The research on real-time middleware for open architecture controller

The adoption of software platform is an effective method to resolve interoperability, portability, scalability and extensibility of open architecture controller. However, there exist problems in now available proprietary software platforms for OAC. Considering the successful application of CORBA, this paper presents the RTCK, a real-time middleware for OAC based on real-time CORBA and minimum CORBA. By the analysis of the feature of RTLinux and structure of OAC, RTCK is composed of user space and real-time space. The user space adopts open source, TAO; while real-time space conform to minimum CORBA, which uses leader/followers concurrent model and TLSF dynamic memory allocation algorithm to guarantee the real-time performance. In order to ensure the predictability of RTCK, SFIOP protocol based on Mbuff and real-time FIFO is designed, whose effect is verified by a comparative experiment.