eProsima in one shot
 Experts on middleware, focused on DDS.
 OMG Members.
– RPC over DDS, Web Enabled DDS, DDS Security (Supporter)
 Army Interoperability Standards Contributor
– Spanish Army: Tactical Data Interface (IDT)
– MIP: Adem Model
 RTI Spanish Distributor
.

Agenda
 Initial Motivation, solution and results
 DDS main concerns in Low Bandwidth Links
 eProsima Low Bandwidth Plugins for DDS (Now RTI DIL
Plugins)
– Discovery Plugin
– Compression Transport Plugin
– RTPS Header Reduction Transport Plugin
– Link Simulation Plugin
 Some More hints - Questions
 Appendix:
– About eProsima
– eProsima Success Cases
 C2 Interoperability
 Low Bandwidth Data Links

Initial Motivation, Solution and Results
DDS in Low Bandwidth Enviroments

Initial Motivation
 Bring DDS communications to the C2
Tactical level (Spanish Army):
– Low Bandwidth Tactical Radios:
 From 4800 bps shared
– Frequent disconnections.
– High packet loss rate.
 Solution: Low Bandwidth Plugins for DDS
– Simplified Discovery
– Optimized RTPS headers
– Compression

Results
 DDS is mandated by the spanish Army for
C2 interoperability in Tactical Radios, Satellite
and Lan
 Formal Interoperability Specification
released, specifying how to use DDS and the
information model (Spanish Tactical Data
Interface, IDT)

Next Step: International C2
Interoperability: MIP ADEM
 MIP: C2 International
Interoperability (27
Countries)
– Large and complex model
 ADEM: Alternative Data
Exchange Method
(Simplified MIP Model)
– Uses DDS for the Low
Bandwidth profile

Real Performance Example: ADEM
 ADEM MIP International Test (Jan 2014)
– 2 C2 Nodes, Tactical Radios,
 4800 bps SHARED = 600 bytes/sec
– 12 Unit Positions/Second
– Payload 44 bytes/position: 528 bytes/sec
– Add RTPS & IP Headers: >100% of
available bandwidth used:
 Batching & Compression
 Optimized RTPS headers
 Simplified Discovery

Spanish Army Performance Test
 Spanish Army Testing Example
– VHF Radios
– Bandwidth 4800 Bits/second SHARED
– Number of nodes: 6
 Example running 70 minutes:
– 5 nodes: Each one sending its position and 3 more unit
positions every 30s (5*4=20 positions in total/30 sec)
– 1 node sending its position and 11 more (12 in total/30 sec)
– 32 Positions/30 Sec (45 bytes/position)
– Other traffic:
 1 alarm every 180 sec
 1 tactical message every 360 sec
 2 obstacles (6 point area) every 1200 sec
 2 Tactical line (6 point area) every 1200 sec
 2 installations (6 point area) every 1200 sec

DDS main concerns in
Low Bandwidth Links

DDS main concerns in
Low Bandwidth Links
 Automatic Discovery is very chatty.
– For N nodes the number of messages is proportional
to N^2
– DDS is not going to work well Out of the box in
bandwidths bellow 64kbits
 DDS does not include data compression
 The protocol (RTPS) headers are big for this
kind of networks.
 Fortunately, we can use the Low Bandwidth
plugins for DDS to solve the problem

Low Bandwidth Discovery Plugin

Overview
 What is discovery?
 Discovery phases
– Participant discovery phase
– Endpoint discovery phase
 Low Bandwidth Discovery Plugin (LBDP)

What is discovery?
 The process by which domain participants find
out about each other’s entities
– Each participant maintains database on other
participants in the domain and their entities
 Happens automatically behind the scenes
– “anonymous publish-subscribe”
 Dynamic discovery
– Participants must refresh their presence in the
domain or will be aged out of database
– QoS changes are propagated to remote participants

Discovery phases
 Two consecutive phases
– Participant discovery phase
 Participants discover each other
 Best-effort communication, multicast (default)
– Endpoint discovery phase
 Participants exchange information about their datawriter
and datareader entities
 Reliable communication, unicast(default)
 Steady state traffic to maintain liveliness of
participants

Participant discovery phase
 Participants periodically announce their
presence using RTPS DATA message
– Contains participant GUID, transport locators, QoS
– Initially sent to all participants in “initial peers” list,
then sent periodically to all discovered participants
– Sent using best-effort
Peer 1 (up)
Peer 2 (up)
Peer 3 (down)
Hello!
Hello!
Hello!
Initial peers:
Peer 1
Peer 2
Peer 3

Endpoint discovery phase
 Conversation between each pair.
 DataWriter/DataReader discovery
– Send out pub/sub DATA to every new participant
– NACK for pub/sub info if not received from a known
participant
– Send out changes/additions/deletions to each
participant
 Uses reliable communication between
participants
 DDS matches up local and remote entities to
establish communication paths

Discovery start-up traffic
Node A Node B
Participant created on A
Send DATA to peer hosts
Participant created on B
Send DATA to peer hosts
DATA participant A
DATA participant B
DATA participant A
DATA participant B
User creates Data Writer Foo
Send DATA to participants
in database
DataWriter DATA Foo
Add publication C to database
of remote publications
random sleep
random sleep
Add B to database of
participants
Add A to database of
participants
Already know about B
(sent reliably)

Discovery Implementation
 Discovery is implemented using DDS entities
known as Built-in Data Writers and Built-in Data
Readers
– Uses same infrastructure as user defined Data
Writers/Data Readers
– Participant data is sent best effort & multicast
– Publication/subscription data is sent reliably &
unicast
 Three Built-in topics (keyed):
– DCPSParticipant
– DCPSPublication
– DCPSSubscription

Discovery Entities
Participant 1
Participant
Built-in
Data Reader
Publication
Built-in
Data Writer
Subscription
Built-in
Data Reader
Participant
Built-in
Data Writer
Subscription
Built-in
Data Writer
Publication
Built-in
Data Reader
Participant Data Msg Publication Data Msg Subscription Data Msg
Participant
Built-in
Data Reader
Participant 2
Publication
Built-in
Data Writer
Subscription
Built-in
Data Reader
Participant
Built-in
Data Writer
Subscription
Built-in
Data Writer
Publication
Built-in
Data Reader
Best Effort, Multicast Reliable, Unicast

LBDP
 Goals:
– Reduce the discovery information transmitted.
– Reduce net traffic: Less Packets.
 Scenario:
– We now most details of the participant applications in
advance.
 Solution:
– Suppress second discovery phase.
– Mixed static and dynamic behavior.
– Information about endpoints stored in XML files or
Databases

LBDP: Discovery Entities
Participant 1
Participant
Built-in
Data Reader
Publication
Built-in
Data Writer
Subscription
Built-in
Data Reader
Participant
Built-in
Data Writer
Subscription
Built-in
Data Writer
Publication
Built-in
Data Reader
Participant
Built-in
Data Reader
Participant 2
Publication
Built-in
Data Writer
Subscription
Built-in
Data Reader
Participant
Built-in
Data Writer
Subscription
Built-in
Data Writer
Publication
Built-in
Data Reader
Participant Data Msg
Best Effort
XML XML
XML XML

Low Bandwidth Compression transport

LBCT: Overview
 Compression at Transport Level
 Several compression libs used
 Several modes of operation

LBCT: Compression at Transport Level
 Compression at Transport Level
– Stackable: Use it over any transport: UDP, Serial, Ad
hoc…

LBCT:Several compression libs
 Several compression libs can be used:
– ZLIB
– BZIP2
– LZO : LZO1X, LZO1B & LZO1F
– UCL : UCL_NRV2B, UCL_NRV2D & UCL_NRV2E
 Easy to add more by the user.
– Through Public API.

Several modes of operation
 Several modes of operation:
– Fixed Algorithm
– Algorithm depending on packet size.
– Automatic: when CPU is not the bottleneck, the
plugin select the best algorithm for each package.

Results
 40% improvement in standard
Discovery traffic
– Applies also to Static Discovery
 60-80% improvement in Data
– We used several sample applications
from command and control systems of
Spanish Army.

Low Bandwidth RTPS
Transport

LB RTPS: Overview
 Optimized RTPS for low bandwidth scenarios
 Implemented as a transport.

LB RTPS: Optimized RTPS
 RTPS Optimizations:
– RTPS Header from 20 bytes to 1 byte.
– RTPS SubmessageHeader from 4 to 1 byte.
– RTPS extraflags for DATA and DATA_FRAG
eliminated (1 byte)
– ReaderID and WriterID from 4 to 1 byte each (so 2^3
writers or readers per participant)
– SequenceNumber from 8 to 5 or less bytes (more
than enough for these scenarios)
 Save more than 30 bytes!

LB RTPS:
Implemented as a transport
 Implemented as a transport
 Stackable:
– Can be used with any transport and it is stackable,
so for example you could use:
– LB RTPS -> UDP
– LB RTPS -> Compression Transport -> UDP

Low Bandwidth
Simulation Transport

LB Simulation Transport: Overview
 Simulate your low bandwidth scenario
 Implemented as a Transport plugin (stackable)
 Two operation modes:
– Simple Channel mode: Easy to Set Up
 The bandwidth is controlled for each node independently
– Advanced Channel mode:
 Bandwidth controlled accounting the activity in all the
nodes.

LB Simulation Transport: Simulate your
low bandwidth scenario
 Simulate your low bandwidth scenario:
– Designed to cover a variety of devices:
 Tactical Radios
 Satellite links
– General purpose.

Low Bandwidth: Hints

Low Bandwidth Scenarios: Hints
 Use Best Effort or NACK Based Reliability
 Use Multicast in Radio Scenarios
 Flow controllers
 Optimize Types.
– Sparse Types.
 Call us 

Low Bandwidth Scenarios: Hints (II)
 eProsima Smart Flow Controller for DDS
– Take into account the network state in real time
 The product calculates the available bandwidth in real
time with the latencies & packet loss
– Assign real priorities and bandwidth resources to
your DDS Topics
 In Terms of the available bandwidth.

Want to know more?
 www.eProsima.com
 Youtube:
https://www.youtube.com/user/eprosima
 Mail: JaimeMartin@eProsima.com
 Phone: +34 607913745
 Twitter: @jaimemartinlosa
 http://es.slideshare.net/JaimeMartin-eProsima

About eProsima
 Experts on middleware, focused on DDS.
 OMG Members.
 Army Interoperability Standards
– Spanish Army: Tactical Data Interface (IDT)
– MIP: Adem Model
.

About eProsima: Products And Services
 eProsima Products:
– DDS based: Plugins, add-ons, adaptors, etc
 Services:
– Communication modules, App development, DDS
training, Support.
 R&D:
– R&D Projects with enterprises and universities.
 Quality: ISO 9001
– Design, Development, Marketing and Support of
Software.

Customers (I)
 Amper Programas:
– BMS
– Simacet (Main Spanish C2 System)
 Cassidian:
– UAVs - Neuron, Atlante
 Ground Station Comm Server
– Comfut
 INDRA:
– Defense (BMS, UAV PASI)
– Air Traffic Control,
– SESAR, ATC Interoperability
– Energy (InSpeed)
 Spanish Army:,
– IDT :Tactical Data Interface

Customers (II)
 Isdefe
 Spanish Army: JCISAT, DGAM
 CATEC-FADA: R&D Aerospatial
 Santa Barbara: Armoured Vehicles
 RTI
 GMV

Customers (III)
 Tecnobit: COSMOS, Reserved Projects.
 IKERLAN: R&D.
 Navantia: F105 (Aegis)
 Boeing: Atlantida, Swim suit

eProsima Products.- Index
 eProsima Smart Flow Controller for DDS.
– Flow control for Low Bandwidth
 eProsima RPC over DDS:
– Remote procedure calls framework over DDS.
 eProsima Fast Buffers
– Fast Serialization engine.
 eProsima Dynamic Fast Buffers.
– Fast Serialization engine. No IDL Required,
serialization support is generated at runtime.
 eProsima DDS Non-Intrusive Recorder.
– Stores DDS communication history in a data
base.

Ongoing Project
 FP7: KIARA, Future Internet Middleware
– FI-WARE 1st open call
– Based on eProsima RPC over DDS & OMG DDS
– Lots of new features:
 Improved IDL
 Direct Use of Application native types
 New formats of marshalling (SOAP, RestFul)
 Web Services compatibility
 Protocol negotiation
 Extended transport support
 High performance dispatching agent (RPC)

RTI DDS DIL Plugins:
Disconnected and Intermitent Links
 eProsima developed the
plugins for the Spanish
Army Tactical Radios, and
later were adquired by
RTI.
 Allow the use of DDS in
very low bandwidth links,
such as Tactical Radios
and Satellite.
– Tested from 2400 bps

Tactical Data Interface: Spanish Army
 C2 Interoperability Comm
layer:
– Tactical Radios
 From 2400bps
– Satellite
 Mandated for all the
Spanish Army C2
systems.
– Already implemented in the
their main C2 systems
eProsima developed the army C2 comm layer using RTI Connext DDS
optimized for low bandwidth enviroments. The project included the design of
the Data Model and QoS requisites for the Army.

C2 Systems: INDRA & Amper
 eProsima Provides a
DDS based comm
layer for INDRA and
Amper C2 Systems.
eProsima implemented the mandated Spanish Army Tactical Data Interface for
Simacet (Main Spanish Army C2 System, Amper) and BMS (Tanks C2 System,
INDRA & Amper)

Tactical Messaging Bridge
 Unified mail and chat:
Internet, NATO and
Tactical for the Spanish
Army.
 Enable Complete
Messaging on the
tactical radio network.

SESAR - INDRA ATC
 eProsima provides
middleware research and
prototyping for ATC
Interoperability
 Among the different
middleware technologies
studied, DDS and WS are
the SESAR proposed
technologies for ATC
interoperability.

Cassidian: nEURon and Atlante GS
 eProsima provides
the comm layer for
the ground station
comm server.
eProsima Non-Intrusive Recorder is used to record the
communications for later analisys.

FI-WARE Middleware
 eProsima has been
selected to develop
Future Internet
Middleware in the FI-WARE
programme.
 DDS will be the core
technology
Fi-WARE is a consortium of over more than 30 companies and universities
including Telefonica, Siemens, SAP, Atos…
eProsima will partner in this project with the German Universities DKFI and CISPA
and the Swiss ZHAW.

Remote
Application
Client /
Server,
Publisher /
Subscriber
Application
Declarative
Data/Function
descritption
API / Data Access
Data / Function
Mapping
Compile time or
Embedded Runtime
Compiler/Interpreter
Marshalling
Transport
Mechanis
ms
Wire- Protocols
RPC Pub/Sub
Transport Protocols TCP UDP
TLS,
DTLS
Shared
Memory
Backplane/
Fabric
XML JSON CDR
SDN
Plugin
Data Transfer
Security / QoS
Parameter
Security /
QoS Policy
Function
Stub
Function
Skleleton
QoS
Data
Writer
Data
Reader
-
DDS /
RTPS
REST /
HTTP
Negotiation
Publisher Subscriber
RPC
Server
RPC
Client
Prepare Initialize
IDL
Parser
• IDL
based
on OMG
IDL
• WADL
Security
Dispatching
I2ND GE
FI-WARE Middleware: DDS Based

Thank you!
Jaime Martin Losa
CEO eProsima
JaimeMartin@eProsima.com
+34 607 91 37 45 www.eProsima.com

DDS Over Low Bandwidth Data Links