Introducing Vortex Lite
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Vortex Lite is a lightweight implementation of the DDS standard that is optimized for resource-constrained devices. It has a small runtime footprint of around 450KB and provides low latency of 30 microseconds and high throughput by utilizing efficient single-threaded and multi-threaded designs. Vortex Lite can also connect to cloud services by enabling TCP/IP and configuring peers to Vortex Cloud addresses.
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Introducing Vortex Lite
- 1. Introducing VORTEX Lite Chief Technology Officer PrismTech angelo.corsaro@prismtech.com Angelo Corsaro, PhD
- 2. CopyrightPrismTech,2014 Specialised device implementations optimally addressing requirements of OT and IT platforms VORTEX can readily deal with data ingestion seamlessly integrating with other protocols, e.g. MQTT, CoAP, etc. VORTEX leverages the DDS standard for interoperability and uniquely extends it with support for Internet Scale systems, mobility and Web 2.0 applications The VORTEX Platform Vortex Device Tools Integration Vortex Cloud MaaS
- 3. CopyrightPrismTech,2014 All VORTEX Device implementation, i.e. OpenSplice, Café, Lite and Web are Fog ready VORTEX Device implementations feature efficient peer-to-peer communication VORTEX Device implementations are also cloud-enabled, in the sense that they can also communicate via VORTEX Cloud VORTEX Device Vortex Device
- 4. CopyrightPrismTech,2014 VORTEX Architecture IP UDP TCP DTLS TLS WebSocket DDSI Wire Protocol VORTEX Café VORTEX Cloud VORTEX Web VORTEX Gateway VORTEX Lite VORTEX OpenSplice MQTT AMQP XMPP HTTP HBase DMBS TCP/IP, UDP/IP … VORTEX Café DDS API DDS Security
- 5. CopyrightPrismTech,2014 VORTEX supports both the Cloud and the Fog Computing Paradigm VORTEX natively supports: - Device-to-Device Communication - Device-to-Cloud Communication Cloud and Fog/Edge Computing Fog Computing Cloud Computing Fog Computing Fog Computing Device-to-Cloud Communication Device-to-Device Communication Fog-to-Cloud Communication Cloud-to-Cloud Communication Device-to-Device Communication Collect | Store | Analyse | Share Collect | Store | Analyse | Share
- 6. CopyrightPrismTech,2014 Abstracting Connectivity Fog Computing Cloud Computing Fog Computing Fog Computing Device-to-Cloud Communication Device-to-Device Communication Fog-to-Cloud Communication Cloud-to-Cloud Communication Device-to-Device Communication
- 8. CopyrightPrismTech,2014 Fog + Cloud Fog Computing Fog Computing Fog Computing Device-to-Cloud Communication Peer-to-Peer (Brokerless) Device-to-Device Communication Devices communicate peer-to-peer within a fog- domain and through Cloud across fog-domains Some device concurrently communicate with peers and the cloud
- 9. CopyrightPrismTech,2014 Fog + Cloud-Link + Cloud Devices communicate peer-to-peer within a fog- domain A Cloud-Link controls which data is exchanged with the could Fog Computing Fog Computing Fog Computing Device-to-Cloud Communication Peer-to-Peer (Brokerless) Device-to-Device Communication Cloud-LinkCloud-Link
- 10. CopyrightPrismTech,2014 Federated Fog Fog Computing Fog Computing Fog Computing Peer-to-Peer (Brokerless) Device-to-Device Communication Cloud-Link Cloud-Link Fog domain are federated by Cloud-Link instances A Cloud-Link controls which data is exchanged with the could
- 12. CopyrightPrismTech,2014 VORTEX provides a Distributed Data Space abstraction where applications can autonomously and asynchronously read and write data Its built-in dynamic discovery isolates applications from network topology and connectivity details Global Data Space DDS Global Data Space ... Data Writer Data Writer Data Writer Data Reader Data Reader Data Reader Data Reader Data Writer TopicA QoS TopicB QoS TopicC QoS TopicD QoS
- 13. CopyrightPrismTech,2014 A Topic defines a domain-wide information’s class A Topic is defined by means of a (name, type, qos) tuple, where • name: identifies the topic within the domain • type: is the programming language type associated with the topic. Types are extensible and evolvable • qos: is a collection of policies that express the non-functional properties of this topic, e.g. reliability, persistence, etc. Topic Topic Type Name QoS DDS Global Data Space ... TopicA QoS TopicB QoS TopicC QoS TopicD QoS
- 14. QoS Policies
- 15. CopyrightPrismTech,2014 DDS provides a rich set of QoS- Policies to control local as well as end-to-end properties of data sharing Some QoS-Policies are matched based on a Request vs. Offered (RxO) Model QoS Policies HISTORY LIFESPAN DURABILITY DEADLINE LATENCY BUDGET TRANSPORT PRIO TIME-BASED FILTER RESOURCE LIMITS USER DATA TOPIC DATA GROUP DATA OWENERSHIP OWN. STRENGTH LIVELINESS ENTITY FACTORY DW LIFECYCLE DR LIFECYCLE PRESENTATION RELIABILITY PARTITION DEST. ORDER RxO QoS Local QoS
- 16. CopyrightPrismTech,2014 For data to flow from a DataWriter (DW) to one or many DataReader (DR) a few conditions have to apply: The DR and DW domain participants have to be in the same domain The partition expression of the DR’s Subscriber and the DW’s Publisher should match (in terms of regular expression match) The QoS Policies offered by the DW should exceed or match those requested by the DR QoS Model Domain Participant DURABILITY OWENERSHIP DEADLINE LATENCY BUDGET LIVELINESS RELIABILITY DEST. ORDER Publisher DataWriter PARTITION DataReader Subscriber Domain Participant offered QoS Topic writes reads Domain Id joins joins produces-in consumes-from RxO QoS Policies requested QoS
- 17. CopyrightPrismTech,2014 Support for fine grained access control Support for Symmetric and Asymmetric Authentication Standard Authentication, Access Control, Crypto, and Logging plug-in API Security Arthur Dent Arthur Dent Ford Prerfect Zaphod Beeblebrox Marvin Trillian A(r,w), B(r) A(r,w), B(r,w), X(r) *(r,w) *(r) A(r,w), B(r,w), C(r,w) Ford Prerfect Zaphod Beeblebrox Trillian Marvin A B A,B X * * A,B,C Identity Access Rights Sessions are authenticated and communication is encrypted Only the Topic included as part of the access rights are visible and accessible
- 18. CopyrightPrismTech,2014 Anatomy of a DDS Application
- 19. Vortex Lite
- 20. CopyrightPrismTech,2014 Bring software-based DDS implementation to a range of resource constrained devices Allow for variability on functionalities, transport and support of underlying OS/BSP Provides very low footprint and very high performance v1.0 runtime footprint ~450 KB v1.0 latency as low as ~30 usec (on Gigabit network) Vortex Lite DDSI$$ DDS$API C99 ISO&C++ OS/RTOS$$ BSP Abstraction$ OS Abstraction$ Transport
- 21. Architecture
- 22. CopyrightPrismTech,2014 The Vortex Lite architecture aims at optimising performance on constrained environment. By default, Lite performs reads and writes on a single thread. Writes can be multi-threaded when using TCP/IP Vortex Lite Architecture DDSI DCPS Listeners/ WaitSets Network Packets DDSI Messages Samples Cache Changes n threads (n=1 by default)
- 23. CopyrightPrismTech,2014 By default, Lite uses the same thread to: - reads data from the socket - execute the DDSI protocol state machine - de-serialise data - invoke listeners (if any) This ensures that no context switch happens on the dispatch path thus, reducing overhead on single-core procures, as well as providing very low and deterministic latency Default Read Path DDSI DCPS Listeners/ WaitSets Network Packets DDSI Messages Samples Cache Changes n threads (n=1 by default)
- 24. CopyrightPrismTech,2014 Lite can be configured to use a separate thread pool to notify listeners In this case the bottom thread (pool) takes care of: - reading data from the socket - executing the DDSI protocol state machine While the other thread (pool) takes care of: - de-serialising data - invoking listeners (if any) This configuration improves throughput on multi- core processors Async Read Path DDSI DCPS Listeners/ WaitSets Network Packets DDSI Messages Samples Cache Changes n threads (n=1 by default)
- 25. CopyrightPrismTech,2014 For UDP/IP communication Lite uses a write through strategy leveraging the application thread for executing the entire stack Write Path DDSI DCPS Writer Network Packets DDSI Messages Samples Cache Changes application thread
- 26. CopyrightPrismTech,2014 When communicating over TCP/IP Lite can be configured to use a thread-pool to write over TCP/IP sockets This helps with parallelising some of the fan-out TCP/IP Write Path DDSI DCPS Writer Network Packets DDSI Messages Samples Cache Changes application thread n threads (n=1 by default)
- 27. Lite in Numbers
- 28. CopyrightPrismTech,2014 488 KBytes footprint for the dds library 4 KB for all the DDS entities required to publish data - Domain Participant - Topic - Subscriber - Data Reader - Listener Adding more Writer on the same participant has very little overhead Subscriber Memory Usage (pmap -x) Address Kbytes RSS Dirty Mode Mapping 08048000 4 4 0 r-x-- subscriber 08049000 4 4 4 r---- subscriber 0804a000 4 4 4 rw--- subscriber 748a000 1700 572 0 r-x-- libc-2.19.so b7633000 8 8 8 r---- libc-2.19.so b7635000 4 4 4 rw--- libc-2.19.so b763a000 96 72 0 r-x-- libpthread-2.19.so b7652000 4 4 4 r---- libpthread-2.19.so b7653000 4 4 4 rw--- libpthread-2.19.so b766d000 588 488 0 r-x-- libdds.so.0.9.2 b7700000 12 12 12 r---- libdds.so.0.9.2 b7703000 4 4 4 rw--- libdds.so.0.9.2 b770c000 128 100 0 r-x-- ld-2.19.so b772c000 4 4 4 r---- ld-2.19.so b772d000 4 4 4 rw--- ld-2.19.so
- 29. CopyrightPrismTech,2014 456 KBytes footprint for the dds library 4 KB for all the DDS entities required to publish data - Domain Participant - Topic - Publisher - Data Writer Adding more Writer on the same participant has very little Publisher Memory Usage (pmap -x) Address Kbytes RSS Dirty Mode Mapping 08048000 4 4 0 r-x-- publisher 08049000 4 4 4 r---- publisher 0804a000 4 4 4 rw--- publisher b74ae000 1700 564 0 r-x-- libc-2.19.so b7657000 8 8 8 r---- libc-2.19.so b7659000 4 4 4 rw--- libc-2.19.so b765e000 96 72 0 r-x-- libpthread-2.19.so b7676000 4 4 4 r---- libpthread-2.19.so b7677000 4 4 4 rw--- libpthread-2.19.so b7691000 588 456 0 r-x-- libdds.so.0.9.2 b7724000 12 12 12 r---- libdds.so.0.9.2 b7727000 4 4 4 rw--- libdds.so.0.9.2 b7730000 128 100 0 r-x-- ld-2.19.so b7750000 4 4 4 r---- ld-2.19.so b7751000 4 4 4 rw--- ld-2.19.so
- 30. CopyrightPrismTech,2014 Median Latency as low as 31.5 micro-secs for small data Latency of 51 micro-secs for 1024 data size! Lite is by far the fastest DDS implementation on the market! Latency Median Latency micro-secs 30 36 43 49 55 data size (bytes) 0 300 600 900 1200 31,5 34,5 51,0 Lite 0.9.2
- 31. CopyrightPrismTech,2014 Latency nicely fit by the quadratic polynomial: Latency micro-secs 30 55 80 105 130 data size (bytes) 0 2250 4500 6750 9000 y = -7,86E-7x2 + 0,0176x + 32,8 31,5 34,5 51,0 66,0 91,0 124,5 Lite 0.9.2 y = -7.86E-7x2+0.0176x + 32.8 NB: This quadratic fit should be used for data up to 8192 bytes. Otherwise the conservative linear fit y = 0,0113x + 37,425 can be used for bigger sizes
- 32. CopyrightPrismTech,2014 Saturates a 1 Gbps network for data as small as 1024 bytes Throughput Mbps 0 250 500 750 1000 data-size (bytes) 4 1253 2502 3751 5000 50 294 560 780 903 928 948 Li
- 33. CopyrightPrismTech,2014 Throughput Kmsgs/sec 1 10 100 1000 data-size (bytes) 1 10 100 1000 10000 100000 523 506 110 56 29 14 7,3 3,7 1,8 Lite 0.9.2
- 35. CopyrightPrismTech,2014 Vortex Lite can be easily configured to use cloud by enabling TCP/IP and adding the Vortex-Cloud address as one of the peers If you want to enable only communication through cloud then you may disable support for multicast (see side example ) Vortex Cloud Connectivity <DDSI2EService> <General> <NetworkInterfaceAddress>AUTO</NetworkInterfaceAddress> <AllowMulticast>false</AllowMulticast> <EnableMulticastLoopback>false</EnableMulticastLoopback> <EnableLoopback>false</EnableLoopback> </General> <TCP> <Enable>True</Enable> </TCP> <Discovery> <Peers> <Peer>demo-eu.prismtech.com:7400</Peer> </Peers> </Discovery> <Compatibility> <StandardsConformance>lax</StandardsConformance> </Compatibility> <Tracing> <Verbosity>warning</Verbosity> </Tracing> </DDSI2EService>
- 36. API
- 37. CopyrightPrismTech,2014 Writing Data #include "generated/Test.h" int main (int argc, char ** argv) { dds_entity_t ppant; dds_entity_t topic; dds_entity_t writer; /* Initialize DDS */ dds_init (argc, argv); /* Create participant */ dds_participant_create (&ppant, DDS_DOMAIN_DEFAULT, NULL, NULL); /* Create topic */ dds_topic_create (ppant, &topic, &Test_Topic_desc, "TestTopic", NULL, NULL, 0); /* Create writer with QoS */ dds_writer_create (ppant, &writer, topic, NULL, NULL, 0); /* Topic instance */ Test_Topic sample = { 1, 2 }; /* Write topic */ dds_write (writer, &sample); dds_sleepfor (DDS_SECS (10)); /* Clean up */ dds_entity_delete (ppant); dds_fini (); }
- 38. CopyrightPrismTech,2014 Reading Data #include "generated/Test.h" int main (int argc, char ** argv) { dds_entity_t ppant; dds_entity_t topic; dds_entity_t reader; dds_sample_info_t info; void * samples[1]; /* Initialize DDS */ dds_init (argc, argv); /* Create participant */ dds_participant_create (&ppant, DDS_DOMAIN_DEFAULT, NULL, NULL); /* Create topic */ dds_topic_create (ppant, &topic, &Test_Topic_desc, "TestTopic", NULL, NULL, 0); /* Create writer with QoS */ dds_reader_create (ppant, &reader, topic, NULL, NULL, 0); while (true) { /* Wait for valid sample then print and exit */ ret = dds_read (reader, samples, 1, &info, 0); if (ret > 0 && info.valid_data) { printf ("Test Sample (%d, %d)n", sample.d1, sample.d2); break; } dds_sleepfor (DDS_SECS (1)); } /* Clean up */ dds_entity_delete (ppant); dds_fini (); }
- 39. CopyrightPrismTech,2014 Listener Declaration static void data_available_handler (dds_entity_t reader) { int ret; const uint32_t max = 1; dds_sample_info_t info[max]; void * samples[max]; Test_Topic sample; uint32_t mask = 0; samples[0] = &sample; /* Set type of samples required. */ mask = DDS_ALIVE_INSTANCE_STATE; /* Read samples. */ dds_read (reader, samples, max, info, mask); printf ("Data Received ...n"); printf ("Sample (%d, %d)n", sample.d1, sample.d2); }
- 40. CopyrightPrismTech,2014 Listener Registration memset (&listener, 0, sizeof (listener)); listener.on_data_available = data_available_handler; listener.on_subscription_matched = subscription_matched_handler; /* Create reader with DATA_AVAILABLE status condition enabled */ dds_reader_create (sub, &reader, topic, qos, &listener, DDS_DATA_AVAILABLE_STATUS);
- 41. Summing Up
- 42. CopyrightPrismTech,2014 Lite expands Vortex connectivity to embedded devices Vortex Lite is highly efficient in time and space and simple to use Concluding Remarks Fog Computing Cloud Computing Fog Computing Fog Computing Device-to-Cloud Communication Device-to-Device Communication Fog-to-Cloud Communication Cloud-to-Cloud Communication Device-to-Device Communication