Data transmission system, vehicle comprising the data transmission system, data transmission method and computer program
Provided is a data transmission system, a vehicle comprising the data transmission system, a data transmission method and a computer program. Specifically, the system comprises a centralized controller, a publisher entity and a subscriber entity; wherein the publisher entity and the subscriber entity are compiled with a predefined data format; the publisher entity registers at the centralized controller with topic information; the centralized controller, upon registration of the publisher entity, stores the topic information with information for registering at the publisher entity; the subscriber entity subscribes at the centralized controller to the topic information; the centralized controller, upon subscription of the subscriber entity, provides to the subscriber entity information for registering at the publisher entity; and the subscriber entity creates the communication channel between the publisher entity and the subscriber entity based on the information for registering at the publisher entity.
1. A data transmission system comprising a centralized controller, at least one publisher entity and at least one subscriber entity, wherein:
the publisher entity and the subscriber entity are implemented in hardware and configured to use a predefined data format (F) data communication over a communication channel;
the publisher entity is configured to register at the centralized controller with topic information;
the centralized controller, upon registration of the publisher entity, is configured to store the topic information with publisher information for registering at the publisher entity;
the subscriber entity is configured to subscribe at the centralized controller to the topic information;
the centralized controller, upon subscription of the subscriber entity, is configured to provide to the subscriber entity the publisher information for registering at the publisher entity;
the subscriber entity is configured to create the communication channel between the publisher entity and the subscriber entity based on the publisher information for registering at the publisher entity;
the publisher entity is configured to create a pointer referencing data stored in memory in the predefined data format (F), contain the pointer in a message, and publish the message to the communication channel;
the pointer is a data structure with metadata indicating whether an entity has read and write access to the data referenced by the pointer; and
when the publisher entity publishes the message, the metadata of the pointer contained in the message is set to indicate the publisher entity as not having read and write access.
2. The data transmission system according to claim 1 , wherein:
the publisher entity is configured to set up a collection of communication channels to which the message is published;
the subscriber entity is configured to set up the communication channel and communicate to the publisher entity information about the communication channel; and
the publisher entity, upon registration of the subscriber entity, is configured to store the communication channel set up by the subscriber entity in the collection of communication channels.
3. The data transmission system according to claim 1 , wherein the data stored in memory is vehicle related data.
4. The data transmission system according to claim 1 , wherein the data structure comprises a section for identifying:
an entity as having read and write access to the data,
an indication of a type of the data stored in memory, and/or
a size of the data stored in memory.
5. The data transmission system according to claim 4 , wherein the section for identifying an entity as having read and write access to the data is a region of memory storing the pointer referencing an address of the memory storing the entity having read and write access to the data.
6. The data transmission system according to claim 1 , wherein the system comprises a plurality of entities and wherein the data structure further comprises a counter counting how many entities out of the plurality of entities are using the data.
7. The data transmission system according to claim 6 , wherein an entity of the plurality of entities identified as having read and write access to the data is configured to perform a referencing counting to deallocate the pointer referencing the data stored in memory, if the counter becomes zero.
8. The data transmission system according to claim 1 , wherein the data structure further comprises a collection identifying one or more entities as using the data.
9. The data transmission system according to claim 8 , wherein the one or more entities identified as having read and write access to the data are configured to perform a referencing counting to deallocate the pointer referencing the data stored in memory, if the collection becomes empty.
10. The data transmission system according to claim 1 , wherein the data transmission system is for an automated driver assistance system, ADAS, an autonomous driving system, ADS, and/or a simulation system.
11. The data transmission system according to claim 1 , wherein the centralized controller or the communication channel is configured as an entity having read and write access to the data and is configured to provide to the subscriber entity a message indicating the subscriber entity as using the data only.
12. The data transmission system according to claim 1 , wherein
the centralized controller or the communication channel is configured to notify the subscriber entity that new data is available;
when notified that new data is available, the subscriber entity, as an entity using the data, obtains the data from the communication channel.
13. A vehicle comprising a processing unit comprising the data transmission system according to claim 1 .
14. A computer-implemented data transmission method comprising:
compiling at least one publisher entity and at least one subscriber entity with a predefined data format (F) used for data communication over a communication channel;
registering the publisher entity at a centralized controller with topic information;
by the centralized controller, upon registration of the publisher entity, storing the topic information with publisher information for registering at the publisher entity;
subscribing the subscriber entity at the centralized controller to the topic information;
by the centralized controller, upon subscription of the subscriber entity, providing to the subscriber entity the publisher information for registering at the publisher entity;
by the subscriber entity, creating the communication channel between the publisher entity and the subscriber entity based on the publisher information for registering at the publisher entity; and
by the publisher entity, creating a pointer referencing data stored in memory in the predefined data format (F), containing the pointer in a message, and publishing the message to the communication channel,
wherein the pointer is a data structure with metadata indicating whether an entity has read and write access to the data referenced by the pointer, and
when the publisher entity publishes the message, the metadata of the pointer contained in the message is set to indicate the publisher entity as not having read and write access.
15. A non-transitory computer-readable medium storing instructions which, when executed by a computer, cause the computer to carry out the method of claim 14 .