5.2.5 数据通信

零拷贝

功能介绍

TogetheROS.Bot提供了灵活、高效的零拷贝功能，可以显著降低大尺寸数据的通信延时和CPU占用。tros.b通过集成performance_test工具，可以方便的评测开启零拷贝前后的性能差异。performance_test工具能够实现sub数量、消息大小、QoS等参数配置，方便评估不同场景下的通信性能，主要性能指标如下：

时延（latency）：对应消息从pub到sub的传输时间
CPU使用率（CPU usage）：通信活动所占CPU使用百分比
驻留内存（resident memory）：包括堆分配内存、共享内存以及用于系统内部的栈内存
样本统计（sample statistics）：包括每次实验发送、接收以及丢失的消息数量

代码仓库：

info

tros.b Foxy版本基于ROS2 Foxy新增了“zero-copy”功能。
tros.b Humble版本使用的是ROS2 Humble的“zero-copy”功能。

支持平台

平台	运行方式
RDK X3, RDK X3 Module	Ubuntu 20.04 (Foxy), Ubuntu 22.04 (Humble)
RDK X5, RDK X5 Module, RDK S100	Ubuntu 22.04 (Humble)

caution

RDK Ultra平台支持零拷贝数据通信，暂未提供零拷贝性能指标测试安装包。

准备工作

RDK

开始测试前，需要将RDK调整为性能模型，以保证测试结果准确性。命令如下：
```
echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor 
```
更多配置说明参考系统配置章节。

RDK已成功安装performance_test工具包，安装命令：

Foxy
Humble

sudo apt update
sudo apt install tros-performance-test

sudo apt update
sudo apt install tros-humble-performance-test

使用介绍

RDK平台

不开启零拷贝功能的4M数据传输测试，命令如下：

Foxy
Humble

source /opt/tros/setup.bash
ros2 run performance_test perf_test --reliable --keep-last --history-depth 10 -s 1 -m Array4m -r 100 --max-runtime 30

source /opt/tros/humble/setup.bash
ros2 run performance_test perf_test --reliable --keep-last --history-depth 10 -s 1 -m Array4m -r 100 --max-runtime 30

测试结果如下：

run time

+--------------+-----------+--------+----------+
| T_experiment | 30.982817 | T_loop | 1.000126 |
+--------------+-----------+--------+----------+

samples                                              latency

+------+------+------+-----------+---------------+   +----------+----------+----------+----------+
| recv | sent | lost | data_recv | relative_loss |   | min      | max      | mean     | variance |
+------+------+------+-----------+---------------+   +----------+----------+----------+----------+
| 99   | 100  | 0    | 418505326 | 0.000000      |   | 0.004327 | 0.005605 | 0.004546 | 0.000000 |
+------+------+------+-----------+---------------+   +----------+----------+----------+----------+

publisher loop                                       subscriber loop

+----------+----------+----------+----------+        +----------+----------+----------+----------+
| min      | max      | mean     | variance |        | min      | max      | mean     | variance |
+----------+----------+----------+----------+        +----------+----------+----------+----------+
| 0.007260 | 0.008229 | 0.008057 | 0.000000 |        | 0.000000 | 0.000000 | 0.000000 | 0.000000 |
+----------+----------+----------+----------+        +----------+----------+----------+----------+

system usage

+-------------+-----------+---------+--------+--------+----------+--------+--------+
| utime       | stime     | maxrss  | ixrss  | idrss  | isrss    | minflt | majflt |
+-------------+-----------+---------+--------+--------+----------+--------+--------+
| 23120954000 | 121597000 | 65092   | 0      | 0      | 0        | 11578  | 2      |
+-------------+-----------+---------+--------+--------+----------+--------+--------+
| nswap       | inblock   | oublock | msgsnd | msgrcv | nsignals | nvcsw  | nivcsw |
+-------------+-----------+---------+--------+--------+----------+--------+--------+
| 0           | 0         | 0       | 0      | 0      | 0        | 9885   | 7193   |
+-------------+-----------+---------+--------+--------+----------+--------+--------+

Maximum runtime reached. Exiting.

开启零拷贝功能(加入--zero-copy参数)的4M数据传输测试，命令如下：

Foxy
Humble

source /opt/tros/setup.bash
ros2 run performance_test perf_test --zero-copy --reliable --keep-last --history-depth 10 -s 1 -m Array4m -r 100 --max-runtime 30

source /opt/tros/humble/setup.bash
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=/opt/tros/humble/lib/hobot_shm/config/shm_fastdds.xml
export RMW_FASTRTPS_USE_QOS_FROM_XML=1
export ROS_DISABLE_LOANED_MESSAGES=0
ros2 run performance_test perf_test --zero-copy --reliable --keep-last --history-depth 10 -s 1 -m Array4m -r 100 --max-runtime 30

测试结果如下：

run time

+--------------+-----------+--------+----------+
| T_experiment | 30.554773 | T_loop | 1.000084 |
+--------------+-----------+--------+----------+

samples                                              latency

+------+------+------+-----------+---------------+   +----------+----------+----------+----------+
| recv | sent | lost | data_recv | relative_loss |   | min      | max      | mean     | variance |
+------+------+------+-----------+---------------+   +----------+----------+----------+----------+
| 99   | 99   | 0    | 418701472 | 0.000000      |   | 0.000146 | 0.000381 | 0.000195 | 0.000000 |
+------+------+------+-----------+---------------+   +----------+----------+----------+----------+

publisher loop                                       subscriber loop

+----------+----------+----------+----------+        +----------+----------+----------+----------+
| min      | max      | mean     | variance |        | min      | max      | mean     | variance |
+----------+----------+----------+----------+        +----------+----------+----------+----------+
| 0.009812 | 0.009895 | 0.009877 | 0.000000 |        | 0.000000 | 0.000000 | 0.000000 | 0.000000 |
+----------+----------+----------+----------+        +----------+----------+----------+----------+

system usage

+------------+-----------+---------+--------+--------+----------+--------+--------+
| utime      | stime     | maxrss  | ixrss  | idrss  | isrss    | minflt | majflt |
+------------+-----------+---------+--------+--------+----------+--------+--------+
| 8727113000 | 307920000 | 46224   | 0      | 0      | 0        | 6440   | 0      |
+------------+-----------+---------+--------+--------+----------+--------+--------+
| nswap      | inblock   | oublock | msgsnd | msgrcv | nsignals | nvcsw  | nivcsw |
+------------+-----------+---------+--------+--------+----------+--------+--------+
| 0          | 0         | 0       | 0      | 0      | 0        | 9734   | 2544   |
+------------+-----------+---------+--------+--------+----------+--------+--------+

Maximum runtime reached. Exiting.

结果分析

performance_test工具可输出多种类型的统计结果，下面主要对比延时、系统占用的差异：

latency 对比关闭和打开“zero-copy”功能的通信时延均值分别为4.546ms和0.195ms，可以看出“zero-copy”功能显著降低通信时延。

system usage

  +------------------+---------------+-------------------+--------+--------+----------+------------------+---------------------+
  | utime            | stime         | maxrss            | ixrss  | idrss  | isrss    | minflt           | majflt              |
  +------------------+---------------+-------------------+--------+--------+----------+------------------+---------------------+
  | userspace耗时(Hz)| system耗时(Hz)| 驻留内存大小(Byte) | 0      | 0      | 0        | 次缺页错误次数   | 主缺页错误次数      |
  +------------------+---------------+-------------------+--------+--------+----------+------------------+---------------------+
  | nswap            | inblock       | oublock           | msgsnd | msgrcv | nsignals | nvcsw            | nivcsw              |
  +------------------+---------------+-------------------+--------+--------+----------+------------------+---------------------+
  | 0                | 0             | 0                 | 0      | 0      | 0        | 自愿上下文切换次数| 非自愿上下文切换次数|
  +------------------+---------------+-------------------+--------+--------+----------+------------------+---------------------+

通信方式	latency	utime+stime	maxrss	minflt	majflt	nvcsw	nivcsw
非“zero-copy”	0.004546	23242551000	65092	11578	2	9885	7193
“zero-copy”	0.000381	9035033000	46224	6440	0	9734	2544

对比可知

“zero-copy” utime和stime之和明显低于非“zero-copy”，表明“zero-copy”消耗的CPU资源更少
“zero-copy” maxrss少于非“zero-copy”，表明“zero-copy”占用的内存少
“zero-copy” minflt、majflt明显少于非“zero-copy”，表明“zero-copy”通信抖动更小
“zero-copy” nvcsw、nivcsw明显少于非“zero-copy”，表明“zero-copy”通信抖动更小

总的来说对于大数据通信，“zero-copy”在CPU消耗、内存占用以及通信延迟抖动方便均明显优于非“zero-copy”

零拷贝​

功能介绍​

支持平台​

准备工作​

RDK​

使用介绍​

RDK平台​

结果分析​

零拷贝