CMake switches for configuring iceoryx_posh build🔗
When building iceoryx_posh, there are several configuration options set by default.
These options adjust the limits of Publisher and Subscriber Ports for resource management. These limits are used to create management structures in the shared memory segment called
iceoryx_mgmt when starting up RouDi.
||Maximum number of publishers which can be managed by one
||Maximum number of connected subscriber ports per publisher port|
||Maximum number of chunks available for the publisher history|
||Maximum number of chunks a publisher can allocate at a given time|
||Maximum number of subscribers which can be managed by one
||Maximum number of chunks a subscriber can hold at a given time (subscriber history size)|
||Maximum number of interface ports which are used for gateways|
Have a look at IceoryxPoshDeployment.cmake for the default values of the constants.
With the default values set, the size of
iceoryx_mgmt is ~64.5 MByte. You can reduce the size by decreasing the values from the table via the CMake options. The current values are printed in the CMake stage when building iceoryx.
cmake -Bbuild -Hiceoryx_meta -DIOX_MAX_CHUNKS_HELD_PER_SUBSCRIBER_SIMULTANEOUSLY=64
With that change, the footprint of the management segment is reduced to ~52.7 MBytes. For larger use cases you can increase the value to avoid that samples are dropped on the subscriber side (see also #615).
Configuring Mempools for RouDi🔗
RouDi supports several shared memory segments with different access rights, to limit the read and write access between different applications. Inside of these segments reside mempools where the user payload data for transfer is stored.
Actually only the chunk-payload size is configured and the size of the
ChunkHeader will be added to the configured size. If a user-header or a user-payload alignment larger than 8 is used, the available size for the user-payload will be smaller than the configured chunk-payload since some space is needed for the other functionality.
Please have a look at the
chunk_header.md design document for a formula how to determine the necessary chunk-payload size with user-header and extended user-payload alignment.
For building RouDi, iceoryx ships a library named
iceoryx_posh_roudi. This lib gives you an API for compiling your own RouDi application and is part of
The chunk size for the mempool needs to follow these restrictions:
- Chunksize needs to be greater than the alignment
- Chunksize needs to be a multiple of the alignment
The value for the alignment is set to 8.
One way is to read a configuration dynamically at RouDi runtime (startup). Using TOML Config in RouDi is not mandatory for configuring segments and mempools, but a comfortable alternative.
To enable the TOML config in iceoryx, the CMake option
-DTOML_CONFIG=ON must be used (enabled by default).
iox-roudi provided by iceoryx is with TOML support and can be used out of the box.
If you create your own RouDi application you need to link against
target_link_libraries(custom-roudi PRIVATE iceoryx_posh::iceoryx_posh_roudi iceoryx_posh::iceoryx_posh_config )
The TOML config file can be passed to RouDi with the
-c command-line option.
./iox-roudi -c /absolute/path/to/config/file.toml
This is a common config file with format version 1:
[general] version = 1 [[segment]] [[segment.mempool]] size = 32 count = 10000 [[segment.mempool]] size = 128 count = 10000 [[segment.mempool]] size = 1024 count = 1000
With this configuration, one payload segment will be created. The access rights are set to the RouDi group id. There are three mempools within this segment. One with 10000 chunks of 32 byte payload size, one with 10000 chunks of 128 bytes, and one with 1000 chunks of 1024 bytes.
To restrict the access, a reader and writer group can be set:
[general] version = 1 [[segment]] reader = "foo" writer = "bar" [[segment.mempool]] size = 32 count = 10000 [[segment.mempool]] size = 128 count = 10000 [[segment.mempool]] size = 1024 count = 1000
With this configuration, only applications from the
bar group have write access and can allocate chunks. Applications from the
foo group have only read access.
This is an example with multiple segments:
[general] version = 1 [[segment]] reader = "foo" writer = "bar" [[segment.mempool]] size = 32 count = 10000 [[segment]] reader = "alice" writer = "eve" [[segment.mempool]] size = 1024 count = 100
When no config file is specified, a hard-coded version similar to the default config will be used.
Another way is to have a static config that is compile-time dependent, this means that you have to recompile your RouDi application if you want to change your config (not the iceoryx_posh_roudi lib).
You can have your source file with
main() method where you can create your custom configuration and pass it to a RouDi instantiation.
In your CMake file for your custom RouDi you need to ensure that it is not linking against
iceoryx_posh_config to have a static config.
A good example of a static config can be found here.