Has anyone benchmarked Orocos Ports and EventPorts for speed?
We tried to do so on a Zotac ZBOX nettop with an Intel Atom processor,
running a PREEMPT_RT kernel, with the code posted here:
. We deploy 100 components, where each component passes a timestamp
(of type suseconds_t) to the next component's EventPort. We give each
component real-time priority from the command line with "chrt -pa 99
$PID", where $PID is the process ID of the deployer.
With this code, we determined that each port-to-port data transfer
takes about 17 microseconds.
Does this sound like a reasonable number?
Can the ConnPolicy, etc, be configured in any way to reduce the latency?
Dynamic Robotics Laboratory
Oregon State University