Introducing the OMG® DDS Extensions for

TSN Specification

©2023 Real-Time Innovations, Inc.

Fernando Garcia Aranda

rti.com/tsn
Principal Software Engineer, RTI
©2023 Real-Time Innovations, Inc.
Agenda
• DDS and TSN introduction
• Integrating DDS and TSN: An overview of the new
specification
• Design and configuration of a DDS-TSN system
• Deployment and execution of DDS applications over TSN

©2023 Real-Time Innovations, Inc.

 Data Distribution Service (DDS)
• DDSTM is an open industry standard for
data-centric connectivity
• Published by the OMG
– UML, SysML, XMI, CORBA, DDS
– Industry IoT Consortium (IIC)
• DDS is open and multi-vendor
– Open standard and open source
– 12+ implementations

©2023 Real-Time Innovations, Inc.

Data Distribution Service (DDS)

Application
DDS-C++ DDS-JAVA DDS-IDL-C DDS-IDL-C#

DDS-SECURITY
DDS-XTYPES
DDS-OPC UA

DDS-JSON
DDS-XML
DDS-RPC
DDS-WEB

DDS v 1.4
IDL 4.
DDS-XRCE

RTPS v2.5
OPC/
HTTP
TCP

TCP UDP TCP DTLS TLS

TSN
IP SHARED-MEMORY

Ethernet

©2023 Real-Time Innovations, Inc.

Time-Sensitive Networking (TSN)
Collection of IEEE® standards that enable deterministic
communication over standard Ethernet.

Timing and High Reliability and Fault

Traffic Scheduling
Synchronization Tolerance

(e.g., 802.1AS) (e.g., 802.1Qbv, 802.1Qav, (e.g., 802.1CB)

802.1Qcr)

– Provides mechanisms to minimize jitter and guarantee latency of

time-critical data streams.
– Enables time-critical and non time-critical data streams to coexist
in the same network.
©2023 Real-Time Innovations, Inc.
DDS + TSN

• TSN is becoming important

in multiple markets:
– Aerospace and Defense
– Industrial Automation
– Automotive
• A standards-based
integration of
DDS and TSN has been
heavily requested

©2023 Real-Time Innovations, Inc.

DDS + TSN

• Scalable: Enables system architects

to create scalable distributed data-
centric systems

• Deterministic: Provides latency and

bandwidth guarantees per data
stream

• Optimized: Reduces cost and weight,

allowing all data streams to flow
over the same infrastructure

©2023 Real-Time Innovations, Inc.

Integrating DDS and TSN
An overview of the new DDS-TSN specification

©2023 Real-Time Innovations, Inc.

Integrating DDS and TSN
Participant Participant
X Y
Distributed Data Distributed Data
Information (Data in Context)
Interoperability and Management Interoperability and Management

Framework Data (State, Events, Framework

Streams)

DDS
Transport Messages Transport

Network Packets Network

Link Frames Link

TSN

Physical Bits Physical

©2023 Real-Time Innovations, Inc.

DDS-TSN Specification Overview

©2023 Real-Time Innovations, Inc.

 DDS-TSN Specification Overview

• OMG solicited a new standard to define:

“a set of mechanisms to allow DDS
infrastructures to be deployed on, and
leverage, TSN-enabled networks.”

• First version has just been published:

omg.org/spec/DDS-TSN

©2023 Real-Time Innovations, Inc.

 DDS-TSN Specification Overview
• Chapters 1–6: Conformance Points, Acronyms, Normative
References, Acknowledgements, etc.
• Chapter 7: DDS-TSN System Deployment
– Configuration Model (PIM in UML)
– Configuration Representation (XML, JSON, and YANG)
• Chapter 8: DDSI-RTPS Wire Protocol over TSN
– RTPS PIM over TSN
(Traffic, Discovery, QoS Policies, Data Modeling considerations, and
Security considerations)
– UDP PSM over TSN
(How to do DDS/RTPS/UDP/IP/TSN)
– Ethernet PSM over TSN
(How to do DDS/RTPS/TSN)
• Annex A: DDSI-RTPS Ethernet PSM (Normative)
• Annex B: Examples (Informative)

©2023 Real-Time Innovations, Inc.

Design and Configuration
A standard configuration model for DDS-TSN systems

©2023 Real-Time Innovations, Inc.

Design and Deployment of DDS Applications over TSN

DDS System
Design
Applications, Domain Participants, TSN
Topics, Endpoints, QoS Libraries, UNI
Types, etc.
Configuration can be passed
onto TSN User/Network
Deployment Configuration Interface
Design (IEEE 802.1Qcc)
Deployment nodes, node Configuration can be
configuration, Application-Node represented
assignment configuration, TSN in XML, JSON, or YANG
configuration, etc.
New Standard
Extensions

©2023 Real-Time Innovations, Inc.

Using the DDS-TSN Configuration Model
Using modeling tools to design
DDS + TSN systems
– Incorporating configuration
model into modeling tools
– Designing DDS applications with
their TSN requirements
– Standard output formats:
• XML
• JSON
• YANG

©2023 Real-Time Innovations, Inc.

Using the DDS-TSN Configuration Model
Mapping configuration model
to IEEE 802.1Qcc:
– Fully distributed model TSN UNI

– Centralized network/distributed
user model
– Fully centralized (e.g.,
implementing a DDS CUC)

©2023 Real-Time Innovations, Inc.

Deployment and Execution
A standard guide to running DDS applications over TSN

©2023 Real-Time Innovations, Inc.

DDS-RTPS Wire Protocol over TSN

Application
DDS-C++ DDS-JAVA DDS-IDL-C DDS-IDL-C#

DDS-SECURITY
DDS-XTYPES
DDS-OPC UA

DDS-JSON
DDS-XML
DDS-RPC
DDS-WEB

DDS v 1.4
IDL 4.
DDS-XRCE

RTPS v2.5
OPC/
HTTP
TCP

TCP UDP TCP DTLS TLS

TSN
IP SHARED-MEMORY

Ethernet

©2023 Real-Time Innovations, Inc.

DDS-RTPS Wire Protocol over TSN

DDS Application

DDS-RTPS
RTPS
Message DDS-RTPS

UDP
UDP UDP
Header Payload UDP
IP
IP IP Payload
Header IP
TSN
Frame Frame
Header
Frame Payload
Footer
TSN
PHY
RTPS can operate over TSN either
• Encapsulated in UDP/IP traffic…
• …or Encapsulated in Ethernet frames.
©2023 Real-Time Innovations, Inc.
 Deploying a DDS System over TSN
• To operate over UDP/IP
– No need to modify existing DDS DDS Deployment
implementations Configuration DDS
– Stream translation function uses the Application
6-tuple
• (Src IP, Dst IP, Src Port, Dst Port, Protocol,
DSCP)
– Other alternatives Deployment
Host Deployment Node
• Using Virtual NICs that preset VLAN Tag
Configuration
• To operate directly over Ethernet
– Need to implement the new
RTPS/Ethernet PSM
– May also required Stream Translation to
set
• VLAN Tag Bridge Configuration Bridge
• Group Destination MAC address

©2023 Real-Time Innovations, Inc.

General Guidelines for DDS Systems Using TSN
• Discovery considerations Maintenance Availability
– Using static or dynamic Traffic Road
discovery Fleet Management Databus Management Management

– Restricting discovery of non time- HMI Municipal Cloud Databus

sensitive applications V2X Databus
• Data Modeling considerations GATEWAY
– Using unbounded types
– Limiting number of instances per Vehicle Situation Telematics
Topic Awareness Planning
Sensors

• DDS Security considerations Vehicle Control (Safety Critical)

– Built-in endpoints for GPS Camera LiDAR

Sensor
Fusion
Data Recording CAN
authentication and access control
– Increased message size

©2023 Real-Time Innovations, Inc.

General Guidelines for DDS Systems Using TSN
• DDS QoS Configuration
considerations:
– Time critical data streams
have special requirements
– QoS Policies like RELIABILITY,
DURABILITY, and HISTORY
need to be configured.

©2023 Real-Time Innovations, Inc.

Examples
How to design, configure and execute DDS applications over TSN

©2023 Real-Time Innovations, Inc.

Examples DDS App
DW

DDS Topic
• Annex B of the spec includes a DDS Databus

comprehensive example:
DR DR

– 5 applications exchanging DDS data DDS App DDS App

– Shows how to model the design

and deployment in XML and JSON TSN
Talker
TSN
Listener

– Maps design to stream and host TSN Network

(comprised of
configuration (using both several bridges)

RTPS/UDP and RTPS/Ethernet)

TSN TSN
TSN Stream
• June 20 webinar will cover this Talker (identified by
VLAN Tag +
Listener

Destination MAC)
example and other use cases

©2023 Real-Time Innovations, Inc.

Summary

©2023 Real-Time Innovations, Inc.

Summary
• DDS + TSN are a great fit
– Provide complementary solutions at different layers
– Scalable and deterministic distributed systems
– Standard adoption in multiple industries
• The new OMG standard defines:
– Configuration model for DDS-TSN systems
– Can be incorporated into modeling tools
– Can be mapped to IEEE 802.1Qcc configuration
models
– Guidelines for operation of DDS over TSN
– Using RTPS/UDP and RTPS/Ethernet over TSN
– Discovery, QoS Policy, Modeling and Security
considerations
– A new Ethernet PSM for RTPS
– Examples
©2023 Real-Time Innovations, Inc.
Thank you!
Questions?

rti.com/tsn

©2023 Real-Time Innovations, Inc.

Try a full version
of Connext
for 30 days
TRY CONNEXT AT
RTI.COM/DOWNLOADS

Includes resources to get

you up and running fast

©2023 Real-Time Innovations, Inc.

Stay Connected
rti.com rtisoftware
Free trial of Connext

rti connextpodcast

@rti_software rti.com/blog

@rti_software

©2023 Real-Time Innovations, Inc.