Overview

Virtual DDS layer on top of real DDS (FastDDS, RTI DDS) with much more efficient intra-process pubsub.

Key features

Here is short summary of key vDDS features

• Minimal overhead
  • No additional threads
  • No dynamic allocations for plain data types (up to 240 bytes)
  • Lock-free queues per subscriber
• Simple, efficient support for ref-counted data/buffers
  • Easy to share HW-optimized (GPU, DMA, etc) buffers
• Simple clean API
  • Simple data types
  • Type safe wrappers for pub/sub operations
  • Simple pub/sub registration during object construction
• Configurable queue depth per-subscriber
  • This helps with minimizing memory footprint (most topics and subscribers need very shallow queues)
  • And allows for allocating large queues as needed in case the subscriber is a low-priority background thread
• Flexible wait/notify mechanism
  • Polling or CV based notification
  • Shared notifiers (multiple sub-queues can share condition-variable)
• High perf logging of all key operations
  • Detailed trace of when data published, etc
  • Logs are mixed (hogl) with the user app logs (easy to trace all events)
  • Trace format is compatible with hogl-trace tool that generates Chrome Trace Files

Build dependencies

vDDS requires the following components to build

• CMake (3.15 or later)
• Compiler with C++14 support
• HOGL logging library (3.0 or later)
• Boost libary (1.59.0 or later)

CMakeList includes necessary checks for all requirements.

Build procedure

Install dependencies and run

mkdir build && cd build
cmake -DCMAKE_CXX_FLAGS="-O3 -Wall -g -std=c++14" ..
cmake -j
ctest -j

License

SPDX-License-Identifier: BSD-3-Clause

See LICENSE for the full license text.