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+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%%

+%% paper.tex = template for real-time Linux workshop papers

+%%

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+\documentclass[10pt,a4paper]{article}

+\usepackage[english]{babel}

+\usepackage{multicol}

+

+\setlength{\paperheight}{297mm}

+\setlength{\paperwidth}{210mm}

+\setlength{\voffset}{-12mm}

+\setlength{\topmargin}{0mm}

+\setlength{\headsep}{8mm}

+\setlength{\headheight}{10mm}

+\setlength{\textheight}{235mm}

+\setlength{\hoffset}{-4mm}

+\setlength{\textwidth}{166mm}

+\setlength{\oddsidemargin}{0mm}

+\setlength{\evensidemargin}{0mm}

+\setlength{\marginparwidth}{0mm}

+\setlength{\marginparpush}{0mm}

+\setlength{\columnsep}{6mm}

+\setlength{\parindent}{6mm}

+

+%% insert eps pictures

+%% use as \epsin{epsfile}{width_in_mm}{label}{caption}

+\usepackage{epsfig}

+\newcounter{figcounter}

+\def\epsin #1#2#3#4{

+\refstepcounter{figcounter} \label{#3}

+\[

+\mbox{

+  \epsfxsize=#2mm

+  \epsffile{#1.eps}

+}

+\]

+%\vspace{0mm}

+\begin{center}

+  \parbox{7cm}{{\bf FIGURE \arabic{figcounter}:}\quad {\it #4 } } \\

+\end{center}

+}

+

+%% insert table

+%% use as \tabin{size_in_mm}{label}{caption}{table_data}

+\newcounter{tabcounter}

+\def\tabin #1#2#3#4{

+\refstepcounter{tabcounter} \label{#2}

+\[ \makebox[#1mm][c]{#4} \]

+%\vspace{0mm}

+\begin{center}

+  \parbox{7cm}{{\bf TABLE \arabic{tabcounter}:}\quad {\it #3 } } \\

+\end{center}

+}

+

+\title{\LARGE

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% TITLE OF PAPER (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+Real-Time CORBA performance on Linux-RT\_PREEMPT

+}

+

+\author{\large

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% AUTHOR (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+{\bf Manuel Traut }\\ 

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% AFFILIATION (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+Linutronix GmbH\\

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% STREET ADDRESS (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+Auf dem Berg 3, 88690 Uhldingen, Germany\\

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% E-MAIL (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+manut$@$linutronix.de \\

+\vspace{8mm}

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% AUTHOR (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%{\bf Li Su}\\ 

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% AFFILIATION (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%CASC Long March Launch Vehicle Technology CO. LTD\\

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% STREET ADDRESS (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%7 Building, 15 Block, NO.188 West Road, the forth South Round, BeiJing\\

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% E-MAIL (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%sudanlina$@$yahoo.com.cn \\

+}

+\date{}

+

+

+\begin{document}

+

+\maketitle

+

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% ABSTRACT (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+\begin{abstract}

+Automation technology lacks an established platform independent, high-level, object oriented real-time capable communication standard, which is based on standard Ethernet hardware and drivers. ACE/TAO is an Open Source implementation of the OMG Real-Time CORBA Specification and might fill this gap. It is designed platform independent, implemented in C++ and provides a standardized communication framework. Real-Time CORBA is already used in industrial environments, e.g. aircraft, naval equipment and others. This paper explains the basics of the ACE/TAO framework and its usage in industrial communication. On the basis of a real-world example - transmission of an 1 KiB data frame - two communication methods are evaluated: the RT-CORBA Remote Procedure Call and the TAO Real-Time Event-Channel. The performance measurement methods are explained in detail. Measurement results under various system loads and a comparison of ACE/TAO on top of a vanilla Linux kernel and a RT\_PREEMPT enabled Linux kernel provide a meaningful insight in the capabilities of RT-CORBA. Finally, the paper provides an analysis of functionality which needs to be improved in the operating system to provide real deterministic communication through a standardized framework.

+\end{abstract}

+

+\vspace{10mm}

+

+\begin{multicols}{2}

+

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% SECTION (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+\section{ACE/TAO Basics}

+ACE is an open-source c++ framework for platform-independent system- and network-programming. TAO is a Real-time CORBA implementation build on top of ACE.

+

+As shown in figure X, the key features of a Real-time capable ORB are: locating objects in constant time, preallocation of resources, operating system independent priority handling, priority based scheduling.

+

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% NEXT SECTION (OPTIONAL)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+\section{Performance Measurements}

+

+

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% SUB SECTION (OPTIONAL)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+\subsection{Remote Procedure Call}

+

+

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% SUB SECTION (OPTIONAL)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+\subsection{TAO Real-time Event-Channel}

+

+

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% NEXT SECTION (OPTIONAL)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+\section{Needed operating system functionalities}

+

+

+\section{Conclusion}

+

+

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+%% REFERNCES (REQUIRED)

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

+\begin{thebibliography}{9}%use this if you have <=9 bib refs

+%\begin{thebibliography}{99}%use this if you have >9 bib refs

+\bibitem{book1},{\it PCI 9656BA Data Book Version 1.0},2003, PLX Technology, Inc.

+\bibitem {book2},{\it RTLinux3.1 Getting Started with RTLinux},2001, {\sc FSM Labs, Inc.}

+\bibitem {paper1},{\it Advanced filesystem implementer¡¯s guide, introducing XFS}, Daniel Robbins,01 Jan 2002,{\sc Gentoo Technologies£¬Inc.}

+\bibitem {paper2},{\it http://www.realtimelinuxfoundation.org/home.html}

+\bibitem {paper3},{\it http://compreviews.about.com/od/storage/l/aaRAIDPage1.htm}

+\end{thebibliography}

+

+\end{multicols}

+\end{document}