Improve pipeline jitter

Cargo.toml

@@ -90,6 +90,7 @@ console-subscriber = "0.3.0"
 const_format = "0.2.30"
 crc = "3.0.1"
 criterion = "0.5"
+crossbeam-utils = "0.8.2"
 derive_more = "0.99.17"
 derive-new = "0.6.0"
 tracing-subscriber = { version = "0.3", features = ["json", "env-filter"] }

DEFAULT_CONFIG.json5

@@ -353,8 +353,6 @@
         /// Therefore, the maximum batch size is 2^16-1 (i.e. 65535).
         /// The default batch size value is the maximum batch size: 65535.
         batch_size: 65535,
-        /// Perform batching of messages if they are smaller of the batch_size
-        batching: true,
         /// Each zenoh link has a transmission queue that can be configured
         queue: {
           /// The size of each priority queue indicates the number of batches a given queue can contain.
@@ -380,9 +378,16 @@
             /// The maximum time in microseconds to wait for an available batch before dropping the message if still no batch is available.
             wait_before_drop: 1000,
           },
-          /// The initial exponential backoff time in nanoseconds to allow the batching to eventually progress.
-          /// Higher values lead to a more aggressive batching but it will introduce additional latency.
-          backoff: 100,
+          /// Perform batching of messages if they are smaller of the batch_size
+          batching: {
+            /// Perform adaptive batching of messages if they are smaller of the batch_size.
+            /// When the network is detected to not be fast enough to transmit every message individually, many small messages may be
+            /// batched together and sent all at once on the wire reducing the overall network overhead. This is typically of a high-throughput
+            /// scenario mainly composed of small messages. In other words, batching is activated by the network back-pressure.
+            enabled: true,
+            /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
+            time_limit: 1,
+          }
         },
       },
       /// Configure the zenoh RX parameters of a link

commons/zenoh-config/src/defaults.rs

@@ -191,17 +191,6 @@ impl Default for LinkTxConf {
             batch_size: BatchSize::MAX,
             queue: QueueConf::default(),
             threads: num,
-            batching: true,
-        }
-    }
-}
-
-impl Default for QueueConf {
-    fn default() -> Self {
-        Self {
-            size: QueueSizeConf::default(),
-            congestion_control: CongestionControlConf::default(),
-            backoff: 100,
         }
     }
 }
@@ -234,6 +223,15 @@ impl Default for CongestionControlConf {
     }
 }
 
+impl Default for BatchingConf {
+    fn default() -> Self {
+        BatchingConf {
+            enabled: true,
+            time_limit: 1,
+        }
+    }
+}
+
 impl Default for LinkRxConf {
     fn default() -> Self {
         Self {

commons/zenoh-config/src/lib.rs

@@ -407,9 +407,8 @@ validated_struct::validator! {
                     keep_alive: usize,
                     /// Zenoh's MTU equivalent (default: 2^16-1) (max: 2^16-1)
                     batch_size: BatchSize,
-                    /// Perform batching of messages if they are smaller of the batch_size
-                    batching: bool,
-                    pub queue: QueueConf {
+                    pub queue: #[derive(Default)]
+                    QueueConf {
                         /// The size of each priority queue indicates the number of batches a given queue can contain.
                         /// The amount of memory being allocated for each queue is then SIZE_XXX * BATCH_SIZE.
                         /// In the case of the transport link MTU being smaller than the ZN_BATCH_SIZE,
@@ -432,9 +431,15 @@ validated_struct::validator! {
                             /// The maximum time in microseconds to wait for an available batch before dropping the message if still no batch is available.
                             pub wait_before_drop: u64,
                         },
-                        /// The initial exponential backoff time in nanoseconds to allow the batching to eventually progress.
-                        /// Higher values lead to a more aggressive batching but it will introduce additional latency.
-                        backoff: u64,
+                        pub batching: BatchingConf {
+                            /// Perform adaptive batching of messages if they are smaller of the batch_size.
+                            /// When the network is detected to not be fast enough to transmit every message individually, many small messages may be
+                            /// batched together and sent all at once on the wire reducing the overall network overhead. This is typically of a high-throughput
+                            /// scenario mainly composed of small messages. In other words, batching is activated by the network back-pressure.
+                            enabled: bool,
+                            /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
+                            time_limit: u64,
+                        },
                     },
                     // Number of threads used for TX
                     threads: usize,

commons/zenoh-shm/src/header/storage.rs

@@ -25,7 +25,7 @@ use super::{
     segment::HeaderSegment,
 };
 
-#[dynamic(lazy,drop)]
+#[dynamic(lazy, drop)]
 pub static mut GLOBAL_HEADER_STORAGE: HeaderStorage = HeaderStorage::new(32768usize).unwrap();
 
 pub struct HeaderStorage {

commons/zenoh-shm/src/header/subscription.rs

@@ -24,9 +24,8 @@ use super::{
     segment::HeaderSegment,
 };
 
-#[dynamic(lazy,drop)]
-    pub static mut GLOBAL_HEADER_SUBSCRIPTION: Subscription = Subscription::new();
-
+#[dynamic(lazy, drop)]
+pub static mut GLOBAL_HEADER_SUBSCRIPTION: Subscription = Subscription::new();
 
 pub struct Subscription {
     linked_table: Mutex<BTreeMap<HeaderSegmentID, Arc<HeaderSegment>>>,

commons/zenoh-shm/src/watchdog/confirmator.rs

@@ -27,10 +27,9 @@ use super::{
     segment::Segment,
 };
 
-#[dynamic(lazy,drop)]
+#[dynamic(lazy, drop)]
 pub static mut GLOBAL_CONFIRMATOR: WatchdogConfirmator =
-        WatchdogConfirmator::new(Duration::from_millis(50));
-
+    WatchdogConfirmator::new(Duration::from_millis(50));
 
 pub struct ConfirmedDescriptor {
     pub owned: OwnedDescriptor,

commons/zenoh-shm/src/watchdog/storage.rs

@@ -21,7 +21,7 @@ use zenoh_result::{zerror, ZResult};
 
 use super::{allocated_watchdog::AllocatedWatchdog, descriptor::OwnedDescriptor, segment::Segment};
 
-#[dynamic(lazy,drop)]
+#[dynamic(lazy, drop)]
 pub static mut GLOBAL_STORAGE: WatchdogStorage = WatchdogStorage::new(32768usize).unwrap();
 
 pub struct WatchdogStorage {