Wait Free Realtime Publisher

[bjin2364]

Background

RealtimePublisher class uses locking mechanisms to publish data in a separate thread, but given it follows a single-producer single-consumer paradigm, we can create a wait-free implementation using the LockFreeQueue data structure in this repo. This PR is an attempt to introduce this implementation.

Changes

• Adds a WaitFreeRealtimePublisher class, which compared to RealtimePublisher:
  • similarities:
    • spawns a separate thread for publishing messages
  • differences:
    • wait-free
    • background thread has configurable priority and CPU affinity (Linux only)
    • does not spawn publishing thread on construction
    • slightly different public API
• Introduces a benchmark script to compare WaitFreeRealtimePublisher to RealtimePublisher
  • consequently slightly changes RealtimePublisher to support benchmarking, and also adds publisher interface abstraction for benchmarks and test

Testing

• unit tests
• benchmark

Benchmark Results

Settings:

• linux machine with isolated cores 0,1. Publishing thread is pinned to core 1 while main thread is core 0
• disabled cpu scaling
• compiled with release mode

Example Results: wait-free publishing side is 2 orders of magnitude faster than RealtimePublisher on the producer-side. I'm still a bit confused by the publishing thread side: the other day I was also seeing an order of magnitude of messages that were published, so maybe this benchmark needs some tuning.

Running ./build/realtime_tools/realtime_publishers_benchmark
Run on (12 X 400 MHz CPU s)
CPU Caches:
  L1 Data 48 KiB (x6)
  L1 Instruction 32 KiB (x6)
  L2 Unified 1280 KiB (x6)
  L3 Unified 12288 KiB (x1)
Load Average: 0.62, 0.55, 0.60
----------------------------------------------------------------------------------------------
Benchmark                                    Time             CPU   Iterations UserCounters...
----------------------------------------------------------------------------------------------
BM_RealtimePublisher                      26.9 ns         17.0 ns     41174747 num_publishes=484.333k
BM_WaitFreeRealtimePublisher<1>/1        0.398 ns        0.398 ns   1000000000 num_publishes=7.508k
BM_WaitFreeRealtimePublisher<1>/5        0.397 ns        0.397 ns   1000000000 num_publishes=6.984k
BM_WaitFreeRealtimePublisher<1>/10       0.398 ns        0.398 ns   1000000000 num_publishes=6.399k
BM_WaitFreeRealtimePublisher<1>/50       0.396 ns        0.396 ns   1000000000 num_publishes=3.866k
BM_WaitFreeRealtimePublisher<2>/1        0.340 ns        0.340 ns   1000000000 num_publishes=12.859k
BM_WaitFreeRealtimePublisher<2>/5        0.340 ns        0.340 ns   1000000000 num_publishes=11.842k
BM_WaitFreeRealtimePublisher<2>/10       0.339 ns        0.339 ns   1000000000 num_publishes=10.871k
BM_WaitFreeRealtimePublisher<2>/50       0.337 ns        0.337 ns   1000000000 num_publishes=6.621k
BM_WaitFreeRealtimePublisher<5>/1        0.314 ns        0.314 ns   1000000000 num_publishes=37.859k
BM_WaitFreeRealtimePublisher<5>/5        0.313 ns        0.313 ns   1000000000 num_publishes=36.552k
BM_WaitFreeRealtimePublisher<5>/10       0.313 ns        0.313 ns   1000000000 num_publishes=33.087k
BM_WaitFreeRealtimePublisher<5>/50       0.312 ns        0.312 ns   1000000000 num_publishes=19.569k
BM_DefaultWaitFreeRealtimePublisher      0.340 ns        0.340 ns   1000000000 num_publishes=12.854k

Notes

• I'm not super familiar with copyright side, so just copy and pasted the same licensing as some other files in this repo.

[codecov-commenter]

Codecov Report

❌ Patch coverage is 65.68047% with 58 lines in your changes missing coverage. Please review.
✅ Project coverage is 82.84%. Comparing base (69bd9a3) to head (ad71860).

Files with missing lines	Patch %	Lines
..._tools/benchmark/realtime_publishers_benchmark.cpp	0.00%	27 Missing ⚠️
...de/realtime_tools/wait_free_realtime_publisher.hpp	54.54%	18 Missing and 7 partials ⚠️
realtime_tools/test/wait_free_publisher_test.cpp	92.77%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #461      +/-   ##
==========================================
- Coverage   85.25%   82.84%   -2.41%     
==========================================
  Files          17       21       +4     
  Lines        1397     1568     +171     
  Branches      132      150      +18     
==========================================
+ Hits         1191     1299     +108     
- Misses        120      173      +53     
- Partials       86       96      +10     

Flag	Coverage Δ
unittests	82.84% <65.68%> (-2.41%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ools/include/realtime_tools/realtime_publisher.hpp	78.26% <100.00%> (-11.99%)	⬇️
...clude/realtime_tools/utils/publisher_interface.hpp	100.00% <100.00%> (ø)
realtime_tools/test/wait_free_publisher_test.cpp	92.77% <92.77%> (ø)
...de/realtime_tools/wait_free_realtime_publisher.hpp	54.54% <54.54%> (ø)
..._tools/benchmark/realtime_publishers_benchmark.cpp	0.00% <0.00%> (ø)

... and 1 file with indirect coverage changes

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[christophfroehlich]

Is this ready for review? We can first discuss if the approach is fine, and then try to fix the backwards compatibility and windows build.