larry-robotics/elkodon

Elkodon - true zero-copy inter-process-communication in rust

iceoryx2 - Zero-Copy Lock-Free IPC Purely Written In Rust

1. Introduction
2. Performance
3. Getting Started
   1. Publish Subscribe
   2. Events
   3. Custom Configuration
4. Supported Platforms
5. Language Bindings
6. Thanks To All Contributors

Introduction

Welcome to Iceoryx2, the efficient, and ultra-low latency inter-process communication middleware. This library is designed to provide you with fast and reliable zero-copy and lock-free inter-process communication mechanisms.

Iceoryx2 is all about providing a seamless experience for inter-process communication, featuring versatile messaging patterns. Whether you're diving into publish-subscribe, events, or the promise of upcoming features like request-response, pipelines, and blackboard, Iceoryx2 has you covered.

One of the features of Iceoryx2 is its consistently low transmission latency regardless of payload size, ensuring a predictable and reliable communication experience.

Iceoryx2's origins can be traced back to iceoryx. By overcoming past technical debts and refining the architecture, Iceoryx2 enables the modularity we've always desired.

In the near future, Iceoryx2 is poised to support at least the same feature set and platforms as iceoryx, ensuring a seamless transition and offering enhanced capabilities for your inter-process communication needs. So, if you're looking for lightning-fast, cross-platform communication that doesn't compromise on performance or modularity, Iceoryx2 is your answer.

Performance

gantt
    title Latency (in ns) - 64b payload
    dateFormat X
    axisFormat %s

    section iceoryx2
    240 : 0, 240
    section iceoryx
    1000 : 0, 1000
    section MQueue
    700 : 0, 700
    section UDS
    1500 : 0, 1500

Loading

gantt
    title Latency (in ns) - 64kb payload
    dateFormat X
    axisFormat %s

    section iceoryx2
    240 : 0, 240
    section iceoryx
    1000 : 0, 1000
    section MQueue
    14000 : 0, 14000
    section UDS
    23000 : 0, 23000

Loading

Benchmark-System

• CPU: Intel(R) Core(TM) i7-10875H CPU @ 2.30GHz
• OS: Linux 6.5.9-arch2-1 #1 SMP PREEMPT_DYNAMIC GNU/Linux
• Compiler:
  • rustc 1.72.1
  • gcc 13.2.1 20230801

Getting Started

Publish Subscribe

This minimal example showcases a publisher sending the number 1234 every second, while a subscriber efficiently receives and prints the data.

publisher.rs

use core::time::Duration;
use iceoryx2::prelude::*;

const CYCLE_TIME: Duration = Duration::from_secs(1);

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let service_name = ServiceName::new("My/Funk/ServiceName")?;

    let service = zero_copy::Service::new(&service_name)
        .publish_subscribe()
        .open_or_create::<usize>()?;

    let publisher = service.publisher().create()?;

    while let Iox2Event::Tick = Iox2::wait(CYCLE_TIME) {
        let sample = publisher.loan_uninit()?;
        let sample = sample.write_payload(1234);
        publisher.send(sample)?;
    }

    Ok(())
}

subscriber.rs

use core::time::Duration;
use iceoryx2::prelude::*;

const CYCLE_TIME: Duration = Duration::from_secs(1);

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let service_name = ServiceName::new("My/Funk/ServiceName")?;

    let service = zero_copy::Service::new(&service_name)
        .publish_subscribe()
        .open_or_create::<usize>()?;

    let subscriber = service.subscriber().create()?;

    while let Iox2Event::Tick = Iox2::wait(CYCLE_TIME) {
        while let Some(sample) = subscriber.receive()? {
            println!("received: {:?}", *sample);
        }
    }

    Ok(())
}

This example is a simplified version of the publish-subscribe example. You can execute it by opening two terminals and calling:

Terminal 1:

cargo run --example publish_subscribe_publisher

Terminal 2:

cargo run --example publish_subscribe_subscriber

Events

This minimal example showcases an event notification between two processes.

notifier.rs

use core::time::Duration;
use iceoryx2::prelude::*;

const CYCLE_TIME: Duration = Duration::from_secs(1);

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let event_name = ServiceName::new("MyEventName")?;

    let event = zero_copy::Service::new(&event_name)
        .event()
        .open_or_create()?;

    let notifier = event.notifier().create()?;

    let mut counter: u64 = 0;
    while let Iox2Event::Tick = Iox2::wait(CYCLE_TIME) {
        counter += 1;
        notifier.notify_with_custom_event_id(EventId::new(counter))?;

        println!("Trigger event with id {} ...", counter);
    }

    Ok(())
}

listener.rs

use core::time::Duration;
use iceoryx2::prelude::*;

const CYCLE_TIME: Duration = Duration::from_secs(1);

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let event_name = ServiceName::new("MyEventName")?;

    let event = zero_copy::Service::new(&event_name)
        .event()
        .open_or_create()?;

    let mut listener = event.listener().create()?;

    while let Iox2Event::Tick = Iox2::wait(Duration::ZERO) {
        if let Ok(events) = listener.timed_wait(CYCLE_TIME) {
            for event_id in events {
                println!("event was triggered with id: {:?}", event_id);
            }
        }
    }

    Ok(())
}

This example is a simplified version of the event example. You can execute it by opening two terminals and calling:

Terminal 1:

cargo run --example event_notifier

Terminal 2:

cargo run --example event_listener

Custom Configuration

It is possible to configure default quality of service settings, paths and file suffixes in a custom configuration file. For more details visit the configuration directory.

Supported Platforms

The support levels can be adjusted when required.

Operating System	State	Current Support Level	Target Support Level
Android	planned	-	tier 1
FreeBSD	done	tier 2	tier 1
FreeRTOS	planned	-	tier 2
iOS	planned	-	tier 2
Linux (x86_64)	done	tier 2	tier 1
Linux (aarch64)	done	tier 2	tier 1
Linux (32-bit)	in-progress	tier 3	tier 1
Mac OS	in-progress	tier 3	tier 2
QNX	planned	-	tier 1
WatchOS	planned	-	tier 2
Windows	done	tier 2	tier 2

• tier 1 - All safety and security features are working.
• tier 2 - Works with a restricted security and safety feature set.
• tier 3 - Work in progress. Might compile and run or not.

Language Bindings

Language	State
C / C++	planned
Lua	planned
Python	planned
Zig	planned

Thanks To All Contributors

Christian »elfenpiff« Eltzschig

Mathias »elBoberido« Kraus