<s>
The	O
Data	B-Application
Distribution	I-Application
Service	I-Application
(	O
DDS	O
)	O
for	O
real-time	B-General_Concept
systems	I-General_Concept
is	O
an	O
Object	B-Architecture
Management	I-Architecture
Group	I-Architecture
(	O
OMG	O
)	O
machine-to-machine	O
(	O
sometimes	O
called	O
middleware	B-General_Concept
or	O
connectivity	O
framework	O
)	O
standard	O
that	O
aims	O
to	O
enable	O
dependable	B-Application
,	O
high-performance	B-Operating_System
,	O
interoperable	O
,	O
real-time	B-General_Concept
,	O
scalable	B-Architecture
data	B-General_Concept
exchanges	I-General_Concept
using	O
a	O
publish	B-Operating_System
–	I-Operating_System
subscribe	I-Operating_System
pattern	I-Operating_System
.	O
</s>
<s>
DDS	O
addresses	O
the	O
needs	O
of	O
applications	O
like	O
aerospace	O
and	O
defense	O
,	O
air-traffic	B-Application
control	I-Application
,	O
autonomous	O
vehicles	O
,	O
medical	O
devices	O
,	O
robotics	O
,	O
power	O
generation	O
,	O
simulation	O
and	O
testing	O
,	O
smart	B-Architecture
grid	I-Architecture
management	O
,	O
transportation	O
systems	O
,	O
and	O
other	O
applications	O
that	O
require	O
real-time	B-General_Concept
data	B-General_Concept
exchange	I-General_Concept
.	O
</s>
<s>
DDS	O
is	O
a	O
networking	O
middleware	B-General_Concept
that	O
simplifies	O
complex	O
network	B-Operating_System
programming	I-Operating_System
.	O
</s>
<s>
It	O
implements	O
a	O
publish	B-Operating_System
–	I-Operating_System
subscribe	I-Operating_System
pattern	I-Operating_System
for	O
sending	O
and	O
receiving	O
data	O
,	O
events	O
,	O
and	O
commands	O
among	O
the	O
nodes	O
.	O
</s>
<s>
DDS	O
handles	O
transfer	O
chores	O
:	O
message	O
addressing	O
,	O
data	B-Application
marshalling	I-Application
and	I-Application
de-marshalling	I-Application
(	O
so	O
subscribers	O
can	O
be	O
on	O
different	O
platforms	O
from	O
the	O
publisher	O
)	O
,	O
delivery	O
,	O
flow	O
control	O
,	O
retries	O
,	O
etc	O
.	O
</s>
<s>
Any	O
node	B-Protocol
can	O
be	O
a	O
publisher	O
,	O
subscriber	O
,	O
or	O
both	O
simultaneously	O
.	O
</s>
<s>
The	O
DDS	O
publish-subscribe	B-Operating_System
model	O
virtually	O
eliminates	O
complex	O
network	B-Operating_System
programming	I-Operating_System
for	O
distributed	O
applications	O
.	O
</s>
<s>
DDS	O
supports	O
mechanisms	O
that	O
go	O
beyond	O
the	O
basic	O
publish-subscribe	B-Operating_System
model	O
.	O
</s>
<s>
Both	O
proprietary	O
and	O
open-source	B-Application
software	I-Application
implementations	O
of	O
DDS	O
are	O
available	O
.	O
</s>
<s>
These	O
include	O
application	B-Application
programming	I-Application
interfaces	I-Application
(	O
APIs	B-Application
)	O
and	O
libraries	O
of	O
implementations	O
in	O
Ada	B-Language
,	O
C	B-Language
,	O
C++	B-Language
,	O
C#	B-Application
,	O
Java	B-Language
,	O
Python	B-Language
,	O
Scala	B-Application
,	O
Lua	B-Language
,	O
Pharo	B-Language
and	O
Ruby	B-Language
.	O
</s>
<s>
Two	O
things	O
made	O
the	O
demos	O
possible	O
:	O
the	O
DDS-I	O
or	O
Real-Time	B-Application
Publish-Subscribe	I-Application
(	O
RTPS	O
)	O
protocol	O
,	O
and	O
the	O
agreement	O
to	O
use	O
a	O
common	O
model	O
.	O
</s>
<s>
In	O
March	O
2009	O
,	O
three	O
vendors	O
demonstrated	O
interoperability	O
between	O
the	O
individual	O
,	O
independent	O
products	O
that	O
implemented	O
the	O
OMG	O
Real-time	B-Application
Publish-Subscribe	I-Application
protocol	O
version	O
2.1	O
from	O
January	O
2009	O
.	O
</s>
<s>
The	O
demonstration	O
included	O
the	O
discovery	O
of	O
each	O
other	O
's	O
publishers	O
and	O
subscribers	O
on	O
different	O
OS	O
Platforms	O
(	O
Microsoft	B-Application
Windows	I-Application
and	O
Linux	B-Application
)	O
and	O
supported	O
multicast	O
and	O
unicast	B-Protocol
network	O
communications	O
.	O
</s>
<s>
It	O
was	O
developed	O
by	O
Real-Time	B-General_Concept
Innovations	O
(	O
RTI	O
)	O
,	O
a	O
software	O
framework	O
company	O
,	O
and	O
Thales	O
Group	O
,	O
a	O
French	O
defense	O
company	O
.	O
</s>
<s>
In	O
2004	O
,	O
the	O
Object	B-Architecture
Management	I-Architecture
Group	I-Architecture
(	O
OMG	O
)	O
published	O
DDS	O
version	O
1.0	O
.	O
</s>
<s>
A	O
lower	O
data-centric	O
publish-subscribe	B-Operating_System
(	O
DCPS	O
)	O
level	O
that	O
is	O
targeted	O
towards	O
the	O
efficient	O
delivery	O
of	O
the	O
proper	O
information	O
to	O
the	O
proper	O
recipients	O
.	O
</s>
<s>
An	O
optional	O
higher	O
data	O
local	O
reconstruction	O
layer	O
(	O
DLRL	O
)	O
,	O
which	O
allows	O
for	O
a	O
simple	O
integration	O
of	O
DDS	O
into	O
the	O
application	B-Application
layer	I-Application
.	O
</s>
<s>
The	O
Real-time	B-Application
Publish-Subscribe	I-Application
Wire	O
Protocol	O
DDS	O
Interoperability	O
Wire	O
Protocol	O
Specification	O
ensured	O
that	O
information	O
published	O
on	O
a	O
topic	O
using	O
one	O
vendor	O
's	O
DDS	O
implementation	O
is	O
consumable	O
by	O
one	O
or	O
more	O
subscribers	O
using	O
the	O
same	O
or	O
different	O
vendor	O
's	O
DDS	O
implementations	O
.	O
</s>
<s>
A	O
Java	B-Language
5	O
Language	O
PSM	O
for	O
DDS	O
defined	O
a	O
Java	B-Language
5	O
language	O
binding	O
,	O
referred	O
to	O
as	O
a	O
Platform	O
Specific	O
Model	O
(	O
PSM	O
)	O
for	O
DDS	O
.	O
</s>
<s>
It	O
specified	O
only	O
the	O
Data-Centric	O
Publish-Subscribe	B-Operating_System
(	O
DCPS	O
)	O
portion	O
of	O
the	O
DDS	O
specification	O
;	O
Additionally	O
,	O
it	O
encompasses	O
the	O
DDS	O
APIs	B-Application
introduced	O
by	O
DDS-XTypes	O
and	O
DDS-CCM	O
.	O
</s>
<s>
DDS-PSM-Cxx	O
defines	O
the	O
ISO/IEC	O
C++	B-Language
PSM	O
language	O
binding	O
,	O
referred	O
to	O
as	O
a	O
Platform	O
Specific	O
Model	O
(	O
PSM	O
)	O
for	O
DDS	O
.	O
</s>
<s>
It	O
provides	O
a	O
new	O
C++	B-Language
API	B-Application
for	O
programming	O
DDS	O
that	O
is	O
more	O
natural	O
to	O
a	O
C++	B-Language
programmer	O
.	O
</s>
<s>
The	O
specification	O
provides	O
mappings	O
for	O
the	O
application	B-Application
programming	I-Application
interface	I-Application
(	O
API	B-Application
)	O
specified	O
in	O
DDS-XTypes	O
,	O
and	O
accessing	O
quality	O
of	O
service	O
(	O
QoS	O
)	O
profiles	O
specified	O
in	O
DDS-CCM	O
.	O
</s>
<s>
Extensible	O
and	O
Dynamic	O
Topic	O
Types	O
for	O
DDS	O
(	O
DDS-XTypes	O
)	O
provided	O
support	O
for	O
data-centric	O
publish-subscribe	B-Operating_System
communication	O
where	O
topics	O
are	O
defined	O
with	O
specific	O
data	O
structures	O
.	O
</s>
<s>
A	O
Unified	B-Language
Modeling	I-Language
Language	I-Language
(	O
UML	B-Language
)	O
profile	O
specified	O
DDS	O
domains	O
and	O
topics	O
to	O
be	O
part	O
of	O
analysis	O
and	O
design	O
modeling	O
.	O
</s>
<s>
This	O
specification	O
also	O
defined	O
how	O
to	O
publish	B-Operating_System
and	I-Operating_System
subscribe	I-Operating_System
objects	O
without	O
first	O
describing	O
the	O
types	O
in	O
another	O
language	O
,	O
such	O
as	O
XML	O
or	O
OMG	B-Architecture
IDL	I-Architecture
.	O
</s>
<s>
An	O
interface	B-General_Concept
definition	I-General_Concept
language	I-General_Concept
(	O
IDL	O
)	O
was	O
specified	O
in	O
2014	O
independently	O
from	O
the	O
Common	B-Architecture
Object	I-Architecture
Request	I-Architecture
Broker	I-Architecture
Architecture	I-Architecture
(	O
CORBA	B-Architecture
)	O
specification	O
chapter	O
3	O
.	O
</s>
<s>
This	O
IDL	O
3.5	O
was	O
compatible	O
with	O
the	O
CORBA	B-Architecture
3	O
specification	O
,	O
but	O
extracted	O
as	O
its	O
own	O
specification	O
allowing	O
it	O
to	O
evolve	O
independently	O
from	O
CORBA	B-Architecture
.	O
</s>
