PubSub

SRTX tasks can communicate with one another through a publish/subscribe data bus.

The deterministic pub/sub guarantees message delivery timing regardless of number of processor cores and possible parallel execution of tasks.

• When sending from a slow task to a faster one, the faster task will receive the message in the first frame after the slower rate group frame completes.
• When sending from a fast task to a slower task, the slower task receives the last message sent prior to the beginning of its rate group frame.
• When sending from one task to another in the same rate group, there are no message delays.
• Delivery of messages to and from asynchronous is not deterministic.

Published messages carry a timestamp that allows the receiver to determine if a message has been updated. Topics may have multiple publishers for cases of failover or handover of responsibility from one task to another. Publishers do not need to register prior to subscribers. The system will find matches by topic name.