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This paper addresses the Data Distribution Service DDS publish/subscribe middleware, which uses CAN driver and its State manager under μCOSII real-time operating system. Our research work consists on developing a real-time middleware in the C language. Starting with the Object Management Group (OMG) specification, which is developed in interface description language (idl) file, we use the idl to C mapping rules to create the Data Centric Publish Subscribe Application Programming Interface (API). We attach a special attention to DDS listeners and we give an approach to establish low-level communication using listeners, callback functions and CAN state manager. We specially focus on the default response of DDS entities following the ISR (Interrupt Service Routine) as communication behavior.
Latin America Transactions, IEEE (Revista IEEE America Latina) (Volume:10 , Issue: 2 )
Date of Publication: March 2012