Resource conscious development of middleware for control environments: a case of CORBA-based middleware for the CAN bus systems |
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| Affiliation: | 1. School of Electrical Engineering and Computer Science, Seoul National University, Seoul 151-742, South Korea;2. Department of Computer Science and Engineering, Hanyang University, 1271 Sa 1-Dong, Ansan, Kyunggi-Do 426-791, South Korea;1. Department of Signal Processing, Telematics and Communications, University of Granada, Spain;2. Department of Computer Architecture and Computer Technology, University of Granada, Spain;3. Research Centre for Information and Communications Technologies of the University of Granada (CITIC-UGR), Spain;1. College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China;2. School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 150001, China;3. Department of Earth and Space Science and Engineering, York University, Toronto, ON M3J 1P3, Canada;1. College of Information Science and Technology, Beijing University of Chemical Technology, China;2. State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, China;1. Electrical and Computer Eng. Dept., Queen''s University, Canada;2. Electrical and Computer Eng. Dept., Royal Military College of Canada, Canada;3. School of Computing, Queen''s University, Canada;1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China |
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| Abstract: | 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. |
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