- Introduction
- Performance
- Getting Started
- Supported Platforms
- Language Bindings
- Thanks To All Contributors
Welcome to Iceoryx2, the efficient, and ultra-low latency inter-process communication middleware. This library is designed to provide you with fast and reliable zero-copy and lock-free inter-process communication mechanisms.
Iceoryx2 is all about providing a seamless experience for inter-process communication, featuring versatile messaging patterns. Whether you're diving into publish-subscribe, events, or the promise of upcoming features like request-response, pipelines, and blackboard, Iceoryx2 has you covered.
One of the features of Iceoryx2 is its consistently low transmission latency regardless of payload size, ensuring a predictable and reliable communication experience.
Iceoryx2's origins can be traced back to iceoryx. By overcoming past technical debts and refining the architecture, Iceoryx2 enables the modularity we've always desired.
In the near future, Iceoryx2 is poised to support at least the same feature set and platforms as iceoryx, ensuring a seamless transition and offering enhanced capabilities for your inter-process communication needs. So, if you're looking for lightning-fast, cross-platform communication that doesn't compromise on performance or modularity, Iceoryx2 is your answer.
gantt
title Latency (in ns) - 64b payload
dateFormat X
axisFormat %s
section iceoryx2
240 : 0, 240
section iceoryx
1000 : 0, 1000
section MQueue
700 : 0, 700
section UDS
1500 : 0, 1500
gantt
title Latency (in ns) - 64kb payload
dateFormat X
axisFormat %s
section iceoryx2
240 : 0, 240
section iceoryx
1000 : 0, 1000
section MQueue
14000 : 0, 14000
section UDS
23000 : 0, 23000
Benchmark-System
- CPU: Intel(R) Core(TM) i7-10875H CPU @ 2.30GHz
- OS: Linux 6.5.9-arch2-1 #1 SMP PREEMPT_DYNAMIC GNU/Linux
- Compiler:
- rustc 1.72.1
- gcc 13.2.1 20230801
This minimal example showcases a publisher sending the number 1234 every second, while a subscriber efficiently receives and prints the data.
publisher.rs
use core::time::Duration;
use iceoryx2::prelude::*;
const CYCLE_TIME: Duration = Duration::from_secs(1);
fn main() -> Result<(), Box<dyn std::error::Error>> {
let service_name = ServiceName::new("My/Funk/ServiceName")?;
let service = zero_copy::Service::new(&service_name)
.publish_subscribe()
.open_or_create::<usize>()?;
let publisher = service.publisher().create()?;
while let Iox2Event::Tick = Iox2::wait(CYCLE_TIME) {
let sample = publisher.loan_uninit()?;
let sample = sample.write_payload(1234);
publisher.send(sample)?;
}
Ok(())
}subscriber.rs
use core::time::Duration;
use iceoryx2::prelude::*;
const CYCLE_TIME: Duration = Duration::from_secs(1);
fn main() -> Result<(), Box<dyn std::error::Error>> {
let service_name = ServiceName::new("My/Funk/ServiceName")?;
let service = zero_copy::Service::new(&service_name)
.publish_subscribe()
.open_or_create::<usize>()?;
let subscriber = service.subscriber().create()?;
while let Iox2Event::Tick = Iox2::wait(CYCLE_TIME) {
while let Some(sample) = subscriber.receive()? {
println!("received: {:?}", *sample);
}
}
Ok(())
}This example is a simplified version of the publish-subscribe example. You can execute it by opening two terminals and calling:
Terminal 1:
cargo run --example publish_subscribe_publisherTerminal 2:
cargo run --example publish_subscribe_subscriberThis minimal example showcases an event notification between two processes.
notifier.rs
use core::time::Duration;
use iceoryx2::prelude::*;
const CYCLE_TIME: Duration = Duration::from_secs(1);
fn main() -> Result<(), Box<dyn std::error::Error>> {
let event_name = ServiceName::new("MyEventName")?;
let event = zero_copy::Service::new(&event_name)
.event()
.open_or_create()?;
let notifier = event.notifier().create()?;
let mut counter: u64 = 0;
while let Iox2Event::Tick = Iox2::wait(CYCLE_TIME) {
counter += 1;
notifier.notify_with_custom_event_id(EventId::new(counter))?;
println!("Trigger event with id {} ...", counter);
}
Ok(())
}listener.rs
use core::time::Duration;
use iceoryx2::prelude::*;
const CYCLE_TIME: Duration = Duration::from_secs(1);
fn main() -> Result<(), Box<dyn std::error::Error>> {
let event_name = ServiceName::new("MyEventName")?;
let event = zero_copy::Service::new(&event_name)
.event()
.open_or_create()?;
let mut listener = event.listener().create()?;
while let Iox2Event::Tick = Iox2::wait(Duration::ZERO) {
if let Ok(events) = listener.timed_wait(CYCLE_TIME) {
for event_id in events {
println!("event was triggered with id: {:?}", event_id);
}
}
}
Ok(())
}This example is a simplified version of the event example. You can execute it by opening two terminals and calling:
Terminal 1:
cargo run --example event_notifierTerminal 2:
cargo run --example event_listenerIt is possible to configure default quality of service settings, paths and file suffixes in a custom configuration file. For more details visit the configuration directory.
The support levels can be adjusted when required.
| Operating System | State | Current Support Level | Target Support Level |
|---|---|---|---|
| Android | planned | - | tier 1 |
| FreeBSD | done | tier 2 | tier 1 |
| FreeRTOS | planned | - | tier 2 |
| iOS | planned | - | tier 2 |
| Linux (x86_64) | done | tier 2 | tier 1 |
| Linux (aarch64) | done | tier 2 | tier 1 |
| Linux (32-bit) | in-progress | tier 3 | tier 1 |
| Mac OS | in-progress | tier 3 | tier 2 |
| QNX | planned | - | tier 1 |
| WatchOS | planned | - | tier 2 |
| Windows | done | tier 2 | tier 2 |
- tier 1 - All safety and security features are working.
- tier 2 - Works with a restricted security and safety feature set.
- tier 3 - Work in progress. Might compile and run or not.
| Language | State |
|---|---|
| C / C++ | planned |
| Lua | planned |
| Python | planned |
| Zig | planned |
 Christian »elfenpiff« Eltzschig |
 Mathias »elBoberido« Kraus |