Patent ID: 8874686

Claim:
A computing device constituting a data distribution service (DDS) structure, comprising: a processor; and a non-transitory computer-readable storage medium having a kernel module being modifiable and including a first real-time publish-subscribe (RTPS) layer in which a part of RTPS functions is implemented; a first DDS application including a first data-centric publish-subscribe (DCPS) layer and a second RTPS layer in which the other RTPS functions, wherein the DCPS layer includes an RTPS socket application programming interface (API) application configured to set an RTPS socket of the second RTPS layer, wherein the second RTPS layer is configured to transmit information relating to the RTPS socket of the second RTPS layer to a low-level socket of the first RTPS layer, wherein the first RTPS layer is configured to generate an RTPS mapping table using the received information relating to the RTPS socket of the second RTPS layer, and wherein the first RTPS layer transmits the RTPS mapping table to the RTPS socket of the second RTPS layer; and a second DDS application including a second DCPS layer communicating with the first RTPS layer, wherein the first DCPS layer and the second DCPS layer each includes a DCPS Domain Manager, wherein each DCPS Domain Manager includes a client IPC connection structure, a server IPC connection structure, and a DCPS Connection Manager, wherein the server IPC connection structure of the first DCPS layer is configured to enable the second DDS application to use the first RTPS layer, wherein the client IPC connection structure of the second DCPS layer is configured to enable the second DDS application to use the first RTPS layer, and wherein the client IPC connection structures and the server IPC connection structures are a shared message queue or a socket.