9.2. Throughput Benchmark

The throughput is measured between two identical machines using the throughput application available in the Connext DDS Micro example directory.

The test environment consists of:

  • 2 Raspberry Pi Model B+ with ARMv7 and 1 GB of memory
  • Linux 4.14
  • 1 Gbps network

Interpretation of the measurements:

  • Size - The size of the DDS sample payload (UDP overhead is not included)
  • Demand - How many samples of the given size is written in a burst before a short delay (10ms). For example, a demand of 110 means that 110 samples are written in a burst followed by a 10ms delay before 110 samples is written again. This burst-delay-burst cycle continues for 1s before a new round is started.
  • Samples - The number of samples written.
  • Samples/sec - The number of samples written per second.
  • Mbit/s - The bandwidth utilization for the payload based on Size and Samples/sec.
  • Samples Lost - On the subscriber size the number of samples received is counted against what is expected.
  • Samples Rejected - OLn the subscriber size the number of samples rejected by Connext DDS Micro is counted.
  • CPU - The CPU load reached during a test. Note that how the CPU load is measured varies between platforms and is an approximation.
  • Memory - The total amount of memory used during the test. This number should be constant as RTI Connext DDS Micro allocates all memory at creation time.

9.2.1. Publisher Throughput

Size Demand Samples Samples/sec Mbit/sec Samples lost Samples Rejected
16 10 33150 1657.33 0.212139 0 0
16 110 183370 9165.779775 1.17 0 0
16 210 257250 12859.12 1.65 0 0
16 310 210800 10528.63 1.35 0 0
32 10 33590 1679.19 0.43 0 0
32 110 204160 10203.62 2.61 0 0
32 210 241710 12079.59 3.10 0 0
32 310 269080 13450.27 3.44 0 0
64 10 34200 1709.68 0.88 0 0
64 110 203060 10149.83 5.20 0 0
64 210 254100 12699.31 6.5 0 0
64 310 208010 10399.80 5.32 0 0
128 10 33670 1683.31 1.72 0 0
128 110 184580 9228.79 9.4 0 0
128 210 232890 11641.43 11.92 0 0
128 310 214830 10728.35 10.99 0 0

9.2.2. Subscriber Throughput

Size Demand Samples Samples/sec Mbit/sec Samples lost Samples Rejected
16 10 33150 1657.23 0.21 0 0
16 110 183362 9167.67 1.17 8 0
16 210 33150 1657.23 0.21 0 0
16 310 33150 1657.23 0.21 0 0
32 10 33590 1679.00 0.21 0 0
32 110 204118 10202.81 1.17 8 0
32 210 240372 12010.05 0.21 0 0
32 310 266783 13338.10 0.21 0 0
64 10 34200 1710.48 0.88 0 0
64 110 202855 10139.21 5.19 205 0
64 210 251810 12585.23 6.44 2290 0
64 310 207959 10396.54 5.32 51 0
128 10 33670 1683.66 1.72 0 0
128 110 184410 9221.85 9.44 170 0
128 210 230254 11510.24 11.79 2636 0
128 310 213743 10675.63 10.93 108 0