面向资源有限设备的DDS通信中间件设计

doi:10.16180/j.cnki.issn1007-7820.2022.05.008

摘要/Abstract

摘要：

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。

关键词: 嵌入式平台, 数据分发服务, 卡尔曼滤波模型, 去中心化, 轻量化, 可移植性, 服务质量

Abstract:

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.

Key words: embedded platform, data distribution service, Kalman filtering mode, decentralization, lightweight, portability, QoS

中图分类号:

TN104

代江涛,高博,万嘉骏. 面向资源有限设备的DDS通信中间件设计[J]. 电子科技, 2022, 35(5): 47-55.

DAI Jiangtao,GAO Bo,WAN Jiajun. Design of DDS Communication Middleware for Resource Limited Devices[J]. Electronic Science and Technology, 2022, 35(5): 47-55.

图/表 11

图1

图2

图3

表1

图4

表2

表3

图5

图6

图7

图8

参考文献 19

[1]	Balador A, Ericsson N, Bakhshi Z. Communication middleware technologies for industrial distributed control systems: A literature review[C]. Limassol: Proceedings of the Twenty-second IEEE International Conference on Emerging Technologies and Factory Automation, 2017.
[2]	Dhas Y J, Jeyanthi P. A review on internet of things protocol and service oriented middleware[C]. Chennai: Proceedings of the International Conference on Communication and Signal Processing, 2019.
[3]	Samie F, Bauer L, Henkel J. IoT technologies for embedded computing: A survey[C]. Pittsburgh: Proceedings of the International Conference on Hardware/Software Codesign and System Synthesis, 2016.
[4]	刘烨, 陈端迎, 王刚, 等. 基于多协议物联中间件的产线设备融合管控系统的设计与实现[J]. 现代电子技术, 2019, 42(9):127-131.
	Liu Ye, Chen Duanying, Wang Gang, et al. Design and implementation of multiprotocol IoT middleware based management and control system for production line equipments integration[J]. Modern Electronics Technique, 2019, 42(9):127-131.
[5]	任昊利. 数据分发服务:以数据为中心的发布/订阅式通信[M]. 北京: 清华大学出版社, 2014.
	Ren Haoli. Data distribution service: Data centric publish/subscribe communication[M]. Beijing: Tsinghua University Press, 2014.
[6]	Dizdareviĉ J, Carpio F, Jukan A, et al. A survey of communication protocols for internet of things and related challenges of fog and cloud computing integration[J]. ACM Computing Surveys, 2019, 51(6):1-29.
[7]	Kampmann A, Wüstenberg A, Alrifaee B, et al. A portable implementation of the real-time publish-subscribe protocol for microcontrollers in distributed robotic applications[C]. Auckland: Proceedings of the IEEE Intelligent Transportation Systems Conference, 2019.
[8]	Boonma P, Suzuki J. TinyDDS:An interoperable and configurable publish/subscribe middleware for wireless sensor networks[J]. European Journal of Nuclear Medicine, 2012, 1(3):819-846.
[9]	Gaamel A, Sheltami T, Al-Roubaiey A, et al. Broker-less middleware for WSAN performance evaluation[J]. Future Generation Computer Science, 2018, 110(3):369-377.
[10]	Al-Roubaiey A A. Energy-aware publish/subscribe DDS-based middleware for wireless sensor and actuator networks[D]. Dhahran: King Fahd University of Petroleum and Minerals, 2015.
[11]	刘行言. 面向嵌入式系统的发布订阅中间件的设计与实现[D]. 南京: 东南大学, 2018.
	Liu Xingyan. Design and implementation of DDS system for embedded platform[D]. Nanjing: Southeast University, 2018.
[12]	刘宏义. 基于DDS通信模型的数据管理问题研究[J]. 电子科技, 2016, 29(11):146-149.
	Liu Hongyi. Research on data management problems based on DDS communication model[J]. Electronic Science and Technology, 2016, 29(11):146-149.
[13]	Köksal Ö, Tekinerdogan B. Obstacles in data distribution service middleware: a systematic review[J]. Future Generation Computer Systems, 2017, 68(7):191-210. doi: 10.1016/j.future.2016.09.020
[14]	Simmhan Y, Ravindra P, Chaturvedi S, et al. Towards a data-driven IoT software architecture for smart city utilities[J]. Software:Practice and Experience, 2018, 48(7):1390-1416. doi: 10.1002/spe.2580
[15]	Pardo-Castellote G. Omg data-distribution service: Architectural overview[C]. Providence: Proceedings of the Twenty-third International Conference on Distributed Computing Systems Workshops, 2003.
[16]	Redhyka G G, Setiawan D, Soetraprawata D. Embedded sensor fusion and moving-average filter for Inertial Measurement Unit (IMU) on the microcontroller-based stabilized platform[C]. Bandung: Proceedings of the International Conference on Automation,Cognitive Science,Optics,Micro Electro-Mechanical System,and Information Technology, 2015.
[17]	Bishop G, Welch G. An introduction to the kalman filter[J]. Proceedings of SIGGRAPH,Course, 2001, 8(27599-23175):1-80.
[18]	胡永涛, 岳春生, 胡泽明, 等. 基于相对优先级的单队列区分服务模型[J]. 信息工程大学学报, 2019, 20(3):297-301.
	Hu Yongtao, Yue Chunsheng, Hu Zeming, et al. Differentiated service model with a single queue based on relative priority[J]. Journal of Information Engineering University, 2019, 20(3):287-301.
[19]	闫聪, 蒋序平. 二维QoS约束下基于格贴近度的指挥信息服务选取方法研究[J]. 电子设计工程, 2017, 25(20):121-124.
	Yan Cong, Jiang Xuping. The research on selecting method of command information service based on lattice-close degree under two-dimensional QoS[J]. Electronic Design Engineering, 2017, 25(20):121-124.

	发送端设备	接收端设备
软件环境	RT-Thread	安装实时补丁的 Ubuntu 18.04
处理器	STM32F767ZIT6	Intel i7-9750H
处理器频率	216 MHz	2.6 GHz
内存	512 kB	16 GB
通信接口	百兆网口	千兆网口

发布者	订阅者	位置关系	关联主题	测试结果
应用A	应用B	设备内	ubuntu_topic	正常通信
应用A	应用D	设备间	stm32_topic	正常通信
应用C	应用B	设备间	stm32_topic	正常通信

消息类型	解析结果
SPDP消息包	正常解析
SEDP消息包	正常解析
数据确认数据包	正常解析
用户消息数据包	正常解析