Invocation of real-time objects in a CAN bus-system

Abstract

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Resource conscious development of middleware for control environments: a case of CORBA-based middleware for the CAN bus systems

“…In the literature, group communication for real-time systems has been well studied on various network media [18,19]. Particularly, in [10,11], Kaiser et al propose a real-time object invocation scheme and a publisher/subscriber scheme on the CAN 2.0B bus. These are one of seminal attempts to develop systematic paradigms for real-time object models on the CAN.…”

Jini meets embedded control networking: a case study in portability failure

“…Another interesting project involving realtime remote method invocation on CAN is not addressing automatic reconfiguration issues [3], but it may be possible to extend it for this purpose. Our goal, however, was to acquire working middleware on CAN to create a testbed to explore our areas of interest, so we needed middleware with well-supported open source and proven capability.…”

Embedded platforms for distributed real-time computing: challenges and results

“…For example, in CAN the network bandwidth does not exceed 1 Mbps and the length of CAN messages data field is limited to eight bytes, which can be insufficient to support distributed object interactions. An identification of the main problems associated with remote object invocation in CAN-based systems and a proposal to achieve real-time guarantees in interactions involving single CAN messages have been discussed in [10].…”

“…The availability of group communication is clearly useful in the invocation of replicated objects [10]. Object replication is a common technique to achieve high-level faulttolerance.…”

“…In [10], it is discussed how such functionality can be implemented in CAN-based systems that use the object-oriented paradigm.…”