rtORB: a real-time CORBA prototype

A real-time CORBA prototype called rtORB is presented. The key components of rtORB are mainly described. A platform dependent layer is introduced to enhance the portability of ORB. The scheduling service proposed in real-time CORBA specification is extended to support dynamic scheduling. An explicit binding model is used to establish predictable communication channel. A delayered real-time POA (portable object adapter) is designed to minimize the overhead of demultiplexing and dispatching incoming requests and to avoid priority inversion. Several methods used to optimize its performance are discussed deeply. The real-time performance experiments show that rtORB is capable of supporting real-time application.