README

Accompanying repository to

Tobias Hammer and Berthold Bäuml, "The Communication Layer of the aRDx Software Framework: Highly Performant and Realtime Deterministic", In Journal of Intelligent & Robotic Systems, 2014.

Test programs

In corresponding directories

• ard/
• ardx/
• orocos/
• ros/
• yarp/

Only raw programs included, without frameworks and utility libraries.

Test results

raw_data.dat: Test results in Mathematica-compatible format

{{domain, framework, clients, packet size, distributed targets, used cores,
   {avg rtt, min rtt, max rtt},
   {load core 1 .. 4},
 ...}

• domain
  • local: process
  • hostlocal: host
  • global: distributed
• framework
  • nomenclature
    • -bound: process bound to a single CPU core (process domain only)
    • -qnx: test run on QNX
  • frameworks used in journal article
    • ardx-small: aRDx in process domain
    • ardx-big: aRDx in host and distributed domain
    • ard: aRD
    • orocos: Orocos
    • ros-init: ROS with data initialization
    • ros: ROS (fixed) without data initialization
    • yarp: YARP
    • ardx-many-ch: aRDx (N channel)
    • sync-single-sg: aRDx (1 sync)
    • sync-multi-sg: aRDx (N sync)
    • sync-many-ch: aRDx (sync on N)
    • sync-many-ch-bound: aRDx sync on N (Linux, bound)
    • sync-many-ch-qnx: aRDx sync on N (QNX)
    • ardx-big-qnx: aRDx (QNX)
  • framework names not used in article
    • ard: ard-bound, ard-bound-qnx, ard-qnx
    • ardx with daemon: ardx-big, ardx-big-qnx, ardx-many-ch-qnx
    • ardx without daemon: ardx-small, ardx-small-bound, ardx-small-bound-qnx, ardx-small-qnx
    • ardx with sync groups: sync-many-ch-bound-qnx, sync-many-ch-qnx, sync-multi-sg-bound-qnx, sync-multi-sg-qnx, sync-single-sg-bound-qnx, sync-single-sg-qnx
• clients: number of communicating clients (C)
• packet size: in bytes
• distributed targets: number of computers running clients in distributed domain
• used cores: number of used CPU cores
• avg/min/max rtt: round-trip time in microseconds
• load: relative load on CPU core (1: idle, 0: fully used)