面向资源有限设备的DDS通信中间件设计

DDS拥有良好的实时性、拓展性和数据处理能力,适合分布式场景中大数据量和多样化的通信需求。针对标准DDS通信中间件过于复杂、庞大,不适合在资源有限的嵌入式设备上部署的问题,文中在对DDS规范进行了深入分析研究后,对DDS功能进行了裁剪、优化,提出了一种基于卡尔曼滤波模型的对称式发布订阅机制,减少了通信中的冗余数据,并使用C语言实现了一种轻量化且具有可移植性的DDS通信中间件。文中在ARM+X86平台上对该通信中间件进行了测试验证,结果证明该中间件能够在占用少量资源的情况下,为应用提供基本的DDS服务,提升了系统的响应速度,节约了通信带宽资源。

Design of DDS Communication Middleware for Resource Limited Devices

DDS has good real-time performance, scalability and data processing capabilities, and is suitable for large data volumes and diversified communication requirements in distributed scenarios. In view of the problem that the standard DDS communication middleware is too complex and huge to be deployed on the embedded devices with limited resources, after in-depth analyzing and research on the DDS specification, this study re-designs and optimizes the functions of DDS, and proposes a symmetric publish subscribe mechanism based on Kalman filter model, which reduces the redundant data in communication and realizes a lightweight and portable DDS communication middleware with C language. The communication middleware has been tested and verified on ARM + X86 platform. The experimental results show that the middleware can provide basic DDS services for applications, and improve the response speed of the system and save communication bandwidth resources in the case of occupying a small amount of resources.