Simulink DDS Block Set By Mark Mc Broom

Simulink DDS Block Set By Mark Mc. Broom © 2012 The Math. Works, Inc. 1

What is DDS? § § § § § “Data Distribution Service” OMG Standard IDL data interface definition Publish-subscribe anonymous communication Targeted for high-performance and real-time systems Deterministic Data Delivery Highly configurable Supported OS’s: Windows, Linux, Vx. Works, Integrity Multiple vendors : Free and paid implementations – – RTI DDS Prism. Tech Opensplice Twin Oaks OCI Open. DDS 2

Simulink/DDS Integration § Goal 1: Allow Simulink simulation to participate in a DDS-based system – Simulink model – MATLAB model ( future? ) § Goal 2: Code generated from Simulink model complies with DDS API. 3

DDS Blockset § § § § Supports both Simulation and Code Generation DDS Topic Type Simulink Bus Qo. S via XML profiles Based on RTI implementation. Working with RTI. Open. Splice support is possible MATLAB support is possible Implemented as inlined C S-Functions 4

DDS Blockset § Dynamic Data API avoids need to compile DDS SFunctions code when changing Topic Types – Introduces performance penalty § § Block dialog for setting key params, selecting Qo. S Library and profile Limitations – – – – Listeners not supported Simulink Accelerated mode not supported Wait-set conditions ( except for timeout) hard coded. No topic filtering Nested arrays of Buses (structs). Working with RTI to resolve. Topic keys not supported Strings, sequences not supported 5