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Use ddsperf in perf scripts and update README

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* the scripted throughput test originally used for the throughput graph
  in the README now uses ddsperf;

* a scripted latency test has been added;

* updated the README with the results of these tests (and so now gives
  easy access not only to throughput, but also to latency and memory
  usage, as well as to latency over GbE.

Signed-off-by: Erik Boasson <eb@ilities.com>
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Erik Boasson 2019-08-02 09:06:39 +02:00 • committed by eboasson
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commit af19c5681c
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145
README.md
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@ -1,9 +1,12 @@
# Eclipse Cyclone DDS
Eclipse Cyclone DDS is by far the most performant and robust DDS implementation available on the
market. Moreover, Cyclone DDS is developed completely in the open as an Eclipse IoT project
Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation. Cyclone DDS is developed completely in the open as an Eclipse IoT project
(see [eclipse-cyclone-dds](https://projects.eclipse.org/projects/iot.cyclonedds)).
* [Getting Started](#getting-started)
* [Performance](#performance)
* [Configuration](#configuration)
# Getting Started
## Building Eclipse Cyclone DDS
@ -106,7 +109,76 @@ also need to add switches to select the architecture and build type, e.g., ``con
arch=x86_64 -s build_type=Debug ..`` This will automatically download and/or build CUnit (and, at
the moment, OpenSSL).
## Configuration
## Documentation
The documentation is still rather limited, and at the moment only available in the sources (in the
form of restructured text files in ``docs`` and Doxygen comments in the header files), or as
a
[PDF](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/pdf/CycloneDDS-0.1.0.pdf). The
intent is to automate the process of building the documentation and have them available in more
convenient formats and in the usual locations.
## Building and Running the Roundtrip Example
We will show you how to build and run an example program that measures latency. The examples are
built automatically when you build Cyclone DDS, so you don't need to follow these steps to be able
to run the program, it is merely to illustrate the process.
$ cd cyclonedds/examples/roundtrip
$ mkdir build
$ cd build
$ cmake ..
$ make
On one terminal start the application that will be responding to pings:
$ ./RoundtripPong
On another terminal, start the application that will be sending the pings:
$ ./RoundtripPing 0 0 0
# payloadSize: 0 | numSamples: 0 | timeOut: 0
# Waiting for startup jitter to stabilise
# Warm up complete.
# Latency measurements (in us)
# Latency [us] Write-access time [us] Read-access time [us]
# Seconds Count median min 99% max Count median min Count median min
1 28065 17 16 23 87 28065 8 6 28065 1 0
2 28115 17 16 23 46 28115 8 6 28115 1 0
3 28381 17 16 22 46 28381 8 6 28381 1 0
4 27928 17 16 24 127 27928 8 6 27928 1 0
5 28427 17 16 20 47 28427 8 6 28427 1 0
6 27685 17 16 26 51 27685 8 6 27685 1 0
7 28391 17 16 23 47 28391 8 6 28391 1 0
8 27938 17 16 24 63 27938 8 6 27938 1 0
9 28242 17 16 24 132 28242 8 6 28242 1 0
10 28075 17 16 23 46 28075 8 6 28075 1 0
The numbers above were measured on Mac running a 4.2 GHz Intel Core i7 on December 12th 2018. From
these numbers you can see how the roundtrip is very stable and the minimal latency is now down to 17
micro-seconds (used to be 25 micro-seconds) on this HW.
# Performance
Reliable message throughput is over 1MS/s for very small samples and is roughly 90% of GbE with 100
byte samples, and latency is about 30us when measured using [ddsperf](src/tools/ddsperf) between two
Intel(R) Xeon(R) CPU E3-1270 V2 @ 3.50GHz (that's 2012 hardware ...) running Ubuntu 16.04, with the
executables built on Ubuntu 18.04 using gcc 7.4.0 for a default (i.e., "RelWithDebInfo") build.
<img src="https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/throughput-async-listener-rate.png" alt="Throughput" height="400"><img src="https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/latency-sync-listener.png" alt="Throughput" height="400">
This is with the subscriber in listener mode, using asynchronous delivery for the throughput
test. The configuration is a marginally tweaked out-of-the-box configuration: an increased maximum
message size and fragment size, and an increased high-water mark for the reliability window on the
writer side. For details, see the [scripts](examples/perfscript) directory,
the
[environment details](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/config.txt) and
the
[throughput](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/sub.log) and
[latency](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/ping.log) data
underlying the graphs. These also include CPU usage ([thoughput](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/throughput-async-listener-cpu.png) and [latency](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/latency-sync-listener-bwcpu.png)) and [memory usage](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/throughput-async-listener-memory.png).
# Configuration
The out-of-the-box configuration should usually be fine, but there are a great many options that can
be tweaked by creating an XML file with the desired settings and defining the ``CYCLONEDDS_URI`` to
@ -161,73 +233,6 @@ The configurator tool ``cycloneddsconf`` can help in discovering the settings, a
dump. Background information on configuring Cyclone DDS can be
found [here](https://docs/manual/config.rst).
## Documentation
The documentation is still rather limited, and at the moment only available in the sources (in the
form of restructured text files in ``docs`` and Doxygen comments in the header files), or as
a
[PDF](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/pdf/CycloneDDS-0.1.0.pdf). The
intent is to automate the process of building the documentation and have them available in more
convenient formats and in the usual locations.
## Performance
Median small message throughput measured using the Throughput example between two Intel(R) Xeon(R)
CPU E3-1270 V2 @ 3.50GHz (that's 2012 hardware ...) running Linux 3.8.13-rt14.20.el6rt.x86_64,
connected via a quiet GbE and when using gcc-6.2.0 for a default (i.e., "RelWithDebInfo") build is:
<img src="https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/throughput-polling.png" alt="Throughput" height="400">
This is with the subscriber in polling mode. Listener mode is marginally slower; using a waitset the
message rate for minimal size messages drops to 600k sample/s in synchronous delivery mode and about
750k samples/s in asynchronous delivery mode. The configuration is an out-of-the-box configuration,
tweaked only to increase the high-water mark for the reliability window on the writer side. For
details, see the scripts in the ``performance`` directory and
the
[data](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/throughput.txt).
There is some data on roundtrip latency below.
## Building and Running the Roundtrip Example
We will show you how to build and run an example program that measures latency. The examples are
built automatically when you build Cyclone DDS, so you don't need to follow these steps to be able
to run the program, it is merely to illustrate the process.
$ cd cyclonedds/examples/roundtrip
$ mkdir build
$ cd build
$ cmake ..
$ make
On one terminal start the application that will be responding to pings:
$ ./RoundtripPong
On another terminal, start the application that will be sending the pings:
$ ./RoundtripPing 0 0 0
# payloadSize: 0 | numSamples: 0 | timeOut: 0
# Waiting for startup jitter to stabilise
# Warm up complete.
# Round trip measurements (in us)
# Round trip time [us] Write-access time [us] Read-access time [us]
# Seconds Count median min 99% max Count median min Count median min
1 28065 17 16 23 87 28065 8 6 28065 1 0
2 28115 17 16 23 46 28115 8 6 28115 1 0
3 28381 17 16 22 46 28381 8 6 28381 1 0
4 27928 17 16 24 127 27928 8 6 27928 1 0
5 28427 17 16 20 47 28427 8 6 28427 1 0
6 27685 17 16 26 51 27685 8 6 27685 1 0
7 28391 17 16 23 47 28391 8 6 28391 1 0
8 27938 17 16 24 63 27938 8 6 27938 1 0
9 28242 17 16 24 132 28242 8 6 28242 1 0
10 28075 17 16 23 46 28075 8 6 28075 1 0
The numbers above were measured on Mac running a 4.2 GHz Intel Core i7 on December 12th 2018. From
these numbers you can see how the roundtrip is very stable and the minimal latency is now down to 17
micro-seconds (used to be 25 micro-seconds) on this HW.
# Trademarks
* "Eclipse Cyclone DDS" and "Cyclone DDS" are trademarks of the Eclipse Foundation.