A framework for protocol composition in Horus
Proceedings of the fourteenth annual ACM symposium on Principles of distributed computing
The design and performance of a real-time CORBA event service
Proceedings of the 12th ACM SIGPLAN conference on Object-oriented programming, systems, languages, and applications
Reliable Distributed Computing with the ISIS Toolkit
Reliable Distributed Computing with the ISIS Toolkit
Efficient User-Level I/O in the ARX Real-Time Operating System
LCTES '98 Proceedings of the ACM SIGPLAN Workshop on Languages, Compilers, and Tools for Embedded Systems
RTAS '95 Proceedings of the Real-Time Technology and Applications Symposium
Invocation of Real-Time Objects in a CAN Bus-System
ISORC '98 Proceedings of the The 1st IEEE International Symposium on Object-Oriented Real-Time Distributed Computing
Implementing the Real-Time Publisher/Subscriber Model on the Controller Area Network (CAN)
ISORC '99 Proceedings of the 2nd IEEE International Symposium on Object-Oriented Real-Time Distributed Computing
Resource-Conscious Customization of CORBA for CAN-Based Distributed Embedded Systems
ISORC '00 Proceedings of the Third IEEE International Symposium on Object-Oriented Real-Time Distributed Computing
Adding group communication and fault-tolerance to CORBA
COOTS'95 Proceedings of the USENIX Conference on Object-Oriented Technologies on USENIX Conference on Object-Oriented Technologies (COOTS)
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While it is imperative to exploit middleware technologies in developing software for distributed embedded control systems, it is also necessary to tailor them to meet the stringent resource constraints and performance requirements of embedded control systems. In this paper, we propose a CORBA-based middleware for Controller Area Network (CAN) bus systems. Our design goals are to reduce the memory footprint and remote method invocation overhead of the middleware and make it support group communication that is often needed in embedded control systems. To achieve these, we develop a transport protocol on the CAN and a group communication scheme based on the publisher/subscriber model by realizing subject-based addressing that utilizes the message filtering mechanism of the CAN. We also customize the method invocation and message passing protocol of CORBA so that CORBA method invocations are efficiently serviced on a low-bandwidth network such as the CAN. This customization includes packed data encoding and variable-length integer encoding for compact representation of IDL data types. We have implemented our CORBA-based middleware using GNU ORBit. We report on the memory footprint and method invocation latency of our implementation.