“Lessons Learned From An Embedded RTPS in Modern C++"
summary
Implements a modern C++ RTPS/DDS subset on ARM Cortex‑M (targeting STM32 with 384 KB RAM and 2048 KB flash), using boost::hana and a header‑only serial approach, and replaces Google protobuf codegen with metaprogramming. Benchmarks show serialized messages in low kilobytes and that the compile‑time callback map approach degrades as callbacks grow, so a simpler static callback table wins. Also ships a custom CDR serializer (to avoid RTTI/exceptions) and a CMSIS thread wrapper with join that adds measurable but acceptable overhead.
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chapters (7)
- 0:00Introduction and background
- 4:59Embedded systems in robotics
- 13:56Modern C++ for embedded
- 22:48Serialization strategies
- 39:57Threading and concurrency
- 53:05C++ standard and embedded
- 1:00:00Q&A and closing
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