repository](https://rtime.felk.cvut.cz/gitweb/orte.git/heads),
+which is mirrored to [Github](https://github.com/CTU-IIG/orte).
-* [OpenDDS homepage](http://www.opendds.org)
+Note that [old releases](http://sourceforge.net/project/showfiles.php?group_id=51629&package_id=108732) are located elsewhere.
-### JacORB DDS
+## Support
-The distribution provides an open-source Java-based DDS-DCPS implementation.
-The purpose of this implementation is pedagogical and demontrations
+ORTE is collectively maintained by Michal Sojka, Pavel Píša and Petr
+Smolík. You can submit an
+[issue on Github](https://github.com/CTU-IIG/orte/issues) or contact
+the maintainers via email at <orte@rtime.felk.cvut.cz>.
-<http://www-adele.imag.fr/users/Didier.Donsez/dev/dds/readme.html>
+## Links
-### SQLbusRT
+Links to ORTE related projects:
-[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:
+* ORTE was developed at
+ [Czech Technical University in Prague](http://rtime.felk.cvut.cz).
-* Real time measuring environments (data acquisition),
-* Fast messaging systems,
-* Real time database in machine automation, and SCADA systems
-* Medical systems
-* Military battlesystems
+* [OpenDDS](http://www.opendds.org)
+ 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).
-### PyPubSub
+* JacORB DDS
-[PyPubSub](http://pypubsub.sourceforge.net/) (short for Python based Publish Subscribe) is a framework for implementing a publish subscribe mechanism into a Python application
+ The distribution provides an open-source Java-based DDS-DCPS
+ implementation. The purpose of this implementation is pedagogical
+ and demonstrations
+ <http://www-adele.imag.fr/users/Didier.Donsez/dev/dds/readme.html>.
-## References
+* [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:
-### Imtech
+ * Real time measuring environments (data acquisition),
+ * Fast messaging systems,
+ * Real time database in machine automation, and SCADA systems
+ * Medical systems
+ * Military battlesystems
-* ORTE as core message exchange mechanism in an aerodynamic wind tunnel
-automation project, for one of the main windtunnel facilities of the world.
-(see <http://www.dnw.aero> for more info)
+* [PyPubSub](http://pypubsub.sourceforge.net/) (short for Python based
+ Publish Subscribe) is a framework for implementing a publish
+ subscribe mechanism into a Python application.
-* 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 <http://www.neeltjejans.nl/pid5027>
+## References
-### CTU Dragons - Eurobot
+We are aware of the following uses of ORTE:
-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.
+* Imtech
-* [Website](http://rtime.felk.cvut.cz/dragons/en/)
+ * ORTE as core message exchange mechanism in an aerodynamic wind
+ tunnel automation project, for one of the main windtunnel
+ facilities of the world. (see <http://www.dnw.aero> for more
+ info).
-<img src="robot-recycling.png" />
+ * 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
+ [this document](http://www.neeltjejans.nl/pid5027).
-### Network Vehicle Systems
+* [Flamingos](http://flamingos.felk.cvut.cz/) and
+ [CTU Dragons](http://rtime.felk.cvut.cz/dragons/en/) Eurobot teams
-* [Paper](http://www.dcc.fc.up.pt/~edrdo/papers/mvs06.pdf)
+ A group of university staffs and students, who are interested in
+ robotics and control engineering. Their objective is to design and
+ develop robots for various competitions.
+ <img src="robot-recycling.png" />
+* Network Vehicle Systems -- [Paper](http://www.dcc.fc.up.pt/~edrdo/papers/mvs06.pdf)
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