Add LOT implementation and benchmarks

README.md

@@ -1,4 +1,4 @@
-# FiveSHM
+# LOT - Low Overhead Transport
 
 ## General description
 
@@ -10,7 +10,7 @@ The code can be built either directly on the host machine _or_ within a Docker c
 
 The benchmarks - either the entire suite or individual tests - can be executed following the procedure described below. Currently, four protocols are supported: TCP, UDP, SHM and TZC.
 
-When executed from within the Docker containers, the benchmarks results are generated under `${HOME}/fiveshm` folder. Otherwise, environment variable `FIVESHM_HOME` dictates the results folder.
+When executed from within the Docker containers, the benchmarks results are generated under `${HOME}/lot` folder. Otherwise, environment variable `lot_HOME` dictates the results folder.
 
 ### Notes on provided code
 
@@ -22,9 +22,9 @@ We apply the following bug fixes on top of ROS 1.12.14 in addition to our own co
 
 ### Third party code
 
-[Boost.Process 1_65_0](https://www.boost.org/doc/libs/1_65_0/doc/html/process.html) has been imported into the source tree to support [unit tests](./test/test_roscpp/test/test_shm.cpp). We note that Boost is released under the [Boost Software License](http://www.boost.org/LICENSE_1_0.txt).
+[Boost.Process 1_65_0](https://www.boost.org/doc/libs/1_65_0/doc/html/process.html) has been imported into the source tree to support [unit tests](./test/test_roscpp/test/test_shm.cpp). We note that [Boost 1.65.0](https://github.com/boostorg/boost/tree/boost-1.65.0) is released under the [Boost Software License](http://www.boost.org/LICENSE_1_0.txt).
 
-For convenience of running the benchmarks, we have also included TZC in this repository. TZC was developed by a group researchers afilliated to Tsinghua University, China and University of Maryland, USA and is described more fully in the _TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization_. Its authors have released it under the [BSD](https://github.com/qboticslabs/tzc_transport/blob/master/package.xml) license.
+For convenience of running the benchmarks, we have also included [TZC](https://github.com/qboticslabs/tzc_transport) in this repository. TZC was developed by a group researchers afilliated to Tsinghua University, China and University of Maryland, USA and is described more fully in the _TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization_. Its authors have released it under the [BSD](https://github.com/qboticslabs/tzc_transport/blob/master/package.xml) license.
 
 ## Cloning the repository and switching to the target branch
 
@@ -33,7 +33,7 @@ Note that we clone the repository into `$HOME/ros_comm/src/ros_comm` in this ste
 ```
 git clone [email protected]:fiveai/ros_comm.git $HOME/ros_comm/src/ros_comm
 cd $HOME/ros_comm/src/ros_comm
-git checkout fiveshm
+git checkout lot
 ```
 
 ## Building and running the benchmarks natively
@@ -71,12 +71,12 @@ roslaunch --screen -v  benchmark launch.xml   \
 ```
 cd ~/ros_comm/src/ros_comm/clients/benchmark/docker
 export DOCKER_BUILDKIT=1
-docker build --ssh default --tag fiveshm .
+docker build --ssh default --tag lot .
 ```
 
 ### Executing the benchmark suite, deploying the ROS nodes in separate docker images
 
-Assuming the Docker container built as above, with a tag of `fiveshm`:
+Assuming the Docker container built as above, with a tag of `lot`:
 
 ```
 cd ~/ros_comm/src/ros_comm/clients/benchmark/docker
@@ -97,6 +97,7 @@ The next sections provides examples of such commands.
 ### Benchmark execution command examples
 
 1. Execute the benchmarks suite for 1p5s using TZC protocol, in separate Docker containers, enforcing the subscribers start up order, allocating 16GB of shared memory to be used by the publishers, and telling the subscriber to wait 15 seconds before starting publishing messages, `TCP_NODELAY` enabled.
+
 ```
 python2 /ros_comm/src/ros_comm/clients/benchmark/execute.py      \
         --tcp=no --shm=no --tzc=yes --udp=no                     \
@@ -106,17 +107,18 @@ python2 /ros_comm/src/ros_comm/clients/benchmark/execute.py      \
                        shm_size_mega_bytes:=16000
 ```
 
-
 2. Execute the benchmarks suite for 5p1s using TZC protocol, in separate Docker containers, with each publisher waiting for the subscriber to establish connection and with the subscriber start up delayed by 15secs, `TCP_NODELAY` enabled.
+
 ```
 python2 /ros_comm/src/ros_comm/clients/benchmark/execute.py      \
         --tcp=no --shm=no --tzc=yes --udp=no                     \
         --use_case=5p1s_separate_docker --no_pool=yes --pool=no  \
         --extra_params  pub_wait_for_subscribers:=true           \
-                        sub_extra_delay_ms:=15000                
+                        sub_extra_delay_ms:=15000
 ```
 
-3. Execute the benchmarks suite for 5p1s using TZC protocol, in separate Docker containers, with each publisher waiting for the subscriber to establish connection and with the publishers start up order enforced, `TCP_NODELAY` enabled, overriding the default results path..
+3. Execute the benchmarks suite for 5p1s using TZC protocol, in separate Docker containers, with each publisher waiting for the subscriber to establish connection and with the publishers start up order enforced, `TCP_NODELAY` enabled, overriding the default results path.
+
 ```
 python2 /ros_comm/src/ros_comm/clients/benchmark/execute.py      \
         --tcp=no --shm=no --tzc=yes --udp=no                     \
@@ -126,17 +128,18 @@ python2 /ros_comm/src/ros_comm/clients/benchmark/execute.py      \
                         sub_stats_file_path:=/path/to/results
 ```
 
-
 3. Execute the benchmarks suite for 5p1s using SHM protocol, in separate Docker containers, with each publisher waiting for the subscriber to establish connection and with the publishers start up order enforced, and image pools disabled.
+
 ```
 python2 /ros_comm/src/ros_comm/clients/benchmark/execute.py      \
         --tcp=no --shm=yes --tzc=no --udp=no                     \
         --use_case=5p1s_separate_docker --no_pool=yes --pool=no  \
         --extra_params  pub_wait_for_subscribers:=true           \
-                        pub_enable_synch_startup:=true           
+                        pub_enable_synch_startup:=true
 ```
 
 4. Execute _one single test_ using TCP protocol, in same docker container, with image pool disabled.
+
 ```
 roslaunch --screen -v  benchmark launch.xml     \
         pub_image_count:=200                    \

clients/benchmark/docker/Dockerfile

@@ -35,7 +35,7 @@ RUN echo "export VISIBLE=now" >> /etc/profile
 RUN echo "/usr/sbin/sshd" >> ~/.bashrc
 RUN echo "export ROSLAUNCH_SSH_UNKNOWN=1" >> ~/.bashrc
 RUN echo "source /ros_comm/devel-release/setup.sh" >> ~/.bashrc
-RUN echo "mkdir -p \${FIVESHM_HOME}" >> ~/.bashrc
+RUN echo "mkdir -p \${LOT_HOME}" >> ~/.bashrc
 # This line is need to workaround a roslaunch bug where multiple instances of roscore are launched 
 RUN echo "export ROS_MASTER_URI=http://\$(uname -n):11311" >> ~/.bashrc
 RUN echo "nano /ros_comm/src/ros_comm/clients/benchmark/launch/launch.xml" >> ~/.bash_history
@@ -54,7 +54,7 @@ RUN echo "python2 /ros_comm/src/ros_comm/clients/benchmark/execute.py --use_case
 RUN --mount=type=ssh git clone [email protected]:fiveai/ros_comm.git /ros_comm/src/ros_comm && \
     cd /ros_comm/src/ros_comm     && \
     git pull                      && \
-    git checkout fiveshm          && \
+    git checkout lot              && \
     cd /ros_comm
 
 RUN  /bin/bash -c "source /opt/ros/kinetic/setup.sh   &&        \

clients/benchmark/docker/docker-compose.yaml

@@ -6,14 +6,14 @@
 version: "3.7"
 
 x-base_node: &base_node
-    image: fiveshm
+    image: lot
     ipc: host
     volumes: 
         - "${HOME}:${HOME}"
     stdin_open: true # docker run -i
     tty: true        # docker run -t
     environment:
-        - FIVESHM_HOME=${HOME}/fiveshm
+        - LOT_HOME=${HOME}/lot
 
 services:
     # define the nodes as copies of the base node

clients/benchmark/launch/launch.xml

@@ -37,7 +37,7 @@
     <arg name="sub_queue_size"           default="100" />
     <arg name="sub_output_stats"         default="false" />
     <arg name="sub_tcp_no_delay"         default="true" />
-    <arg name="sub_stats_file_path"      default="$(env FIVESHM_HOME)" />
+    <arg name="sub_stats_file_path"      default="$(env LOT_HOME)" />
     <arg name="sub_stats_file_name"     
         default="$(arg transport)_$(arg use_case)_$(arg image_width_pixels)x$(arg image_height_pixels)_pool$(arg pub_pool_size)_Hz$(arg pub_hz)_count$(arg pub_image_count).txt" 
     />

clients/benchmark/src/Publisher.cpp

@@ -34,12 +34,12 @@
  * the subscriber(s) are required.
  */
 
-using SharedPtrConstShmImage = fiveai::shm_msgs::SharedPtrConstShmImage;
-using SharedPtrShmImage = fiveai::shm_msgs::SharedPtrShmImage;
+using SharedPtrConstShmImage = ros::shm_msgs::SharedPtrConstShmImage;
+using SharedPtrShmImage = ros::shm_msgs::SharedPtrShmImage;
 using SharedPtrImage = sensor_msgs::ImagePtr;
 using SharedPtrConstImage = sensor_msgs::ImageConstPtr;
 
-using SizePixels = fiveai::util::SizePixels;
+using SizePixels = ros::util::SizePixels;
 
 struct Params
 {

clients/benchmark/src/Subscriber.cpp

@@ -36,9 +36,9 @@
  * the publisher(s) are required.
  */
 
-using SharedPtrConstShmImage = fiveai::shm_msgs::SharedPtrConstShmImage;
+using SharedPtrConstShmImage = ros::shm_msgs::SharedPtrConstShmImage;
 using SharedPtrConstImage = sensor_msgs::ImageConstPtr;
-using SizePixels = fiveai::util::SizePixels;
+using SizePixels = ros::util::SizePixels;
 
 struct Data
 {

clients/roscpp/include/msgs/ShmHeader.h

@@ -16,7 +16,7 @@
 
 #include <boost/interprocess/managed_shared_memory.hpp>
 
-namespace fiveai { namespace shm_msgs
+namespace ros { namespace shm_msgs
 {
     template <class Sa>
     struct Header_
@@ -26,7 +26,7 @@ namespace fiveai { namespace shm_msgs
         using SegmentManager  = boost::interprocess::managed_shared_memory::segment_manager;
         using Sequence        = uint32_t;
         using Timestamp       = ros::Time;
-        using String          = fiveai::shm::_String<typename StringAllocator::value_type, StringAllocator>;
+        using String          = ros::shm::_String<typename StringAllocator::value_type, StringAllocator>;
 
         explicit Header_(SegmentManager& segmentManager) :
             seq{0},
@@ -51,9 +51,9 @@ namespace fiveai { namespace shm_msgs
         String    frame_id;
     };
 
-    using Header            = shm_msgs::Header_<fiveai::shm::StringAllocator>;
-    using HeaderShmPtr      = fiveai::shm::SharedPtr<shm_msgs::Header>;
-    using HeaderConstShmPtr = fiveai::shm::SharedPtr<const shm_msgs::Header>;
+    using Header            = shm_msgs::Header_<ros::shm::StringAllocator>;
+    using HeaderShmPtr      = ros::shm::SharedPtr<shm_msgs::Header>;
+    using HeaderConstShmPtr = ros::shm::SharedPtr<const shm_msgs::Header>;
 
     template<typename A>
     std::ostream& operator<<(std::ostream& s, const shm_msgs::Header_<A>& v)
@@ -69,69 +69,69 @@ namespace message_traits
 {
 
 template <class ContainerAllocator>
-struct IsFixedSize< ::fiveai::shm_msgs::Header_<ContainerAllocator> >
+struct IsFixedSize< shm_msgs::Header_<ContainerAllocator> >
   : FalseType
   { };
 
 template <class ContainerAllocator>
-struct IsFixedSize< ::fiveai::shm_msgs::Header_<ContainerAllocator> const>
+struct IsFixedSize< shm_msgs::Header_<ContainerAllocator> const>
   : FalseType
   { };
 
 template <class ContainerAllocator>
-struct IsMessage< ::fiveai::shm_msgs::Header_<ContainerAllocator> >
+struct IsMessage< shm_msgs::Header_<ContainerAllocator> >
   : TrueType
   { };
 
 template <class ContainerAllocator>
-struct IsMessage< ::fiveai::shm_msgs::Header_<ContainerAllocator> const>
+struct IsMessage< shm_msgs::Header_<ContainerAllocator> const>
   : TrueType
   { };
 
 template <class ContainerAllocator>
-struct HasHeader< ::fiveai::shm_msgs::Header_<ContainerAllocator> >
+struct HasHeader< shm_msgs::Header_<ContainerAllocator> >
   : FalseType
   { };
 
 template <class ContainerAllocator>
-struct HasHeader< ::fiveai::shm_msgs::Header_<ContainerAllocator> const>
+struct HasHeader< shm_msgs::Header_<ContainerAllocator> const>
   : FalseType
   { };
 
 
 template<class ContainerAllocator>
-struct MD5Sum< ::fiveai::shm_msgs::Header_<ContainerAllocator> >
+struct MD5Sum< shm_msgs::Header_<ContainerAllocator> >
 {
   static const char* value()
   {
     return "55bf682044a302f2fdf00c1fcd1a70a9";
   }
 
-  static const char* value(const ::fiveai::shm_msgs::Header_<ContainerAllocator>&) { return value(); }
+  static const char* value(const shm_msgs::Header_<ContainerAllocator>&) { return value(); }
   static const uint64_t static_value1 = 0x2176decaecbce78aULL;
   static const uint64_t static_value2 = 0xbc3b96ef049fabedULL;
 };
 
 template<class ContainerAllocator>
-struct DataType< ::fiveai::shm_msgs::Header_<ContainerAllocator> >
+struct DataType< shm_msgs::Header_<ContainerAllocator> >
 {
   static const char* value()
   {
     return "std_msgs/ShmHeader";
   }
 
-  static const char* value(const ::fiveai::shm_msgs::Header_<ContainerAllocator>&) { return value(); }
+  static const char* value(const shm_msgs::Header_<ContainerAllocator>&) { return value(); }
 };
 
 template<class ContainerAllocator>
-struct Definition< ::fiveai::shm_msgs::Header_<ContainerAllocator> >
+struct Definition< shm_msgs::Header_<ContainerAllocator> >
 {
   static const char* value()
   {
     return "Same as std_msgs/Header with addition that it can be placed in shm";
   }
 
-  static const char* value(const ::fiveai::shm_msgs::Header_<ContainerAllocator>&) { return value(); }
+  static const char* value(const shm_msgs::Header_<ContainerAllocator>&) { return value(); }
 };
 
 } // namespace message_traits
@@ -142,7 +142,7 @@ namespace ros
 namespace serialization
 {
 
-  template<class ContainerAllocator> struct Serializer< ::fiveai::shm_msgs::Header_<ContainerAllocator> >
+  template<class ContainerAllocator> struct Serializer< shm_msgs::Header_<ContainerAllocator> >
   {
     template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
     {
@@ -163,16 +163,16 @@ namespace message_operations
 {
 
 template<class ContainerAllocator>
-struct Printer< ::fiveai::shm_msgs::Header_<ContainerAllocator> >
+struct Printer< shm_msgs::Header_<ContainerAllocator> >
 {
-  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::fiveai::shm_msgs::Header_<ContainerAllocator>& v)
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const shm_msgs::Header_<ContainerAllocator>& v)
   {
     s << indent << "seq: ";
     Printer<uint32_t>::stream(s, indent + "  ", v.seq);
     s << indent << "stamp: ";
     Printer<ros::Time>::stream(s, indent + "  ", v.stamp);
     s << indent << "frame_id: ";
-    Printer<typename ::fiveai::shm_msgs::Header_<ContainerAllocator>::String>::stream(s, indent + "  ", v.frame_id);
+    Printer<typename shm_msgs::Header_<ContainerAllocator>::String>::stream(s, indent + "  ", v.frame_id);
   }
 };