Cyclone DDS Unleashed: The Origins
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This document discusses the history, standards, and evolution of the Data Distribution Service (DDS) and its implementation through Cyclone DDS, highlighting the importance of interoperability and community support. Key advancements include a new C++ API and enhancements that allow DDS to scale effectively while addressing integration and performance across various platforms. The authors emphasize the commitment to open-source development and the user-friendly experience of Cyclone DDS as a leading solution in the field.
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Data replication as a natural consequence
Primitives chosen for fail-stop tolerance and restarting
Expressive despite weak primitives
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Cyclone DDS Unleashed: The Origins
- 1. CEO / CTO ZettaScale Angelo Corsaro, PhD The Origins Head of Technology ZettaScale Erik Boasson Cyclone DDS Unleashed
- 2. Let’s do a Quiz
- 7. The Splice DDS was invented in Signaal by Maarten Boasson in 1984 — the second on the left in the picture E.W. Dijkstra Afternoon Meetings
- 8. The Splice Signaal’s Splice was its fi rst implementation
- 9. Patent The concepts underpinning DDS where patented in 1990
- 11. From JCP to OMG DDS was initially considered for standardisation within the JCP (Java Community Process) Due to a partial overlap with Jini — any of you recall that? — standardisation ended up at the OMG
- 12. DDS Standard Family DDS is now a family of 14 standards Not all of them have the same relevance as we’ll see…
- 13. Working @ OMG Co-chaired the OMG DDS SIG from 2003 to 2016 Worked hard to help making good standards — it wasn’t always easy/possible Worked hard to ensure portability / interoperability — unfortunately this is not so important to some vendors
- 14. Guardians Over the years we have tried to watch over the integrity of DDS We’ve not always succeeded, and as a result you need guidance when considering the use of available speci fi cations
- 15. The Key Standards These are the most important standards If vendors properly implement the C++/Java standard you’ll have portability DDSI provides interoperability for a few cases
- 16. Useful Additions X-Types is useful to enhance DDS with evolvable types DDS Security is useful in small scale systems
- 17. Avoid These RPC over DDS should be avoided because it worsens DDS’ discovery tra ffi c Web-Enabled DDS leverages obsolete technology DDS-XRCE is complex and ine ffi cient — far better alternatives exists
- 18. We’ve been there all along…
- 19. New C++ API We where the force behind the new DDS C++ API It took a pharaonic e ff ort to get it standardised We managed thanks to end-users asking other vendors to support SimD — the Open Source reference implementation we had built! Take Home Lesson — Don’t underestimate the power of Innovation and Open Source
- 20. Forefront of DDS Our team has always been innovating and the forefront of DDS We were the fi rst to show how to route DDS tra ffi c across the internet Take Home Lesson — To scale DDS you need to break its end-to-end semantics. Why not use on the WAN a protocol than can scale w/o contortionism
- 21. What’s Next?
- 22. DDS and Beyond Before spinning-o ff our team was operating as ADLINK’s Advanced Technology O ffi ce (ATO) There we had the luxury to start from scratch and leverage our experience to: - Build the best DDS yet - Invent a new protocol that address the cloud-to-microcontroller continuum and easily expand DDS systems to the wide-area and toward the microcosm
- 23. Built to be the best and most developer friendly DDS implementation A Pub/Sub/Query protocol unifying data in motion, data at rest and computations, that can span from the data-centre to the micro- controller
- 24. Working Together as One Zenoh routers can be used to transparently route Cyclone DDS tra ffi c Zenoh applications can transparently interoperate with Cyclone DDS applications anywhere on the network Cyclone DDS applications transparently leverage all Zenoh’s plugins for storage, web, messaging protocols, etc. Router Router Router Router Router Client Client Zenoh Peer Peer Peer Peer Peer Router Client Client Client Client Router Router DDS Client Peer Peer Peer Peer Peer Peer Peer Peer
- 25. Cyclone DDS
- 26. Most performing DDS implementation on the market Fastest growing DDS implementation for ROS2 based Robots Strong signals of adoptions in proprietary Robotic Stacks from several Unicorns Growing momentum in Automotive
- 27. Di ff erentiation OMG DDS standard compliance limits several dimensions of feature di ff erentiation. Thus our approach is: Welcoming and extremely supporting community Best developer experience, it simply works! Zero adoption barrier Best integration with Zenoh
- 28. Open Source For Real Eclipse IoT Project Open and transparent governance High standard release project, which includes IP & Patent checks
- 29. Back to the Basics
- 30. DDS introduction Eventually consistent shared data space Structured using typed topics with QoS, publishers and subscribers Targets low-latency and high- throughput for maximally decoupled processes DDS’ Global Data Space DDS Global Data Space ... Data Writer Data Writer Data Writer Data Reader Data Reader Data Reader Data Reader Data Writer TopicA QoS TopicB QoS TopicC QoS TopicD QoS
- 31. Eventual consistency Data replication as a natural consequence Primitives chosen for fail-stop tolerance and restarting Expressive despite weak primitives (e.g. Orzan, S.-M. (2001). Distributing requirements speci fi cations on basic splice. Software Engineering [SEN]. CWI)
- 32. Data model Careful modelling of application data into topics Mostly-independent development of components Relatively easy integration of these components Reuse of components in successive iterations of system DDS’ Global Data Space DDS Global Data Space ... Data Writer Data Writer Data Writer Data Reader Data Reader Data Reader Data Reader Data Writer TopicA QoS TopicB QoS TopicC QoS TopicD QoS Topic T y p e Name Q o S
- 33. Con fi gurability Variety of QoS settings - reliability, longevity of data - controlling storage of data - noti fi cations on loss of liveliness, not meeting data rates - (odds and ends) Can reduce to “ordinary” publish-subscribe messaging system - e.g. ROS 2 chooses to use it this way
- 34. How to Get it $ git clone https://github.com/eclipse- cyclonedds/cyclonedds.git optionally: $ git clone https://github.com/eclipse- cyclonedds/cyclonedds-cxx.git
- 35. Getting Started with Python $ pip install cyclonedds
- 36. Key Features
- 37. Available Now - DDS API in C, C++ and Python - All QoS, but Transient and Persistent Durability, Presentation - Support for X-Types - Support for DDS Security - Performance Benchmarking Tool - CLI and GUI-based Monitoring Tool
- 38. Coming Up - Transient and Persistent Durability - ISO 26262 ASIL-D Certi fi cation
- 39. Performance
- 40. Benchmarking Settings DDS: Latest version of Cyclone DDS Host: AMD Ryzen 5800X @ 4.0GHz, 32 GB of RAM OS: Ubuntu 20.04.3 LTS with Kernel 5.4.0-96-generic Network: 100Gb Ethernet (Mellanox ConnectX-6 Dx)
- 41. Latency
- 42. Throughput
- 43. Please, Measure The numbers you should trust are those that you get in your environment The numbers that really matters are those that you get with your application, not those out of a synthetic benchmark If you use a vendor tool, make sure you have access and carefully read the sources
- 44. Cyclone’s ddsperf Let’s see how to easily measure cyclone performances on your environment
- 45. Portability
- 46. Don’t Trust. Try it yourself One of the advantages of using DDS should be portability and interoperability Have you ever tried to port some code? You’ll learn a lot on vendors commitment when trying to run the same application across multiple vendors Cyclone is the reference, if you fi nd a deviation fi le a PR ;-)
- 48. Interoperability Works if you constrain your use of DDS to a subset: - No Transient or Persistent data - No module Names, no “auto- dispose” - No vendor extensions (some vendors make it hard to distinguish) - (Except for some vendors where you need some extensions to make it work)
- 49. Portability + Interoperability experiment - Eclipse Cyclone DDS C/C++ - ZettaScale OpenSplice DDS C++ (GitHub version) - OCI OpenDDS (classic) C++ - eProsima Fast-DDS (non-standard) C++ $ git clone https://github.com/eboasson/i11eperf
- 50. Final Thoughts
- 51. Working with Dedication We are working hard and openly to make Cyclone “The DDS implementation” The goal is simple, our dedication is wholehearted It is our dream, followed by action and held together by dedication
- 52. Patience, persistence and perspiration make an unbeatable combination for success. Thank You