OpenDDS is a centerless, real-time transmission middleware that complies with the DDS1.4 specification of the OMG organization, and has interoperability with other manufacturers' DDS products, that is, mutual communication. In the test and production environment, it is often necessary to test the message delay to verify whether the DDS transmission performance meets the production needs:
1. In a hard real-time environment, test the DDS transmission delay between multiple devices
- First, a hardware real-time environment is required, including real-time operating systems (such as VxWorks, other real-time operating systems, etc.), clock servers (network clock servers or custom clock servers);
- Multiple devices are calibrated to the clock server respectively;
- Define idl, including srcTimeStamp, destTimeStamp or use DDS built-in time stamp raw data
- Write pub and sub applications
- Set the test duration such as 2 minutes or the number of messages 10000
- Record delay data such as max, min, average, etc., and count the maximum, minimum and average delays
- Obtain the average delay and jitter value
2. On the same machine, test the delay of DDS transmission in this device and on a single network card
- No need to consider any additional factors
- Define idl, including srcTimeStamp, destTimeStamp or use DDS built-in time stamp raw data
- Write pub and sub applications
- Set the test duration such as 2 minutes or the number of messages 10000
- Record delay data such as max, min, average, etc., and count the maximum, minimum and average delays
- Obtain the average delay and jitter value
3. On the same machine, test the delay of DDS transmission in this device and between different network cards
- Any device is sufficient, but requires a large number of CPU cores, at least 8 cores, and bind different CPU cores for pub and sub to avoid crossover;
- No need