Bounding the Data-Delivery Latency of DDS Messages in Real-Time Applications

G. Sciangula, Daniel Casini, Alessandro Biondi, Claudio Scordino, M. Natale
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引用次数: 0

Abstract

Many modern applications need to run on massively interconnected sets of heterogeneous nodes, ranging from IoT devices to edge nodes up to the Cloud. In this scenario, communication is often implemented using the publish-subscribe paradigm. The Data Distribution Service (DDS) is a popular middleware specification adopting such a paradigm. The DDS is becoming a key enabler for massively distributed real-time applications, with popular frameworks such as ROS 2 and AUTOSAR Adaptive building on it. However, no formal modeling and analysis of the timing properties of DDS has been provided to date. This paper fills this gap by providing an abstract model for DDS systems that can be generalized to any implementation compliant with the specification. A concrete instance of the generic DDS model is provided for the case of eProsima’s FastDDS, which is eventually used to provide a real-time analysis that bounds the data-delivery latency of DDS messages. Finally, this paper reports on an evaluation based on a representative automotive application from the WATERS 2019 challenge by Bosch.
设置实时应用中DDS消息的数据发送延迟
许多现代应用程序需要在大量互连的异构节点集上运行,从物联网设备到边缘节点再到云。在此场景中,通信通常使用发布-订阅范式实现。数据分发服务(DDS)是采用这种范式的流行中间件规范。DDS正在成为大规模分布式实时应用的关键推动者,诸如ROS 2和AUTOSAR Adaptive等流行框架都建立在它的基础上。然而,迄今为止,还没有对DDS的时序特性进行正式的建模和分析。本文通过为DDS系统提供一个抽象模型来填补这一空白,该模型可以推广到符合规范的任何实现。为eProsima的FastDDS提供了通用DDS模型的一个具体实例,该模型最终用于提供实时分析,限制DDS消息的数据传递延迟。最后,本文报告了基于博世2019年WATERS挑战赛中具有代表性的汽车应用的评估。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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