从动态服务发现和容错两个角度对现有DCPS DDS中间件进行了改进.将目前的发布/订阅模型的信息集中存储结构修改为分布式P2P分布式结构,并利用Chord协议实现主题信息的发布和匹配查询,从而实现了自适应能力.在传统心跳检测模型的基础上,提出了加速推拉模型,以提高失效节点的检测效率.最后通过对实现的中间件进行测试,验证了其在相对动态变化不很频繁的情况下,具有实时、容错、自适应的特点.%An adaptive DDS middleware was implemented by improving the DCPS DDS middleware on data service finding and fault-tolerance, which achieves adaptability by modifying the centralized information store model with peer-to-peer model and applying chord protocol for data publication and subscriptioa Based on the traditional heart-beating model,a heart-beating accelerate push-pull model was proposed for enhancing the node failure detecting efficiency. Finally, a middleware was implemented. The test result shows that the implemented middleware is characterized with realtime ability, fault-tolerance and adaptalility.
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