KR100370548B1 - Realtime Middleware apparatus providing an integrated software development frameworks of embedded system and its service method - Google Patents

Abstract

1. TECHNICAL FIELD OF THE INVENTION

The present invention relates to a real-time middleware device and a service method for providing an integrated software development framework of an embedded system.

2. The technical problem to be solved by the invention

The present invention combines a Naming Service and an Interface Definition Language (IDL) compiler based on a remote procedure call (RPC) method on an embedded system to ensure real-time performance and to provide platform and network protocols. It aims to provide a real-time middleware device that provides independence and provides an integrated framework of an embedded system that facilitates reconfiguration of system and software elements and a service method thereof.

3. Summary of Solution to Invention

The present invention is a real-time middleware device providing an integrated software development framework of the embedded system of the present invention, the interface means for performing an interface function to request and provide a service between the client / server and resources existing within the system A naming service function that allows access from the outside by giving a logical name to and returning a physical address through the name, and a thread function that processes multiple threads at a time by the central processing unit (CPU), And means for providing internal functions, including a timeout function indicating an error has occurred and an external data representation function using a device independent data structure if a result does not come within a certain time for the requested service.

4. Important uses of the invention

The present invention is used in a real-time middleware device.

Description

Real-time middleware apparatus providing an integrated software development frameworks of embedded system and its service method

The present invention relates to middleware as a distributed element-based software development method, and more particularly, to a real-time middleware device providing a distributed software development framework in an embedded system and a service method thereof.

In general, distributed systems take the practical structure of a multi-tiered client / server architecture. That is, it is not a separation between the business layer and the data access layer, but a transparent system that exposes all the functions of an application so that any service provided by a component in the system or a component on another system can be used. It is middleware that supports this distributed system. Middleware is a general purpose software developed to overcome the differences between different models with the goal of making distributed computing easier.

In addition, real-time middleware refers to middleware with elements such as time constraints, scheduling, service reliability, and fault tolerance. Here, the time constraint element is a function that allows processing to be performed within a limited time for an external service request, and if the result is not output within the limited time, it may be said that the system has failed to perform a given task. On the other hand, the scheduling element is a function that processes access to a certain resource in a predetermined order. When a plurality of clients request a service from a server, the scheduling element is controlled so that the services can be executed accurately without causing a time conflict. . In addition, the service reliability factor refers to a program, a system, or a hardware device capable of performing a given function normally for a predetermined time or more. Finally, the factor of fault tolerance refers to the ability to prevent a failure of a system when a failure occurs in a part of the system.

There are usually two environmental problems that software developers encounter during development. One is heterogeneous networking and operation problems, and the other is lack of operating system facilities when developing network applications. In other words, processing between two or more systems requires a communication function that delivers the necessary content for heterogeneous networking or protocols between different operating systems or server software. At this time, the function of middleware is to efficiently connect different hardware, DBMS (Data Base Management System), protocol, application, data format, and so on.

The prior art to which the middleware belongs is as follows.

Remote Procedure Calls (RPCs) are the most widely used middleware and are middleware used as the infrastructure of other middleware systems. RPC provides a way for users to call a remote function. RPC provides the Interface Definition Language (IDL) and IDL compilers. You use IDL to write the functions you want. Examples of such RPC include RPC provided by Sun / USL Open Network Computing (ONC) and RPC provided by Distributed Computing Environment (DCE).

Message Oriented Middleware (MOM) provides connectionless asynchronous communication. In other words, the client-server connection is established by exchanging Send and Receive commands between the local queue and the remote queue. The client and server continue to run without waiting for a response to the message. Queue managers are responsible for the communication.

In the distributed component object model (DCOM), which is an object-based middleware developed by a conventional Microsoft company, a component object model (COM) is distributed over a network. The object client then understands the object as if it were in its address space. That is, they provide services that can be handled regardless of whether the object is local or on a remote machine. However, this DCOM is limited to being supported only on the Windows platform.

In addition, Java Remote Method Invocation (RMI) provides a simple and straightforward model for distributed programming using Java objects. Systems based on RMI can be highly portable and run on any Java virtual machine.

On the other hand, CORBA (Common Object Request Broker Architecture) is a standard proposed by a consortium called Object Management Group (OMG), and can be called a standard technology that can integrate distributed application programs based on object-oriented technology. CORBA provides a standard mechanism for defining components' interfaces, and provides tools that make it easy to implement these interfaces using your specific language.

However, DCOM, Java RMI, and CORBA, which are the conventional object middleware based on the object-oriented technology described above, have high reliability with various services, but require a prior understanding of the object-oriented development method. In reality, it involves a lot of training and hard work for developers. In addition, the above-mentioned middlewares have been developed and applied mainly for general purpose computer environments. Therefore, there is a limit that does not properly reflect many constraints and characteristics of the embedded system. For example, a large amount of resources such as memory and CPU are required for executing middleware, and the processing performance required by a real-time system for one reason is not properly exhibited. In addition, since only interfaces of attributes and operations of procedures or objects are provided, there is a problem in that separate solutions are required for file access, program execution, and thread execution.

The present invention is proposed to solve the above problems, and combines a naming service and an interface definition language (IDL) compiler based on a remote procedure call (RPC) scheme on an embedded system. By providing a real-time middleware device that guarantees real-time performance, secures independence of platform and network protocol, and provides an integrated framework of embedded system that facilitates reconfiguration of system and software elements, and a service method thereof. Its purpose is to.

In addition, the present invention provides an interface that reflects the characteristics of a distributed embedded system, and provides a timeout, a thread, a library, and a system and software to ensure its function as a real-time system. Another object is to provide a real-time middleware device and a service method thereof that provide an integrated software development framework of an embedded system through a naming service for flexible reconfiguration of the elements.

In addition, the present invention, an integrated software development frame of an embedded system using a clustering means to realize a loosely coupled fault tolerant system without any equipment when configuring all elements using real-time middleware Another object is to provide a real-time middleware device that provides a work and a service method thereof.

1 is a configuration example for explaining the function and interface of the real-time middleware to which the present invention is applied.

2 is an exemplary hierarchical configuration of a naming service according to the present invention;

3 is an exemplary message header protocol configuration of a real-time middleware according to the present invention.

4 is an exemplary configuration of a remote procedure call protocol according to the present invention.

5 is an exemplary configuration of a remote program execution protocol according to the present invention.

6 is an exemplary configuration diagram of a remote memory access protocol according to the present invention.

7 is an exemplary configuration of a remote file access protocol according to the present invention.

8 is an exemplary configuration of a remote object access protocol according to the present invention.

9 is a flowchart of one embodiment processing of a naming service in accordance with the present invention;

10A and 10B are a flowchart illustrating a service embodiment of a real-time middleware server according to the present invention.

11 is an embodiment processing flow diagram for a method for remote procedure call of a client according to the present invention.

12 is an embodiment processing flow diagram for a method of processing a remote procedure call of a server according to the present invention.

Figure 13 is an illustration of the configuration of the IDL protocol according to the present invention.

* Explanation of symbols for the main parts of the drawings

101: Embedded System

102: general purpose computer

110: Interfaces

120: UDP / IP, IPC protocol

130: real-time middleware functionality (Facilities)

201: Master Name Server

202: Second Group Name Server

203 server

204: client

205: First Group Name Server

In order to achieve the above object, a real-time middleware device providing an integrated software development framework of the embedded system of the present invention, the interface means for performing an interface function to request and provide a service between the client / server and the system inside The naming service function, a CPU (Central Processing Unit) that processes multiple threads at once, assigns logical names to existing resources and makes them accessible from outside by returning a physical address. A function unit, an internal function providing means including a time-out function unit for notifying that an error has occurred if a result is not returned within a predetermined time for the requested service, and an external data representation function unit using a device-independent data structure. It is done.

In addition, in order to achieve the object of the present invention, the internal providing means of the real-time middleware device for providing an integrated software development framework of the embedded system, the clustering function unit for clustering a plurality of servers, the corresponding service for multiple servers at the same time Redundancy function that allows execution of a resource, lock function that prohibits another program from using the resource if one program is using the resource, and maintains the contract between the supplier and the user of the product. The apparatus may further include a debug function unit which functions to efficiently solve a problem occurring in the license function unit and the created program.

In addition, in order to achieve the object of the present invention, the clustering function, when configuring all the elements using the real-time middleware, characterized in that to support the uncoupled fault tolerance system without additional equipment is realized.

In addition, the interface means of the real-time middleware device for providing an integrated software development framework of the embedded system to achieve the object of the present invention, the client in the middleware, the client physically to request the service and the server to provide the service And remote call means for remotely invoking the separated procedure and result return means for the server to return the results of its execution to the client.

In addition, in order to achieve the object of the present invention, the interface means of the real-time middleware device providing an integrated software development framework of the embedded system, the remote procedure call function to enable the procedure to be called remotely, the library remotely Remote library call function to enable calling, remote thread execution function to run threads remotely, remote file access function to access files remotely, and memory access to remotely. And a remote memory access function, a remote program execution function to enable a program to be executed remotely, and a remote object execution function to enable an object to be executed remotely.

In addition, in order to achieve the object of the present invention, the naming service function of the real-time middleware device that provides the integrated software development framework of the embedded system, is arranged in each node on the embedded system to distribute and manage the servers performed in the node And at least one subordinate name server arranged in a hierarchical manner according to a logical configuration and a master name server disposed at the top to manage the configuration of the entire system including the subordinate named servers. Characterized in that.

In addition, in order to achieve the object of the present invention, the naming service function of the real-time middleware device providing an integrated software development framework of the embedded system, the physical location of the server that provides services in the real-time middleware on the embedded system is dynamically Even if it is changed, the client using the predefined logical address can be implemented to implement the service without changing or recompiling the software.

In addition, in order to achieve the object of the present invention, a real-time middleware device providing an integrated software development framework of the embedded system is selected by the interface definition language compiler means for compiling interface definition language and the interface definition language compiler means. It is characterized in that it further comprises an interface definition language (IDL) protocol providing means for implementing the mapping for the platform by specifying according to the platform.

In addition, in order to achieve the object of the present invention, the interface definition language protocol providing means of the real-time middleware device providing an integrated software development framework of the embedded system, remote server names, libraries, constant definitions, data type definition , Procedural or library definitions, memory definitions, thread definitions, and program definitions.

In addition, in order to achieve the object of the present invention, the interface definition language compiler means of a real-time middleware device that provides an integrated software development framework of the embedded system, the platform of the embedded system (Embedded System) to develop and perform software It is characterized by defining a single common interface and implementing the interface regardless of network protocol and development language.

In addition, in order to achieve the object of the present invention, in the real-time middleware service method applied to a real-time middleware device providing an integrated software development framework of the embedded system, the real-time middleware device providing an integrated software development framework of the embedded system Protocols for implementing real-time middleware that provide an integrated software development framework for embedded systems include: a message protocol for requesting and providing services between clients / servers, common to all interconnection means; A procedure protocol for calling a procedure remotely; A library protocol for calling a library remotely; Procedure protocol for invoking threads remotely; File protocols for accessing files remotely; A memory protocol for accessing memory remotely; A program protocol for executing a program remotely; And an object execution protocol for remotely executing the object.

In addition, in order to achieve the object of the present invention, a real-time middleware service method applied to a real-time middleware device providing an integrated software development framework of an embedded system, the naming service processing process for performing a naming service; Middleware server real-time processing process that the middleware performs the processing in real time; Client-side processing that is processed at the client side to request a remote procedure call; And a server-side process performed in a scheduled thread on the server side for processing of a remote procedure call service requested by a client.

In addition, in order to achieve the object of the present invention, the naming service process of the middleware service method for providing an integrated software development framework of the embedded system, the first step of recognizing the current naming server to initialize the communication; A second step of receiving a message and processing a service appearing in the received message; And a third step of completing the performance of the service by transmitting the processing result for the service.

In addition, in order to achieve the object of the present invention, the middleware server real-time processing of the middleware service method for providing an integrated software development framework of the embedded system, the first step of registering the name server to initialize the server; A second step of receiving a message and processing the received message; Scheduling a service existing in the processing queue to a processable thread; A fourth step of processing the service by combining the divided messages; And a fifth step of processing periodically occurring services other than message processing.

In addition, in order to achieve the object of the present invention, the client-side processing of the middleware service method for providing an integrated software development framework of the embedded system, the first step of the initialization and marshaling data; A second step of obtaining location information of a server to provide a corresponding service and transmitting a message; And a third step of receiving the processing result value from the server and returning the processing result value when the transmission of all the messages is completed to complete the procedure call.

In addition, the server-side processing of the middleware service method for providing an integrated software development framework of the embedded system to achieve the object of the present invention, the first step of receiving a procedure execution request to retrieve the procedure ID (ID); And a second step of calling and processing the requested procedure. Meanwhile, before describing the detailed description of the present invention, the definitions of the functions provided by the present invention are as follows. .One. Naming service: A service that gives a logical name to a resource (that is, a server) that exists inside the system, and makes it accessible from the outside by returning a physical address through the name. Clustering: A method of connecting multiple computers to make them work as a single system. In general, multiple servers are clustered together to perform tasks that require powerful processing. If one of the clustered servers goes down, the operating system replaces the other server and the user can continue working without knowing whether the server is down. Thread functionality (multithreading): The CPU handles multiple threads at once, which is different from multitasking in that multiple software can be executed at one time in that it can execute multiple functions in one software. An example of this would be to continue writing while the document editor is faxing. 4. Timeout: When requesting a service for any server, if the server that needs to handle the service does not work abnormally or the service is not available due to a problem in the network, etc. It indicates that an error has occurred and allows other processing. Redundancy: In general, one service is performed on one server, but the service is executed simultaneously on multiple servers. Lock: A method used to ensure efficient and data integrity when a shared resource is used by multiple programs, which means that when one program is using the resource, another program is prohibited from using it. License: This is the function to maintain the contract between the supplier and the user of the product. Debug: A feature that allows you to efficiently troubleshoot problems with your program. External Data Representation: A method that uses device-independent data structures to overcome differences between different mechanical devices.

Hereinafter, an integrated software development framework of an embedded system according to an embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is an exemplary configuration diagram illustrating a function and an interface of a real-time middleware to which the present invention is applied. Referring to the drawings, the real-time middleware function unit 130 may include a naming service 131, clustering, and the like. 132), Multi-threading (133), Locking (136), Timeout (134), Licensing (137), Debug (Debug, 138), External data representation (XDR; eXternal Data Representation (139), redundancy (Replication, 135), such as internal functions, and the interface unit 110 is a remote procedure call (Procedure, 111) for requesting and providing a service between the client (204) / server (203), Remote library call (Library: 112), remote thread execution (Thread: 113), remote file access (File: 114), remote memory access (Memory: 115), remote program execution (Program: 116), object execution (117) provide functions and the like. That is, in the software development, the client 204 side may receive a service by accessing elements existing on the server 203 side using the interface unit 110 provided by the real-time middleware.

These services can be provided in the same way in the embedded system 101 as well as in the general purpose computer 102 as shown in FIG. 1, and are UDP / IP as a way to forward service requests and return responses. And, IPC protocol 120 can be used. In addition, each service may be distributed not only in one system but also in several systems, and a naming service 131 configuration, which is a method for efficiently providing a service in such a distributed environment, is shown in FIG. 2.

2 is an exemplary hierarchical configuration of a naming service (NS) 131 according to the present invention. The upper and lower naming servers are referred to as a master naming server (MS) 201 (first group and second). group Name Servers) are connected in a tree structure. Each of the lower naming servers 202 existing for each system performs functions such as authentication and registration of the server 203, provision of a server address according to a client's request, and check of a server's status. The lowermost naming servers 202 manage servers 203 in their systems, and the upper naming servers 205, along with the servers in their systems, are one level lower than themselves, and Servers 203 belonging to it are managed together. The primary primary naming server 201 has information about all servers in the entire system and information on the name servers, including the parent naming server, the child naming server, and the function server, and provides information as needed. Can be.

Referring to Figure 2 describes the registration and service providing process of the server 203 as follows.

In FIG. 2, after the server 203 is operated, a request is made to the subordinate naming server 202 in the system to which it belongs to request authentication and register itself. Since only the primary naming server 201 can process authentication for the server 203, the registration request of the server 203 is transferred hierarchically to finally reach the primary naming server 201. The primary naming server 201 notifies the result after performing the authentication process, and goes back to the path through which the registration request is delivered, and reaches the corresponding server 203. The server 203 registered in this way can finally provide a service he has. In order to use this service, the client 204 must know in advance the location of the server 203 to provide the service, which can be dynamically requested at runtime by requesting the subordinate naming server 202 to which the client 204 belongs. In this case, the dynamic method implies the following meanings: When a client requests a service for a particular server, the client must know the server's address to request the service through the address and output the result. When this address is determined before the program is executed, the static method is called. The dynamic method is when the program is executed and needs address information. Using the provided address information, the client 204 can use the service provided by the server 203.

3 is an exemplary message header protocol configuration of a real-time middleware according to the present invention, and shows a common header protocol of messages transmitted and received between the client 204 and the server 203 and the naming servers 201 and 202. A service may be fragmented into several messages of a certain size, and a service may be transmitted and received in message units between the subjects 201, 202, 203, and 204 of each service. This fragmented message is assembled at the final receiver. The message header contains basic information about the service, such as the type of service, the network protocol used, the processing status of the service, the service processing number, and the service length, along with message information for reliable transmission of the message count, message number, and message length. It consists of In addition, the contents of the actual service are carried in the data area after the message header. In order to implement each service, a detailed protocol for each service carried in the data area is required along with the message header, which is illustrated in FIGS. 4 to 8.

4 is an exemplary configuration diagram of a remote procedure call 111 protocol according to the present invention.

As illustrated in FIG. 4, the client 204 may provide information, such as a procedure ID (ID), a number of arguments to be passed to the procedure, a data type and size of each argument, and a value of the argument, to the server 203. You can call a procedure remotely by passing it to. The server 203 retrieves and calls the procedure based on the information, and returns the result. The flow chart of the procedure is shown in FIGS. 11 and 12.

Meanwhile, the protocol of the remote library call 112 and the remote thread execution 113 service, which is not shown here, may also be configured to have the same structure as the protocol configuration of the remote procedure call shown in FIG. 4.

5 is an exemplary configuration diagram of the remote program execution 116 protocol according to the present invention, and the client may remotely execute a program by passing a program name and arguments to be executed to a server.

6 is an exemplary configuration diagram of the remote memory access 115 protocol according to the present invention, and the client can access the memory remotely by passing the ID, access type, offset, and data of the memory to be accessed to the server. .

FIG. 7 is an exemplary configuration diagram of a remote file access 114 protocol according to the present invention. A client may access a file remotely by delivering a descriptor and an access type of a file to be accessed, and other information and data for each access type to a server. It becomes possible.

8 is an exemplary configuration diagram of a remote object execution 117 protocol according to the present invention, in which a client identifies an ID and a member ID, an access type, the number of arguments to be passed, and each argument of an object to be performed. By passing information such as data type and size, and the value of arguments to the server, you can run objects remotely.

9 is a flowchart illustrating an embodiment of a naming service according to the present invention, which will be described in detail below.

As shown in Fig. 9, a naming server is divided into a main naming server 201, an upper naming server 205, or a lower naming server 202 according to its location. The primary naming server 201 is a naming server that runs on a pre-designated system where the disk 903 resides, and reads information called a name table and a cluster table recorded on the disk 903. Internally initialized (902). All naming servers initiate communication (904) for sending and receiving messages, and then wait for receiving messages from clients 204, server 203, or other naming servers (905). (905), the type of service indicated by the message is determined (906) to process services such as server registration, server address request or server status check (907), and the processing result for each service is transmitted to the message sender ( 908). When the cycle of outputting the status of the naming server itself is performed (909), the server address information list is displayed on the screen (910). When one service is performed, the process is repeated to receive a message again (905) and the above process is repeated.

10A and 10B are flowcharts illustrating an embodiment of a service of a real-time middleware server according to the present invention.

As shown in FIGS. 10A and 10B, when the server 203 is performed, first, a handler for communication is created (1001), and a registration request is requested (1002) from a naming server of a system to which it belongs. After receiving the result of registration (1003), initialization such as memory synchronization (1004), initialization procedure and thread execution (1005), and thread pool creation (1006) with other clustered servers. Do the work. After the initialization operation is completed, the service becomes available, and a message is received from the client 204 (1007). If the received message is the first message of the divided service (1008), the service is inserted into the processing queue (1009). The received message is inserted into a separate message list (1010). If there is a service that can search and process the processing queue after processing the received message (1011), the service is scheduled to the processable thread in the thread pool (1012). The scheduled thread combines the divided messages of the corresponding service (1013) and processes the procedure call, program execution, memory access, file access, thread execution, etc. according to the type of service (1015) (1016). Regarding the processing of detailed services, a procedure call is typically shown in FIG. 12 (1016). After the service is finished, the service timeout is deleted (1017), the server lock is checked (1018), and its status is reported to the server 203 (1019). After that, the above process is repeated from the message receiving operation 1007 to continuously perform the service.

11 is a flowchart illustrating a method for calling a remote procedure of a client according to the present invention, which will be described in detail below.

As shown in FIG. 11, first, after creating a handler in the client 204 requesting a service (1101), and calling the stub of the procedure (1102), the procedure to be called inside the stub (Stub) ID is given (1103). A procedure ID is a procedure-specific number that is either explicitly given by the developer or automatically given by the Interface Definition Language (IDL) compiler, and is a single piece of service data by marshaling the arguments passed in the procedure call that make up the service data. (1104). A service may be realized (1105) within a range in which the total length of the service does not exceed the maximum allowed length. In order to obtain location information of a server to provide a corresponding service, a name server is requested (1106), and each message of a service is sequentially transmitted (1107). After each message is sent for reliability of data, the server notifies whether the message is normally received, and the client transmits the next message only after receiving the acknowledgment (ACK) message (1108) (1109). After the server has processed all the messages, the client receives the processing result and timeout from the server (1110), and determines whether or not the result is received even if it exceeds the time (1111). The procedure call is completed by returning (1112). If the result value is not received even if the specified error occurrence time is exceeded, an error value is returned (1113).

12 is a flowchart illustrating an embodiment of a method for processing a remote procedure call of a server according to the present invention, which is processed in a scheduled thread on the server 203 side that processes a remote procedure call service requested by a client 204. It will be described in detail as follows.

As shown in FIG. 12, when a procedure execution request is first received (1201), a procedure ID and a procedure argument contained in service information are obtained (1203). The procedure table is searched (1204) to check if the procedure ID exists (1205), then the requested procedure is called (1206) and the return value marshaled (1207) and the result sent to the client (1208). . If the procedure ID does not exist, an error value is transmitted (1209).

13 is a diagram illustrating the configuration of an IDL protocol according to the present invention.

As shown in FIG. 13, the IDL definition is first stored as a file, with one server name 301 for each file. The server name is the actual name of the server 203. The services that a specified server can have can be defined in a block that begins with the server name, allowing you to specify the type of server (1302) whether the server is normal, library, or file. If the server type is LIBRARY, a text address 1303 of the library server and a table address 1304 of the library server may be designated. The remote server names 1305 may be referred to. And by designating libraries 1306 to refer to, to facilitate software development. In addition, constant definitions 1307, data type definitions 1308, procedure or library definitions 1309, memory definitions 1310, thread definitions 1311, and program definitions 1312 can be specified. have.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited to the drawing.

Real-time middleware as an embedded system software integrated development framework of the present invention significantly reduces development time by providing an independent environment for a platform, a network protocol, and a development language for embedded system software development. It enables the rapid introduction of new technology and increases its competitiveness.

In addition, it is easy to apply the function by using pre-developed and verified real-time middleware without additional time and expense administration or effort for internal / external education and system program writing for in-depth understanding of each platform and network protocol. To help.

In addition, this feature makes it easier to simulate software on a general-purpose computer that must be developed and run on an embedded system, which has a development environment that is relatively weaker than a general-purpose computer environment. It allows development tools to be used and enables uninterrupted development even in spaces or environments where software must be run but not embedded systems. In addition, in the development of a system in which several devices should be interlocked, a single device makes it possible.

In particular, the present invention facilitates the free reconstruction of the architecture of the system by using a naming service. Software developed according to the configuration of the initially designed system is dependent on many of the configurations of the designed system. These dependencies are in many cases newly developed or modification of code is inevitable if the system is to be reconfigured to solve problems caused by testing and actual performance or to reflect new rational system configuration as a result of evaluation. In order to verify the validity of such changes, testing must be re-run. In this situation, the Naming Service modifies new development or code by statically and dynamically managing the location and state of the software components that make up the system. It has a very good effect that can effectively reflect the reconstruction without.

Claims (36)

In a real-time middleware device that provides an integrated software development framework of an embedded system, Interface means for performing an interface function to request and provide a service between the client / server; And The CPU (Central Processing Unit), a naming service function that allows logical access to resources existing within the system and makes them accessible from the outside by returning physical addresses through the names, allows multiple threads to be executed at once. Internal function providing means including a thread function to process, a timeout function to indicate that an error has occurred if a result is not returned within a certain time for the requested service, and an external data representation function using a device independent data structure. Real-time middleware device providing an integrated software development framework of an embedded system comprising a. The method of claim 1, The internal function providing means, Clustering function to cluster multiple servers with each other Real-time middleware device providing an integrated software development framework of an embedded system further comprising. The method of claim 2, The clustering function unit, A real-time middleware device that provides an integrated software development framework for an embedded system, characterized in that, when configuring all elements using a real-time middleware, the uncoupled fault-tolerant system is realized without any equipment. The method of claim 2, The internal function providing means, Redundancy that allows the service to run simultaneously on multiple servers Real-time middleware device providing an integrated software development framework of an embedded system further comprising. The method of claim 4, wherein The internal function providing means, If one program is using the resource, a lock function that allows another program to prohibit the use of that resource. Real-time middleware device providing an integrated software development framework of an embedded system further comprising. The method of claim 1, The internal function providing means, Redundancy that allows the service to run simultaneously on multiple servers Real-time middleware device providing an integrated software development framework of an embedded system further comprising. The method of claim 6, The internal function providing means, If one program is using the resource, a lock function that allows another program to prohibit the use of that resource. Real-time middleware device providing an integrated software development framework of an embedded system further comprising. The method of claim 1, The internal function providing means, If one program is using the resource, a lock function that allows another program to prohibit the use of that resource. Real-time middleware device providing an integrated software development framework of an embedded system further comprising. The method according to any one of claims 1 to 8, The internal function providing means, A license function unit for maintaining a contract between the supplier and the user of the product; And Debug function function that helps to efficiently solve problems that occur in the created program. Real-time middleware device providing an integrated software development framework of an embedded system further comprising. The method of claim 9, The interface means, Remote calling means for remotely invoking a physically separated procedure so that a client in the middleware requests a service and the server provides the service; And Result return means by which the server returns the result of the execution to the client Real-time middleware device providing an integrated software development framework of an embedded system comprising a. The method of claim 9, The interface means, A remote procedure call function to enable the procedure to be called remotely; A remote library call function to enable remote library call; A remote thread execution function to enable a thread to be executed remotely; A remote file access function to allow remote file access; A remote memory access function for allowing the memory to be accessed remotely; A remote program execution function to enable a program to be executed remotely; And Remote object execution function to enable the object to be executed remotely Real-time middleware device providing an integrated software development framework of an embedded system comprising a. The method of claim 11, The naming service function unit, At least one subordinate name server disposed at each node on the embedded system and hierarchically arranged according to a logical configuration in order to distribute and manage servers performed in the corresponding node; And Master Name Server located at the top for managing the configuration of the entire system including the lower naming server Real-time middleware device providing an integrated software development framework of an embedded system comprising a. The method of claim 11, The naming service function unit, Even if the physical location of the server providing the service in the real-time middleware on the embedded system is changed dynamically, the client using the predefined logical address can implement the service without changing or recompiling the software. Real-time middleware device providing an integrated software development framework of an embedded system. The method of claim 12, Interface definition language compiler means for compiling an interface definition language; And Means for providing an interface definition language (IDL) protocol for implementing a mapping for the platform by specifying a compilation option for the platform by the interface definition language compiler means Real-time middleware device providing an integrated software development framework of an embedded system further comprising. The method of claim 14, The interface definition language compiler means, An integrated software development framework for embedded systems characterized by defining a single common interface and implementing the interface regardless of the platform, network protocol and development language of the embedded system to develop and execute software. Real-time middleware device providing. The method of claim 14, The interface definition language (IDL) protocol provision means, Provides an integrated software development framework for embedded systems characterized by providing remote server names, libraries, constant definitions, data type definitions, procedure or library definitions, memory definitions, thread definitions, and program definitions. Real time middleware device. A real-time middleware service method applied to a real-time middleware device that provides an integrated software development framework of an embedded system, The protocol for implementing real-time middleware that provides an integrated software development framework for embedded systems is A message protocol common to all interconnection means and for requesting and providing services between clients / servers; A procedure protocol for calling a procedure remotely; A library protocol for calling a library remotely; Procedure protocol for invoking threads remotely; File protocols for accessing files remotely; A memory protocol for accessing memory remotely; A program protocol for executing a program remotely; And Object Execution Protocol for Remotely Performing Objects Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. A real-time middleware service method applied to a real-time middleware device that provides an integrated software development framework of an embedded system, Naming service processing to perform a naming service; Middleware server real-time processing process that the middleware performs the processing in real time; Client-side processing that is processed at the client side to request a remote procedure call; And Server-side processing performed in the server-side scheduled thread for processing of the remote procedure call service requested by the client. Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 18, The naming service processing process, A first step of recognizing a current naming server and initiating communication; A second step of receiving a message and processing a service appearing in the received message; And Third step of completing the performance of the service by sending the processing result for the service Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 19, The first step is, Determining whether the current Name Server is a Master Name Server; The primary naming server reading information on the disk and initializing it internally; And Initializing communication by all naming servers to send and receive messages. Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 19, The second step, Receiving a message from a client, server or other naming server; Determining a type of service indicated by the received message; And Processing one of the server registration service, server address request service, and server status check service according to the type of service Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 19, The third step, Transmitting a processing result for each service to a message sender; Determining whether the naming server has come to output its status; Outputting a list of server address information to a screen; And After completing the service of server registration, server address request, and server status check, return to receiving the message again. Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 18, The middleware server real time processing process, Registering with a naming server to initialize the server; A second step of receiving a message and processing the received message; Scheduling a service existing in the processing queue to a processable thread; A fourth step of processing the service by combining the divided messages; And 5th step of processing periodically occurring services other than message processing Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 23, The first step is, Generating a handler for communication when the server is operated; Requesting registration from a naming server of a system to which the system belongs; Receiving a result of being registered normally; Achieving memory synchronization with another clustered server; Performing an initialization procedure and thread for initialization; And Creating a Thread Pool for Initialization Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 23, The second step, Receiving a message from a client; Determining whether the received message is the first message of the divided service; Inserting the corresponding service into the processing queue if the message is the first message, or not inserting the corresponding service; And Inserting received messages into a separate message list Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 23, The third step, Searching for a processing queue after processing the received message, determining whether there is a service that can be performed, and if there is no service that can be performed, returning to the step of receiving a message; And Scheduling services to processable threads in the thread pool, if any Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 23, The fourth step, The scheduled thread combining the partitioned messages of the service; Determining whether a message combination is in error and returning to receiving the message if there is an error; Determining the type of service if there is no error in the message combination; And Processing the service according to the type of service Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 23, The fifth step, Deleting the service timed out after completing the service processing; Checking the server lock; Reporting its status to the naming server; And Thereafter, returning to the step of receiving a message for continuous service execution. Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method according to any one of claims 23 to 27, The received message is a real-time middleware service method for providing an integrated software development framework of an embedded system, characterized in that the procedure call, program execution, memory access, file access, thread execution. The method of claim 18, The client-side processing, Initializing and marshalling data; A second step of obtaining location information of a server to provide a corresponding service and transmitting a message; And The third step of receiving the processing result from the server and returning the processing result when completing the transmission of all messages to complete the procedure call. Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 30, The first step is, Creating a handler at the client requesting the service; Calling a stub of the procedure; Granting an ID of a procedure to be called in a stub; Marshalling arguments passed in the procedure call to create one service data; And Determining if the total length of the created service data exceeds the maximum allowed length Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 30, The second step, If not exceeding, obtaining location information of a server to provide a corresponding service; Transmitting each message of the service in order to the server; After each message is sent, the server notifies whether or not the message is normally received, and after the client receives the acknowledgment message, transmitting the next message; And Determining whether the client has sent all messages or returning to sending the message to the server Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 30, The third step, After the server has processed all the messages, the client receiving processing results and timeouts from the server; Determining whether a result value has not been received even if it exceeds time; Returning a result value if received in time to complete the procedure call; And If no result is received after exceeding the specified error occurrence time, return the error value. Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 18, The server side processing, Receiving a procedure execution request and retrieving a corresponding procedure ID; And Second step of calling and processing the requested procedure Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 34, wherein The first step is, Accepting a request to perform a procedure; Obtaining a procedure ID contained in the service information; Obtaining procedure arguments; Retrieving a procedure table; And Steps to check that the procedure ID exists Real-time middleware service method providing an integrated software development framework of an embedded system comprising a. The method of claim 34, wherein The second step, Invoking the requested procedure, if present; Marshaling the return value; Sending the result to the client; And If the procedure ID does not exist, sending an error value Real-time middleware service method providing an integrated software development framework of an embedded system comprising a.