rti connext 5.1.0

Your systems. Working as one.

Connext DDS 5.1: Scale Intelligent Systems to the Internet of Things

February 27, 2014

Topics

•  Intelligent Systems •  Role of Connext DDS •  Driver: Internet of Things •  New in Connext DDS 5.1 •  Next Steps

February 27, 2014 © 2014 REAL-‐TIME INNOVATIONS, INC. 2

Intelligent Systems


Connext DDS: CommunicaTons PlaVorm for Intelligent Systems

Real-‐Time AnalyTcs & Control

Operator HMI

Sensors Actuators

IT / Cloud / SoS IntegraTon

Network / Bus / IPC


Connext DDS Professional

Connext DDS Product Family

February 27, 2014 © 2014 REAL-‐TIME INNOVATIONS, INC.

DDS-‐RTPS Wire Interoperability Protocol

DDS & JMS Libraries

RouTng Service

Database IntegraTon

Connext DDS Micro

Connext DDS Cert

AdministraTon

Monitoring

Microso] Excel

Recording

Replay

Wireshark

Persistence

Logging

Prototyper

General Purpose Real-‐Time Apps

Remote Apps

Disparate Apps

Adapter

Small Footprint Apps

High Assurance Apps (DO-‐178C)

5

Broad Interoperability for Heterogeneous Systems

•  Programming languages and environments –  C, C++, C#/.NET, Java, Ada –  LabVIEW, MATLAB, Simulink, UML

•  OperaTng systems – Windows, Linux, Unix, Mac OS –  Embedded, real Tme, parTToned – Mobile

•  Processor families –  x86, ARM, PowerPC… –  32-‐ and 64-‐bit

•  Transport types –  Shared memory –  LAN (incl. mulTcast) – WAN – Wireless –  Low bandwidth


Trend: Internet of Things (IoT)

•  ConnecTng more devices, applicaTons and systems

•  To each other, data center, cloud


IoT Benefits

Sharing more data across devices and applicaTons for beher: •  SituaTonal awareness, decision making •  AutomaTon, responsiveness, efficiency •  Asset uTlizaTon

•  PaTent safety, clinician efficiency •  Energy efficiency, reliability


IoT in PracTce

Actuators Sensors

AnalyTcs, control HMI

Actuators Sensors


Actuators Sensors



Centralized analyTcs

Decentralized devices, analyTcs, control


IoT Challenges

•  Scalability – aggregate data volumes

•  Extensibility – incremental evoluTon

•  Adaptability – can’t characterize performance at dev Tme

•  Debugability

Actuators Sensors


Actuators Sensors


Actuators Sensors




Introducing Connext DDS Professional 5.1


RouTng Service Content Filter PropagaTon

•  Reduce bandwidth and CPU uTlizaTon in a hierarchical system where DataReaders subscribe to a subset of data

•  DataWriter and RouTng Service only publish data that is subscribed


RouTng Service

Apps Devices

RouTng Service

Apps Devices

RouTng Service

Apps Devices

RouTng Service

12

RouTng Service – Content Filter PropagaTon Co

nnext D

DS 5.1

Prior to 5.1


DataReader

DataWriter

RS1

X = 1

DataReader

X > 5

DataReader

X = 7

DataWriter

CommunicaTon direcTon

1 2

3 4

11 2 3 4

RSN RS2

DataReader

DataWriter

RS1

X = 1

DataReader

X > 5

DataReader

X = 7

DataWriter

CommunicaTon direcTon

1 2

3 4

1

RSN

1

X =1 or X > 5 or X = 7

Filter propagaTon direcTon Sample filtering

Sample filtering

RS1

13

Enhanced TCP Transport Scalability using I/O CompleTon Ports (IOCP)

Connext DDS 5.0 Connext DDS 5.1

Asynchronous I/O operaTon using IOCP API

Windows server

Windows server

clients clients

clients

clients

clients clients

clients

clients clients clients

clients

clients

clients clients

clients

clients clients

clients

clients

clients

clients clients

clients

clients

clients clients

clients

clients

clients clients

clients

clients

Synchronous I/O operaTon using Select () API

>1500 clients ~ 600 clients

•  To enable IOCP simply set the property socket_monitoring_kind in TCP plugin to WINDOWS_IOCP

Supports far more TCP connecTons in Windows-‐based deployments


Extensible Types (DDS-‐XTypes)

•  Enables dynamic upgrades •  Types can evolve while maintaining backward interoperability

•  EssenTal for large and mission-‐criTcal systems

FINAL •  Can’t be modified or derived •  All primiTve fields are final

EXTENSIBLE <default> •  Type can be extended, but not modified •  Extensions can only appear at the end of the

type definiTon

MUTABLE •  Type can be reordered and/or modified


Extensible Types


@Extensibility(Extenisble_EXTENSIBILITY) struct TrackData { long id; //@ID 1 long x; //@ID 2 long y; //@ID 3 };

@Extensibility(Extensible_EXTENSIBILITY) struct TrackData { long id; //@ID 1 long x; //@ID 2 long z; //@ID 4 long y; //@ID 3 };

@Extensibility(Extensible_EXTENSIBILITY) struct TrackData { long id; //@ID 1 long x; //@ID 2 long y; //@ID 3 };

@Extensibility(Extensible_EXTENSIBILITY) struct TrackData { long id; //@ID 1 long x; //@ID 2 long y; //@ID 3 long z; //@ID 4 };

Connext DDS 5.0

16

@Extensibility(Mutable_EXTENSIBILITY) struct TrackData { long id; //@ID 1 long x; //@ID 2 long y; //@ID 3 };

@Extensibility(Mutable_EXTENSIBILITY) struct TrackData { long id; //@ID 1 long x; //@ID 2 long y; //@ID 3 long z; //@ID 4 };

Connext DDS 5.1

@Extensibility(Mutable_EXTENSIBILITY) struct TrackData { long id; //@ID 1 long x; //@ID 2 long y; //@ID 3 };

@Extensibility(Mutable_EXTENSIBILITY) struct TrackData { long id; //@ID 1 long x; //@ID 2 long z; //@ID 4 long y; //@ID 3 };

Note: 4-‐byte or 12-‐byte per member extra overhead on the wire.

Mutable Types


XTypes: OpTonal Members


@Extensibility(MUTABLE_EXTENSIBILITY) struct TrackData { long id; long x; long y; long z; //@OpTonal };

typedef struct TrackData { DDS_Long id; DDS_Long x; DDS_Long y; DDS_Long * z; };

NULL value means there is no value because logically the value is not there

C/C++

Bandwidth overhead per member FINAL/EXTENSIBLE MUTABLE

SET 4/12-‐byte HEADER + VALUE 4/12-‐byte HEADER + VALUE

NOT SET 4/12-‐byte HEADER 0-‐byte

Supports scenarios in which data type member value is not known or does not exist

18

BuilTn QoS Profile


•  Facilitate configuraTon for common scenarios and use cases •  Reduce configuraTon effort vs. sexng individual QoS

parameters

•  Total of 34 QoS Profiles as part of the core library •  Can be extended and expanded as new features developed

and new use cases idenTfied

19

BuilTn QoS Profiles

BASELINE_ ROOT

BASELINE_ 5_0_0

BASELINE

BASELINE_ 5_1_0

GENERIC_ COMMON

GENERIC_ MONITORING

GENERIC__ CONNEXT_MICRO_COMPATIBILITY

GENERIC_ CONNEXT_OTHER DDS_VENDOR_ COMPATIBILITY

Baseline Generic

PERIODIC_DATA

RELIABLE_ STREAMING

STREAMING

EVENT

STATUS

ALARM_EVENT

ALARM_STATUS

LAST_VALUE_ CACHE

PaRern

Experimental

KEEP_LAST_RELIABLE_ TRANSIENT_LOCAL

KEEP_LAST_RELIABLE_ TRANSIENT

KEEP_LAST_RELIABLE_ PERSISTENT

STRICT_RELIABLE_LARGE_ DATA_FAST_FLOW

STRICT_RELIABLE_LARGE_ DATA_MEDIUM_FLOW

STRICT_RELIABLE_LARGE_ DATA_SLOW_FLOW

KEEP_LAST_RELIABLE_ LARGE_DATA_FAST_FLO

W

KEEP_LAST_RELIABLE_LARGE_DATA_MEDIUM_

FLOW

KEEP_LAST_RELIABLE_ LARGE_DATA_SLOW_

FLOW

STRICT_RELIABLE

BEST_EFFORT

KEEP_LAST_ RELIABLE

STRICT_RELIABLE_ HIGH_THROUGHPUT

STRICT_RELIIABLE_LOW_LATENCY

Basic

Durability

PARTICIPANT_ LARGE_DATA

PARTICIPANT_LARGE_ DATA_MONITORING

STRICT_RELIABLE_ LARGE_DATA

KEEP_LAST_RELIABLE_ LARGE_DATA

AUTO_TUNING

Large Data

Performance

Large Data with Flow Control


Improved Default Transport Sexngs

•  Improves out-‐of-‐box performance •  Minimizes need for tuning

•  Default QoS profile available to enable backward compaTble with 5.0.0


Turbo Mode (Experimental)

•  As sending rate changes, automaTcally adjusts QoS to maintain opTmal performance

•  Improves performance in burst traffic scenario – High throughput at high sending rate – Low latency at slow sending rate

•  Supported by new per]est •  hhp://community.rT.com/downloads/rT-‐connext-‐dds-‐

performance-‐test


Auto Throhle (Experimental)

•  Improves latency and jiher in high throughput condiTons

•  AutomaTcally adjusts DataWriter send rate and send window size in reliable communicaTons using protocol feedback: –  Send window occupancy to control the send rate –  NACK messages to control the send window size

•  Tradeoff – May increase CPU usage in sending machine (acTve wait) –  Slightly reduces throughput for small data sizes (<10%)


Auto Throhle Performance

0

5000

10000

15000

20000

25000

30000

0 10000 20000 30000 40000 50000 60000

Latency in M

icrosecond

s

Message Size (bytes)

Auto ThroRle disabled

Average Minimum 99%

0

5000

10000

15000

20000

25000

30000

0 10000 20000 30000 40000 50000 60000

Latency in M

icrosecond

s

Message Size (bytes)

Auto ThroRle enabled

Average Minimum 99%


Recording Service: Flexible Field SelecTon


Pre 5.1…

What the user really cares about What we store by default, apart from user-‐data

25 columns of metadata

25



2 columns

of metadata

Now (5.1.0) …

What the user really cares about What we also store in the DB by default

26


Users can now select what SampleInfo fields to store with their recorded data


Admin Console Enhancements


Eclipse RCP DDS

Admin Console Infrastructure

System Control (5.0)

System Awareness

(5.1)

Debugging

(5.1)

28

Admin Console Features

5.0 •  Physical View •  System Editor •  Processes View •  Host View •  Process Editor •  RouTng Service Editor •  Persistence Editor •  Recording Service Editor •  Replay Service Editor •  XML Editor

5.1 •  Auto Join •  DDS Logical View •  Health and Match Analyses •  DDS QoS View •  Domain Topic •  DDS Data Type View •  System Log •  Resource Charts for Host

and RouTng Service


Auto Join


Domains Joined:

6

8

, 6 , 8 0

30

DDS Logical View This view presents a hierarchical view of the system from a DDS perspecTve. It shows a list of DDS domains and the topics within them.

Each enTty has a badge to represent its health.


Health & System Health The Health View makes it simple to tell if a system enTty is known to have exisTng problems.


9 condiTons are evaluated to determine health.

32

Real-‐Tme Match Analyses


33

QoS


Topic


DDS Data Type View


Hierarchical view of a data type used by a DDS DataWriter or DataReader

The equivalent IDL is also available. 38

System Log


Combined log from all applicaTons using Distributed Logger.

39

RouTng Service: Resources Chart


Similar view for Host 40

Extended Process InformaTon


Prototyper with LUA (Experimental)

XML Sexngs

Prototyper (“Container”)

Lua Engine

DDS

Lua Component

1. ##$Interface:$parameters,$inputs,$outputs$2. local$A,$B,$C$=$30,$30,$10$##$Change$the$'C'$parameter$to$to$see$various$flower$shapes$$3. local$ShapeWriter$=$CONTAINER.WRITER[3]$##$Triangles$4. $5. ##$Global$counter$(preserved$across$invocations)$$$6. if$not$count$then$count$=$0$else$count$=$count$+$1$$end$$$7. $8. local$shape$=$ShapeWriter.instance;$9. local$angle$=$count$%$360;$10. $11. shape['x']$$$$$$$$$=$120$+$(A+B)$*$math.cos(angle)$+$B$*$math.cos((A/B#C)*angle)$$$12. shape['y']$$$$$$$$$=$120$+$(A+B)$*$math.sin(angle)$+$B$*$math.sin((A/B#C)*angle)$13. $14. shape['shapesize']$=$5$15. shape['color']$=$"RED"$16. $17. ShapeWriter:write()$

$


CodeGen 2.0 (Experimental) •  Reduce code generaTon Tme especially when dealing with

large IDL files and large number of IDL files •  Ease customizaTons and extensions to code generaTon

•  Usability –  Apache Velocity (VLT) templates are used in place of XSL

•  Performance –  With small IDL files, performance is 6x faster (server mode)

–  With a large IDL file (2,000 structs) CodeGen 2.0 is >10x faster


MigraTng to 5.1

•  No API changes required –  ExcepTon: Removed “_exp” suffix from XML ApplicaTon CreaTon APIs

•  Must regenerate code •  BuilTn QoS profile provided for 5.0 interoperability

•  Monitoring and administraTon topics are not compaTble with 5.0 – Now leveraging XTypes for future forward compaTbility


Connext DDS 5.1 Summary

•  60+ new features and enhancements to improve – Scalability – Extensibility – Adaptability and performance – Usability and debuggability

•  New experimental features •  20+ new plaVorms


Next Steps

•  Connext DDS Professional 5.1 downloads –  EvaluaTon: hhp://www.rT.com/downloads/connext.html –  Customer portal: hhp://support.rT.com –  Live CD: hhp://community.rT.com/content/page/downloads

•  Blog posts with more details at hhp://blogs.rT.com •  Many resources at hhp://community.rT.com

–  Examples –  Case+Code –  Forums –  Knowledgebase

•  New and improved performance test –  hhp://community.rT.com/downloads/rT-‐connext-‐dds-‐performance-‐test


Thank You!


rti connext 5.1.0

Software