Comments (2)
geohot
commented on August 16, 2024
2
ZMQ puts the data through the kernel, making multiple copies. msgq doesn't, and uses shared memory between the processes. That's the major difference.
It's less about throughput and more about CPU usage.
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Grabber
commented on August 16, 2024
At what resolution the frames (or raw data) are going over the pub/sub? I found msgq very interesting because years ago I have implemented a pub/sub with ZMQ but I was sending frames at 320x240 or (320x240x3*byte) and at that time I couldn't realize any impact on the CPU.
Have you tested it with 1 pub and dozen of subs to analyze how it scales?
Thank you so much, congrats for the 3!
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Related Issues (20)
- Track average frequency in SubMaster
- OpenCL stuff deprecated: first deprecated in macOS 10.14 HOT 1
- Set ZeroMQ snd/rcv watermark and linger? HOT 1
- msgq: Investigate using condition variables instead of signals
- Make msgq work on MacOS
- Compressed data ended before the end-of-stream marker was reached " error HOT 1
- Generate type stubs from .capnp files
- can visionipc support multiple clients?
- VisionIPC doesn't work for remote ip address HOT 1
- bridge: only republish services that have subscribers HOT 1
- Add tests around bridge
- msgq: optimize queue size
- msgq: readers-writers problem regarding process concurrency.
- zmq: support openpilot prefix
- Cannot build on macOS due to eventfd HOT 2
- Merge python and c++ SubMaster implementations HOT 1
- Make msgq a real Python package HOT 1
- Code coverage analysis in CI
- Tests for low level messaging functions
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