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@haixuanTao
haixuanTao committed Apr 11, 2024
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Expand Up @@ -52,12 +52,49 @@ dora-rs can show impressive performance, up to 17x faster compared to current st

> See: https://github.com/dora-rs/dora-benchmark/tree/main for reproduction.
## Dataflow Paradignm
## Dataflow Paradigm

dora-rs implements a declarative dataflow paradigm where tasks are split between nodes isolated as individual processes.

dora-rs implements a dataflow paradigm where tasks are split between nodes isolated as individual processes.
Each node defines its inputs and outputs to connect with other nodes.

```yaml
nodes:
- id: webcam
custom:
source: webcam.py
inputs:
tick: dora/timer/millis/50
outputs:
- image

- id: object_detection
custom:
source: object_detection.py
inputs:
image: webcam/image
outputs:
- bbox

- id: plot
custom:
source: plot.py
inputs:
image: webcam/image
bbox: object_detection/bbox
```
Nodes can either be:
- custom nodes were dora-rs is embedded as a native libraries.
- runtime nodes were dora-rs takes care of the main loop and run user-defined operators. This make dora-rs featurefull as we can run features like `hot-reloading`.

The dataflow paradigm has the advantage of creating an abstraction layer that makes robotic applications modular and easily configurable.

<a href="https://dora.carsmos.ai/">
<img src="https://raw.githubusercontent.com/dora-rs/dora-rs.github.io/main/static/img/overview.svg" align="center" width="600">
</a>

## Communication

Communication between nodes is handled with shared memory on a same machine and TCP on distributed machines. Our shared memory implementation tracks messages across processes and discards them when obsolete. Shared memory slots are cached to avoid new memory allocation.
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## Support Matrix

| | dora-rs | Hoped for |
| --------------------------------- | --------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
| **Tier 1 Support** | Python, Rust | C, C++, ROS 2 |
| | dora-rs | Hoped for |
| --------------------------------- | --------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- |
| **Tier 1 Support** | Python, Rust | C, C++, ROS 2 |
| **Tier 2 Support** | C, C++, ROS2 |
| **Hot-reloading** | Python | Rust (https://github.com/orgs/dora-rs/discussions/360) |
| **Message Format** | Arrow | Native |
| **Local Communication** | Shared Memory | Custom Middleware, [zero-copy GPU IPC](https://arrow.apache.org/docs/python/api/cuda.html), intra-process channel communication |
| **Remote Communication** | TCP (See: https://github.com/dora-rs/dora/issues/459) | Custom Middleware, [Zenoh](https://zenoh.io/) |
| **Metrics, Tracing, and Logging** | Opentelemetry | Native logging libraries into Opentelemetry |
| **Hot-reloading** | Python | Rust (https://github.com/orgs/dora-rs/discussions/360) |
| **Message Format** | Arrow | Native |
| **Local Communication** | Shared Memory | Custom Middleware, [zero-copy GPU IPC](https://arrow.apache.org/docs/python/api/cuda.html), intra-process `tokio::channel` communication |
| **Remote Communication** | TCP (See: https://github.com/dora-rs/dora/issues/459) | Custom Middleware, [Zenoh](https://zenoh.io/) |
| **Metrics, Tracing, and Logging** | Opentelemetry | Native logging libraries into Opentelemetry |
| **Data archives** | Parquet ([dora-record](libraries/extensions/dora-record)) |
| **Visualization and annotation** | OpenCV | [rerun.io](rerun.io) |
| **Visualization and annotation** | OpenCV | [rerun.io](rerun.io) |
| **Supported Platforms (x86)** | Windows, macOS, Linux |
| **Supported Platforms (ARM)** | macOS, Linux |
| **Configuration** | YAML |
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