Design and implementation of a real-time notification service within the context of embedded ORB and the CAN bus

Many distributed real-time and embedded (DRE) applications require a scalable event-driven communication model that decouples suppliers from consumers and simultaneously supports advanced quality of service (QoS) properties. This article focuses on the design of such a service complying with the OMG Notification Service standard. It is optimized for the CAN bus, a widely used interconnect, where real-time characteristics are a requirement. A new protocol for the efficient distribution of events in a CAN-based distributed control system is presented, a protocol which is tailored to the CAN bus and produces very low overhead by utilizing CAN-specific features.