Let's say I have a car with different sensors: several cameras, LIDAR and so on, the data from this sensors are going to be send to some host over 5G network (omnetpp + inet + simu5g). For video it is like 5000 packets 1400 bytes each, for lidar 7500 packets 1240 bytes and so on. Each flow is encoded in UDP packets.
So in omnetpp module in handleMessage method I have two sentTo calls, each is scheduled "as soon as possible", i.e., with no delay - that corresponds to the idea of multiple parallel streaming. How does omnetpp handle situations, when it needs to send two different packets at the same time from the same module to the same module (some client, which receives sensor data streams)? Does it create some inner buffer on the sender or receiver side, therefore allowing really only one packet sending per handleMessage call or is it wrong? I want to optimize data transmission and play with packet sizes and maybe with sending intervals, so I want to know, how omnetpp handles multiple streaming at the same time, because if it actually buffers, maybe than it makes sense to form a single package from multiple streams, each such package will consist of a certain amount of data from each stream.
There is some confusion here that needs to be clarified first:
OMNeT++ is a discrete event simulator framework. An OMNeT++ model contains modules that communicate with each other, using OMNeT++ API calls like sendTo() and handleMessage(). Any call of the sendTo() method just queues the provided message into the future event queue (an internal, time ordered queue). So if you send more than one packet in a single handleMessage() method, they will be queued in that order. The packets will be delivered one by one to the requested destination modules when the requested simulation time is reached. So you can send as many packets as you wish and those packets will be delivered one by one to the destination's handleMessage() method. But beware! Even if the different packets will be delivered one by one sequentially in the program's logic, they can still be delivered simultaneously considering the simulation time. There are two time concepts here: real-time that describes the execution order of the code and simulation-time which describes the time passes from the point of the simulated system. That's why, while OMNeT++ is a single threaded application that runs each events sequentially it still can simulate infinite number of parallel running systems.
BUT:
You are not modeling directly with OMNeT++ modules, but rather using INET Framework which is a model directly created to simulate internet protocols and networks. INET's core entity is a node which is something that has network interface(s) (and queues belonging to them). Transmission between nodes are properly modeled and only a single packet can travel on an ethernet line at a time. Other packets must queue in the network interface queue and wait for an opportunity to be delivered from there.
This is actually the core of the problem for Time Sensitive Networks: given a lot of pre-defined data streams in a network, how the various packets interfere and affect each other and how they change the delay and jitter statistics of various streams at the destination, Plus, how you can configure the source and network gate scheduling to achieve some desired upper bounds on those statistics.
The INET master branch (to be released as INET 4.4) contains a lot TSN code, so I highly recommend to try to use it if you want to model in vehicle networks.
If you are not interested in the in-vehicle communication, bit rather want to stream some data over 5G, then TSN is not your interest, but you should NOT start to multiplex/demultiplex data streams at application level. The communication layers below your UDP application will fragment/defragment and queue the packets exactly how it is done in the real world. You will not gain anything by doing mux/demux at application layer.
Related
I've read many stack overflow questions similar to this, but I don't think any of the answers really satisfied my curiosity. I have an example below which I would like to get some clarification.
Suppose the client is blocking on socket.recv(1024):
socket.recv(1024)
print("Received")
Also, suppose I have a server sending 600 bytes to the client. Let us assume that these 600 bytes are broken into 4 small packets (of 150 bytes each) and sent over the network. Now suppose the packets reach the client at different timings with a difference of 0.0001 seconds (eg. one packet arrives at 12.00.0001pm and another packet arrives at 12.00.0002pm, and so on..).
How does socket.recv(1024) decide when to return execution to the program and allow the print() function to execute? Does it return execution immediately after receiving the 1st packet of 150 bytes? Or does it wait for some arbitrary amount of time (eg. 1 second, for which by then all packets would have arrived)? If so, how long is this "arbitrary amount of time"? Who determines it?
Well, that will depend on many things, including the OS and the speed of the network interface. For a 100 gigabit interface, the 100us is "forever," but for a 10 mbit interface, you can't even transmit the packets that fast. So I won't pay too much attention to the exact timing you specified.
Back in the day when TCP was being designed, networks were slow and CPUs were weak. Among the flags in the TCP header is the "Push" flag to signal that the payload should be immediately delivered to the application. So if we hop into the Waybak
machine the answer would have been something like it depends on whether or not the PSH flag is set in the packets. However, there is generally no user space API to control whether or not the flag is set. Generally what would happen is that for a single write that gets broken into several packets, the final packet would have the PSH flag set. So the answer for a slow network and weakling CPU might be that if it was a single write, the application would likely receive the 600 bytes. You might then think that using four separate writes would result in four separate reads of 150 bytes, but after the introduction of Nagle's algorithm the data from the second to fourth writes might well be sent in a single packet unless Nagle's algorithm was disabled with the TCP_NODELAY socket option, since Nagle's algorithm will wait for the ACK of the first packet before sending anything less than a full frame.
If we return from our trip in the Waybak machine to the modern age where 100 Gigabit interfaces and 24 core machines are common, our problems are very different and you will have a hard time finding an explicit check for the PSH flag being set in the Linux kernel. What is driving the design of the receive side is that networks are getting way faster while the packet size/MTU has been largely fixed and CPU speed is flatlining but cores are abundant. Reducing per packet overhead (including hardware interrupts) and distributing the packets efficiently across multiple cores is imperative. At the same time it is imperative to get the data from that 100+ Gigabit firehose up to the application ASAP. One hundred microseconds of data on such a nic is a considerable amount of data to be holding onto for no reason.
I think one of the reasons that there are so many questions of the form "What the heck does receive do?" is that it can be difficult to wrap your head around what is a thoroughly asynchronous process, wheres the send side has a more familiar control flow where it is much easier to trace the flow of packets to the NIC and where we are in full control of when a packet will be sent. On the receive side packets just arrive when they want to.
Let's assume that a TCP connection has been set up and is idle, there is no missing or unacknowledged data, the reader is blocked on recv, and the reader is running a fresh version of the Linux kernel. And then a writer writes 150 bytes to the socket and the 150 bytes gets transmitted in a single packet. On arrival at the NIC, the packet will be copied by DMA into a ring buffer, and, if interrupts are enabled, it will raise a hardware interrupt to let the driver know there is fresh data in the ring buffer. The driver, which desires to return from the hardware interrupt in as few cycles as possible, disables hardware interrupts, starts a soft IRQ poll loop if necessary, and returns from the interrupt. Incoming data from the NIC will now be processed in the poll loop until there is no more data to be read from the NIC, at which point it will re-enable the hardware interrupt. The general purpose of this design is to reduce the hardware interrupt rate from a high speed NIC.
Now here is where things get a little weird, especially if you have been looking at nice clean diagrams of the OSI model where higher levels of the stack fit cleanly on top of each other. Oh no, my friend, the real world is far more complicated than that. That NIC that you might have been thinking of as a straightforward layer 2 device, for example, knows how to direct packets from the same TCP flow to the same CPU/ring buffer. It also knows how to coalesce adjacent TCP packets into larger packets (although this capability is not used by Linux and is instead done in software). If you have ever looked at a network capture and seen a jumbo frame and scratched your head because you sure thought the MTU was 1500, this is because this processing is at such a low level it occurs before netfilter can get its hands on the packet. This packet coalescing is part of a capability known as receive offloading, and in particular lets assume that your NIC/driver has generic receive offload (GRO) enabled (which is not the only possible flavor of receive offloading), the purpose of which is to reduce the per packet overhead from your firehose NIC by reducing the number of packets that flow through the system.
So what happens next is that the poll loop keeps pulling packets off of the ring buffer (as long as more data is coming in) and handing it off to GRO to consolidate if it can, and then it gets handed off to the protocol layer. As best I know, the Linux TCP/IP stack is just trying to get the data up to the application as quickly as it can, so I think your question boils down to "Will GRO do any consolidation on my 4 packets, and are there any knobs I can turn that affect this?"
Well, the first thing you can do is disable any form of receive offloading (e.g. via ethtool), which I think should get you 4 reads of 150 bytes for 4 packets arriving like this in order, but I'm prepared to be told I have overlooked another reason why the Linux TCP/IP stack won't send such data straight to the application if the application is blocked on a read as in your example.
The other knob you have if GRO is enabled is GRO_FLUSH_TIMEOUT which is a per NIC timeout in nanoseconds which can be (and I think defaults to) 0. If it is 0, I think your packets may get consolidated (there are many details here including the value of MAX_GRO_SKBS) if they arrive while the soft IRQ poll loop for the NIC is still active, which in turn depends on many things unrelated to your four packets in your TCP flow. If non-zero, they may get consolidated if they arrive within GRO_FLUSH_TIMEOUT nanoseconds, though to be honest I don't know if this interval could span more than one instantiation of a poll loop for the NIC.
There is a nice writeup on the Linux kernel receive side here which can help guide you through the implementation.
A normal blocking receive on a TCP connection returns as soon as there is at least one byte to return to the caller. If the caller would like to receive more bytes, they can simply call the receive function again.
I'm building a client/server-type subsystem in a control system application using UDP Send/Receive blocks in Simulink. Data x is sent to the server via UDPSend block which is then processed at the server that returns output y.
Currently, I've both the client (a Simulink model) and the server (processing logic return in Java) resides in the localhost. Therefore, the packet exchanges essentially take near-zero time. I'd like to introduce network delay such that the packet exchanges take a varying amount of time (say due to changes in bandwidth availability), effectively simulating a scenario where the server node is located in a different geographical location.
Could someone guide me on how to achieve this? Thanks.
As a general (Simulink-independent) solution in a Windows environment, you should have a look at following tool, which "makes your network condition significantly worse, but in a managed and interactive manner."
I am writing an GUI application which receives UDP packets from a FPGA board of 4Gb data continuously (application is a data retrieval system).
I created my own class inherited from CAyncSocket and on receive message I am reading packets through ReceiveFrom API and writing data to file.
As packets are sent continuously from FPGA (about 400k packets of 1KB data) my application is missing the packets. I am receiving only 200k packets. but when I am monitoring with Wireshark all packets are received.
Can anyone suggest any technique or algorithm to solve this problem, so that I can receive large number of UDP packets without loss.
The first thing to understand and accept is that you cannot guarantee that no UDP packets will be dropped. It is part of the nature of the UDP transport layer that any step in the transmission is allowed to drop a UDP packet for any reason, and that this is something that will happen from time to time. In your case, it sounds like the Windows networking stack is dropping the incoming UDP packets after receiving them from the network card, probably because the incoming-UDP-packets buffer associated with your socket is too full and does not have room to store them. This could happen for example if your write-to-disk calls occasionally take a number of milliseconds to return, during which time your app is unable to read more data from the UDP socket.
That said, there are a few things you can do to make the dropping of packets somewhat less likely.
The first (and easiest) thing to do is to increase the size of your socket's incoming-packets-buffer, using setsockopt(SO_RCVBUF). This helps because the larger the buffer is, the more time your program will have to read packets out of the buffer before the networking stack fills the buffer up entirely and starts dropping packets because it has no place to put them.
If that isn't sufficient for your purposes, the other thing you can do is spawn a separate thread that does nothing but receive incoming UDP packets and add them to a queue (for another thread to process later). Because this thread does nothing else besides receive UDP packets, it will be able to respond quickly when new packets have arrived, and thus the incoming-sockets-buffer will be less likely to ever fill up and overflow. You'll probably want to run this thread at a high priority if possible, so that there is less chance of it being held off of the CPU in the case where other threads or programs are competing for CPU time.
If you've implemented both of the above and the rate of packet loss still isn't acceptable, then you may have to step back and re-evaluate your approach. This might include switching from UDP protocol to TCP, or rewriting your code as an in-kernel driver, or switching to a real-time OS that can make better guarantees about response times.
I am trying to simulate a mesh network in matlab. The intermediate nodes and destination need to maintain a receiver buffer so that whenever a packet arrives from a source, it is stored in the buffer and can be used for further operations. I am using a main file and the source, intermediate and destination nodes are functions. Since functions are called everytime a new packet arrives, how and where can I maintain a individual or combined buffer for reception? The packets cant be treated on a first come first served basis but need to be collectively buffered.Please ask if I haven't explained the problem correctly.
What's the difference between sockets (stream) vs sockets (datagrams)? Why use one over the other?
A long time ago I read a great analogy for explaining the difference between the two. I don't remember where I read it so unfortunately I can't credit the author for the idea, but I've also added a lot of my own knowledge to the core analogy anyway. So here goes:
A stream socket is like a phone call -- one side places the call, the other answers, you say hello to each other (SYN/ACK in TCP), and then you exchange information. Once you are done, you say goodbye (FIN/ACK in TCP). If one side doesn't hear a goodbye, they will usually call the other back since this is an unexpected event; usually the client will reconnect to the server. There is a guarantee that data will not arrive in a different order than you sent it, and there is a reasonable guarantee that data will not be damaged.
A datagram socket is like passing a note in class. Consider the case where you are not directly next to the person you are passing the note to; the note will travel from person to person. It may not reach its destination, and it may be modified by the time it gets there. If you pass two notes to the same person, they may arrive in an order you didn't intend, since the route the notes take through the classroom may not be the same, one person might not pass a note as fast as another, etc.
So you use a stream socket when having information in order and intact is important. File transfer protocols are a good example here. You don't want to download some file with its contents randomly shuffled around and damaged!
You'd use a datagram socket when order is less important than timely delivery (think VoIP or game protocols), when you don't want the higher overhead of a stream (this is why DNS is primarily a datagram protocol, so that servers can respond to many, many requests at once very quickly), or when you don't care too much if the data ever reaches its destination.
To expand on the VoIP/game case, such protocols include their own data-ordering mechanism. But if one packet is damaged or lost, you don't want to wait on the stream protocol (usually TCP) to issue a re-send request -- you need to recover quickly. TCP can take up to some number of minutes to recover, and for realtime protocols like gaming or VoIP even three seconds may be unacceptable! Using a datagram protocol like UDP allows the software to recover from such an event extremely quickly, by simply ignoring the lost data or re-requesting it sooner than TCP would.
VoIP is a good candidate for simply ignoring the lost data -- one party would just hear a short gap, similar to what happens when talking to someone on a cell phone when they have poor reception. Gaming protocols are often a little more complex, but the actions taken will usually be to either ignore the missing data (if subsequently-received data supercedes the data that was lost), re-request the missing data, or request a complete state update to ensure that the client's state is in sync with the server's.
Stream Socket:
Dedicated & end-to-end channel between server and client.
Use TCP protocol for data transmission.
Reliable and Lossless.
Data sent/received in the similar order.
Long time for recovering lost/mistaken data
Datagram Socket:
Not dedicated & end-to-end channel between server and client.
Use UDP for data transmission.
Not 100% reliable and may lose data.
Data sent/received order might not be the same.
Don't care or rapid recovering lost/mistaken data.
If it is the network programming I think starting from sockets would be a good start.
socket = ip + port
there are three types of sockets
stream (TCP, order and delivery guaranteed,no duplication,no length or char boundaries for data,connection-oriented,reliable, concurrency)
datagram(UDP,packet-based, connectionless, datagram size limit, data can be lost or duplicated, order not guaranteed,not reliable)
raw (direct access to lower layer protocols IP,ICMP)
I do not see any strict rule for transport protocol type as to what socket has to use what transport protocol and reliability should not be mistaken because UDP is realiable in case both ends are active.
Reliability refers to more like reliability of delivery since there are sequence number checks by using TCP as transport protocol which do not exist in UDP.It is better using network protocol analyzer like wireshark tcpdump etc to see what your software is exactly doing; kind of verification or merging theory on the paper with your work in action.