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by jeffreygoesto
794 days ago
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Thank you very much for this excellent explanation! I am one of the fathers of IceOryx and it's predecessor. We had to lift component based embedded development to Posix systems and are very latency and memory bandwidth sensitive (driver assistance and automated driving on what most people would call small SoCs). There it is easier to enforce the senders and receivers to use the same struct. What you did with the shm arena and sharing std containers is outright amazing and indeed relaxes the "self contained" constraint nicely. On QNX (up to 7) we were bitten by each syscall going through procnto, that is why we have chosen lockfree over mq btw. Being aware of the use case and choosing the right tradeoff is crucial, as you wrote. |
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