OVERVIEW
========
This package benchmarks latency for several IPC and networking
mechanisms.

BENCHMARKED MECHANISMS
======================
* POSIX Pipes
* POSIX Message Queues
* TCP Sockets
* UDP Sockets
* Local Domain Stream Sockets
* Local Domain Datagram Sockets
* Ach: https://github.com/golems/ach
* LCM: https://code.google.com/p/lcm/
* CORBA/TAO: http://www.cs.wustl.edu/~schmidt/TAO.html
* ROS TCP/UDP: http://www.ros.org

USAGE
=====

Examples
--------
* Benchmark Ach at 1000 hertz for 60 seconds with 2 subscribers:
    ./ipcbench -f 1000 -t 60 -s 2 ach

* Benchmark CORBA COS:
    $TAO_ROOT/orbsvcs/Naming_Service/tao_cosnaming -m 1
    $TAO_ROOT/orbsvcs/CosEvent_Service/tao_cosevent
    ./ipcbench -f 1000 -t 60 -s 2 cos

* List available methods:
    ./ipcbench -l

* Benchmark ROS TCP:
    roscore
    ./ros/devel/lib/ipcbench/rosbench -f 1000 -t 60 tcp

* Benchmark ROS UDP:
    roscore
    ./ros/devel/lib/ipcbench/rosbench -f 1000 -t 60 tcp


Real-Time Priority
------------------
You may need to run as root to enable real-time priority.  Under
Linux, you can also edit `/etc/security/limits.conf` to permit regular
users or groups to run with real-time priority:

    gpburdell         -       memlock         51200
    gpburdell         -       rtprio          80


BUILD REQUIREMENTS
==================

    ./configure && make

POSIX IPC
---------
No special action is necessary.  These should be available on all
systems.

Ach/LCM
-------
No special action is necessary.  If the headers for Ach and LCM are
detected by the ./configure script, support for benchmarking these
methods will automatically be included.

ACE/TAO
-------
If ACE and TAO are not installed to the system directories (e.g.,
/usr/{lib,include}), you may need to set the ACE_ROOT environment
variable.  The ./configure script will check this variable and add the
appropriate subdirectories to the library and include
paths.

ROS
---
Due to ROS's unusual build system, the ROS benchmarks are entirely
separate from rest.  The ./ros subdirectory contains a ROS package for
the ROS benchmarks.

    cd ./ros && cmake . && make