lockfree is a collection of lock-free data structures written in standard C++11 and suitable for all platforms - from deeply embedded to HPC.
Lock-free data structures are data structures that are thread and interrupt safe for concurrent use without having to use mutual exclusion mechanisms. They are most useful for inter process communication, and often scale much better than lock-based structures with the number of operations and threads.
- Written in standard C++11, compatible with all platforms supporting it
- All data structures are thread and interrupt safe in their respective usecases
- No dynamic allocation
- Optimized for high performance
- MIT Licensed
- Additional APIs for newer C++ versions
- Queue - Best for single element operations, extremely fast, simple API consisting of only 2 methods.
- Ring Buffer - A more general data structure with the ability to handle multiple elements at a time, uses standard library copies making it very fast for bulk operations.
- Bipartite Buffer - A variation of the ring buffer with the ability to always provide linear space in the buffer, enables in-buffer processing.
- Priority Queue - A Variation of the queue with the ability to provide different priorities for elements, very useful for things like signals, events and communication packets.
These data structures are more performant and should generally be used whenever there is only one thread/interrupt pushing data and another one retrieving it.
- Queue - Best for single element operations, extremely fast, simple API consisting of only 2 methods.
- Priority Queue - A Variation of the queue with the ability to provide different priorities for elements, very useful for things like signals, events and communication packets.
These data structures are more general, supporting multiple producers and consumers at the same time, however they have storage and performance overhead compared to single producer single consumer data structures. They also require atomic instructions which can be missing from some low-end microcontrollers.
There are three main ways to get the library:
- Using CMake FetchContent()
- As a git submodule
- By downloading a release from GitHub
lockfree uses cacheline alignment for indexes to avoid the False Sharing phenomenom by default, avoiding the performance loss of cacheline invalidation on cache coherent systems. This aligns the indexes to LOCKFREE_CACHELINE_LENGTH, 64 by default.
On embedded systems, LOCKFREE_CACHE_COHERENT should almost always be set as false to avoid wasting memory.
Additionally, some systems have a non-typical cacheline length (for instance the apple M1/M2 CPUs have a cacheline length of 128 bytes), and LOCKFREE_CACHELINE_LENGTH should be set accordingly in those cases.
The biggest reason you would want to use a lockfree data structure in such a scenario would be performance. Locking has a non-neglegible runtime cost on hosted systems as every lock requires a syscall.
Additional benefits would be performance from cache locality as lockfree data structures are array-based or code portability to non-POSIX environments.
While locking usually isn't expensive on embedded systems such as microcontrollers, there is a wide variety of RTOS-es and no standardized API for locking. The fact that multiple architectures are present from 8051 to RISC-V means that architecture-specific locking methods are not standardized either.
lockfree provides a way to build portable embedded code with a neglegible performance cost as opposed to locking, code using lockfree can be compiled to run on any embedded platform supporting C++11. Additionally, the code can easily be tested on a host machine without the need for mocking.
- Type safety, as data structures are type and size templated
- Much simpler and less error-prone instantiation
- Higher performance due to compile-time known size and header-only implementation
- Encapsulation, the data buffer is a class member instead of being passed by a pointer
All structures in lockfree are bounded, array-based and lockfree, spsc data structures are also waitfree and termination safe.
For more insight into lock-free programming, take a look at:
- This brilliant talk series from Herb Sutter
- Live Lock-Free or Deadlock talk series from Fedor Pikus
- Dmitry Vyukov's excellent blog