OFI libfabric原理及应用解析

OFI libfabric原理及应用解析_第1张图片

Agenda 目录/议题

  • 编译通信软件
  • 硬件和软件带来的挑战
  • 为什么需要libfabric
  • libfabric架构
  • API分组
  • socket应用 VS libfabric应用区别
  • GPU数据传输示例

OFI libfabric原理及应用解析_第2张图片

编译通信软件

OFI libfabric原理及应用解析_第3张图片

  • 可靠面向连接的TCP和无连接的数据报UDP协议
  • 高性能计算HPC或人工智能AI

OFI libfabric原理及应用解析_第4张图片

软硬件复杂性带来的挑战

OFI libfabric原理及应用解析_第5张图片

  • 上千个节点的集群, 不同的网络类型(以太网, IB, 光纤等), 熊猫博士提到的CPU/GPU/XPU/IPU等等
  • xelink, nvlink, gpu
  • 软件库, 如nccl,intel mpi等
  • 所以咱们需要一个通用的通信库来桥接这些复杂的软硬件资源

libfabric来解决上面的问题

OFI libfabric原理及应用解析_第6张图片

  • 统一API, 让程序员更轻松
  • 高性能和高可扩展性
  • 核心组件: 众多网卡提供者的库, 核心服务, 测试程序等

为什么需要libfabric

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  • 承上启下, 桥接底层复杂多样的网络(socket, rdma, gpu, 共享内存等)和上层MPI, CCL, 共享内存等应用

socket编程与libfabric编程对比

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  • 语义类似, 如获取信息, bind, connect等, 但是libfabric底层支持多种网络类型

支持GPU通信

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  • gpu通信示例, 支持intel gpu, dpu, 或者其他供应商

架构与四种服务

OFI libfabric原理及应用解析_第10张图片

  • 控制类: 发现底层设备, 属性, 能力等
  • 通信接口: 建立连接, 初始资源等
  • 数据传输: 发送和接收数据
  • 完成服务: 报告发送或接收状态

libfabric API分组

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  • 整合底层提供者和上层开发者使用统一的API编程, 就像熊猫博士说的那样, 方便了提供者更方便的提供插件, 也方便了上层应用开发者

tcp socket 代码截图

OFI libfabric原理及应用解析_第12张图片

socket收发数据示例

OFI libfabric原理及应用解析_第13张图片

server端启动:./example_socket客户端连接和发送:./example_socket 192.168.5.6Hello server this is client.

example_socket.c 源码

#include 
#include 
#include 
#include 

char *dst_addr = NULL;

int main(int argc, char *argv[])
{
    int socket_desc, client_sock, client_size;
    struct sockaddr_in server_addr, client_addr;
    char server_message[2000], client_message[2000];

    dst_addr = inet_addr(argv[1]);
    
    // Clean buffers:
    memset(server_message, '\0', sizeof(server_message));
    memset(client_message, '\0', sizeof(client_message));
    
    // Create socket:
    socket_desc = socket(AF_INET, SOCK_STREAM, 0);
    
    if(socket_desc < 0){
        printf("Error while creating socket\n");
        return -1;
    }
    printf("Socket created successfully\n");
    
    // Set port and IP:
    server_addr.sin_family = AF_INET;
    server_addr.sin_port = "43192";
    server_addr.sin_addr.s_addr = inet_addr("127.0.0.1");
    if (!dst_addr) {
    	// Bind to the set port and IP:
    	if(bind(socket_desc, (struct sockaddr*)&server_addr, sizeof(server_addr))<0){
    		printf("Couldn't bind to the port\n");
    		return -1;
    	}
    	printf("Binding complete\n");
    
    	// Listen for clients:
    	if(listen(socket_desc, 1) < 0){
        	printf("Error while listening\n");
        	return -1;
    	}
    	printf("Listening for incoming connections...\n");
    
    	// Accept an incoming connection:
    	client_size = sizeof(client_addr);
    	client_sock = accept(socket_desc, (struct sockaddr*)&client_addr, &client_size);
    
    	if (client_sock < 0){
        	printf("Can't accept\n");
        	return -1;
    	}
    	printf("Client connected at IP: %s and port: %i\n", inet_ntoa(client_addr.sin_addr), ntohs(client_addr.sin_port));
    
    	// Receive client's message:
    	if (recv(client_sock, client_message, sizeof(client_message), 0) < 0){
        	printf("Couldn't receive\n");
        	return -1;
    	}
    	printf("Msg from client: %s\n", client_message);
    
    	// Respond to client:
    	strcpy(server_message, "This is the server's message.");
    
    	if (send(client_sock, server_message, strlen(server_message), 0) < 0){
        	printf("Can't send\n");
        	return -1;
    	}
    }
    
    if (dst_addr) {
       // Send connection request to server:
       if(connect(socket_desc, (struct sockaddr*)&server_addr, sizeof(server_addr)) < 0){
	       printf("Unable to connect\n");
	       return -1;
       }
       printf("Connected with server successfully\n");

       // Get input from the user:
       printf("Enter message: ");
       gets(client_message);

       // Send the message to server:
       if(send(socket_desc, client_message, strlen(client_message), 0) < 0){
	       printf("Unable to send message\n");
	       return -1;
       }

       // Receive the server's response:
       if(recv(socket_desc, server_message, sizeof(server_message), 0) < 0){
	       printf("Error while receiving server's msg\n");
	       return -1;
       }
       printf("Server's response: %s\n",server_message);
    }
    
    // Close the client socket:
    close(client_sock);
    // Closing the server socket:
    close(socket_desc);

    return 0;
}

libfabric收发数据示例截图

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服务端启动: ./example_msg客户端连接发送数据: ./example_msg 192.168.5.6
客户端连接发送数据: ./example_msg 192.168.5.6

参考代码

https://github.com/ssbandjl/libfabric/blob/main/fabtests/functional/example_msg.c
/*
 *
 * This software is available to you under the BSD license
 * below:
 *
 *     Redistribution and use in source and binary forms, with or
 *     without modification, are permitted provided that the following
 *     conditions are met:
 *
 *      - Redistributions of source code must retain the above
 *        copyright notice, this list of conditions and the following
 *        disclaimer.
 *
 *      - Redistributions in binary form must reproduce the above
 *        copyright notice, this list of conditions and the following
 *        disclaimer in the documentation and/or other materials
 *        provided with the distribution.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
 * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
 * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 

//Build with
//gcc -o example_msg example_msg.c -L -I -lfabric
//gcc -o example_msg example_msg.c -L/home/xb/project/libfabric/libfabric/build/lib -I/home/xb/project/libfabric/libfabric/build/include -I/home/xb/project/libfabric/libfabric/build/include -lfabric

#define BUF_SIZE 64

char *dst_addr = NULL;
char *port = "9228";
struct fi_info *hints, *info, *fi_pep;
struct fid_fabric *fabric = NULL;
struct fid_domain *domain = NULL;
struct fid_ep *ep = NULL;
struct fid_pep *pep = NULL;
struct fid_cq *cq = NULL;
struct fid_eq *eq = NULL;
struct fi_cq_attr cq_attr = {0};
struct fi_eq_attr eq_attr = {
	.wait_obj = FI_WAIT_UNSPEC
};
//const struct sockaddr_in *sin;
char str_addr[INET_ADDRSTRLEN];
int ret;
char buffer[BUF_SIZE];
fi_addr_t fi_addr = FI_ADDR_UNSPEC;
struct fi_eq_cm_entry entry;
uint32_t event;
ssize_t rd;

/* Initializes all basic OFI resources to allow for a server/client to exchange a message */
static int start_client(void)
{

	ret = fi_getinfo(FI_VERSION(1,9), dst_addr, port, dst_addr ? 0 : FI_SOURCE,
			hints, &info);
	if (ret) {
	        printf("fi_getinfo: %d\n", ret);
	        return ret;
	}

	ret = fi_fabric(info->fabric_attr, &fabric, NULL);
	if (ret) {
		printf("fi_fabric: %d\n", ret);
        	return ret;
	}

	ret = fi_eq_open(fabric, &eq_attr, &eq, NULL);
	if (ret) {
	        printf("fi_eq_open: %d\n", ret);
	        return ret;
	}

	ret = fi_domain(fabric, info, &domain, NULL);
	if (ret) {
        	printf("fi_domain: %d\n", ret);
        	return ret;
        }

	/* Initialize our completion queue. Completion queues are used to report events associated
	 * with data transfers. In this example, we use one CQ that tracks sends and receives, but
	 * often times there will be separate CQs for sends and receives.
	 */
	cq_attr.size = 128;
	cq_attr.format = FI_CQ_FORMAT_MSG;
	ret = fi_cq_open(domain, &cq_attr, &cq, NULL);
	if (ret) {
		printf("fi_cq_open error (%d)\n", ret);
		return ret;
	}

	/* Bind our CQ to our endpoint to track any sends and receives that come in or out on that endpoint.
	 * A CQ can be bound to multiple endpoints but one EP can only have one send CQ and one receive CQ
	 * (which can be the same CQ).
	 */

	ret = fi_endpoint(domain, info, &ep, NULL);
	if (ret) {
	        printf("fi_endpoint: %d\n", ret);
	        return ret;
	}

	ret = fi_ep_bind(ep, &cq->fid, FI_SEND | FI_RECV);
        if (ret) {
            printf("fi_ep_bind cq error (%d)\n", ret);
            return ret;
        }

	ret = fi_ep_bind((ep), &(eq)->fid, 0);
	if (ret) {
		printf("fi_ep_bind: %d\n", ret);
		return ret;
	}

	ret = fi_enable(ep);
        if (ret) {
		printf("fi_enable: %d\n", ret);
	        return ret;
	}

	ret = fi_connect(ep, info->dest_addr, NULL, 0);
	if (ret) {
 	        printf("fi_connect: %d\n", ret);
 	        return ret;
	}

    rd = fi_eq_sread(eq, &event, &entry, sizeof(entry), -1, 0);
    if (rd != sizeof(entry)) {
        ret = (int) rd;
        printf("fi_eq_sread: %d\n", ret);
        return ret;
	}

	return 0;
}

static int start_server(void)
{
	const struct sockaddr_in *sin;

	/* The first OFI call to happen for initialization is fi_getinfo which queries libfabric
	 * and returns any appropriate providers that fulfill the hints requirements. Any applicable
	 * providers will be returned as a list of fi_info structs (&info). Any info can be selected.
	 * In this test we select the first fi_info struct. Assuming all hints were set appropriately,
	 * the first fi_info should be most appropriate.
	 * The flag FI_SOURCE is set for the server to indicate that the address/port refer to source
	 * information. This is not set for the client because the fields refer to the server, not
	 * the caller (client). */
	/* 初始化时发生的第一个 OFI 调用是 fi_getinfo,它查询 libfabric 并返回满足提示要求的任何适当的提供程序。 任何适用的提供程序都将作为 fi_info 结构 (&info) 列表返回。 可以选择任何信息。 在此测试中,我们选择第一个 fi_info 结构。 假设所有提示均已正确设置,第一个 fi_info 应该是最合适的。 为服务器设置标志FI_SOURCE以指示地址/端口引用源信息。 这不是为客户端设置的,因为这些字段引用服务器,而不是调用者(客户端) */
	ret = fi_getinfo(FI_VERSION(1,9), dst_addr, port, dst_addr ? 0 : FI_SOURCE,
			 		hints, &fi_pep);
	if (ret) {
		printf("fi_getinfo error (%d)\n", ret);
		return ret;
	}

	/* Initialize our fabric. The fabric network represents a collection of hardware and software
	 * resources that access a single physical or virtual network. All network ports on a system
	 * that can communicate with each other through their attached networks belong to the same fabric.
	 */
	ret = fi_fabric(fi_pep->fabric_attr, &fabric, NULL); // 打开fabric, 初始化任何资源前需要打开fabric
	if (ret) {
		printf("fi_fabric error (%d)\n", ret);
		return ret;
	}

	/* Initialize our endpoint. Endpoints are transport level communication portals which are used to
	 * initiate and drive communication. There are three main types of endpoints:
	 * FI_EP_MSG - connected, reliable
	 * FI_EP_RDM - unconnected, reliable
	 * FI_EP_DGRAM - unconnected, unreliable
	 * The type of endpoint will be requested in hints/fi_getinfo. Different providers support different
	 * types of endpoints. TCP supports only FI_EP_MSG but when used with RxM, can support FI_EP_RDM.
	 * In this application, we requested TCP and FI_EP_MSG.
	 */

    ret = fi_eq_open(fabric, &eq_attr, &eq, NULL); // 打开事件队列EQ, 一般用于建连, 收发数据产生的事件
    if (ret) {
            printf("fi_eq_open: %d\n", ret);
            return ret;
    }

    ret = fi_passive_ep(fabric, fi_pep, &pep, NULL); // 打开被动端点, 常用与服务端监听端口, 支持多个客户端domain连接进来
    if (ret) {
        printf("fi_passive_ep: %d\n", ret);
        return ret;
    }

    ret = fi_pep_bind(pep, &eq->fid, 0); // 为端点绑定事件队列
    if (ret) {
        printf("fi_pep_bind %d", ret);
        return ret;
    }

    ret = fi_listen(pep); // 监听端点, 等待客户端连接请求
    if (ret) {
        printf("fi_listen %d", ret);
        return ret;
    }

	return 0;
}

static int complete_connection(void)
{

	rd = fi_eq_sread(eq, &event, &entry, sizeof(entry), -1, 0); // 等待读取客户端触发的服务端事件, 读取事件, 推动进展(驱动程序运转)
    if (rd != sizeof entry) {
	ret = (int) rd;
            printf("fi_eq_sread: %d", ret);
		if (ret)
			goto err;
    }

	ret = fi_domain(fabric, info, &domain, NULL); // domain域用于将资源分组, 可基于域来做管理
	if (ret) {
		printf("fi_domain: %d\n", ret);
	        return ret;
        }

	ret = fi_domain_bind(domain, &eq->fid, 0);
	if (ret) {
	        printf("fi_domain_bind: %d\n", ret);
	        return ret;
	}

	/* 
	 * Initialize our completion queue. Completion queues are used to report events associated
         * with data transfers. In this example, we use one CQ that tracks sends and receives, but
         * often times there will be separate CQs for sends and receives.
	 */
    cq_attr.size = 128;
    cq_attr.format = FI_CQ_FORMAT_MSG;
    ret = fi_cq_open(domain, &cq_attr, &cq, NULL);
    if (ret) {
        printf("fi_cq_open error (%d)\n", ret);
        return ret;
    }

    /* Bind our CQ to our endpoint to track any sends and receives that 
	 * come in or out on that endpoint. A CQ can be bound to multiple
	 * endpoints but one EP can only have one send CQ and one receive CQ
     * (which can be the same CQ).
	*/

	ret = fi_endpoint(domain, info, &ep, NULL); // 用于客户端, 主动端点, 发起建连
        if (ret) {
                printf("fi_endpoint: %d\n", ret);
                return ret;
        }

	ret = fi_ep_bind(ep, &cq->fid, FI_SEND | FI_RECV);
        if (ret) {
                printf("fi_ep_bind cq error (%d)\n", ret);
                return ret;
        }

	ret = fi_ep_bind((ep), &(eq)->fid, 0);
        if (ret) {
                printf("fi_ep_bind: %d\n", ret);
                return ret;
        }

	ret = fi_enable(ep);
        if (ret) {
			printf("fi_enable: %d", ret);
            return ret;
		}

	ret = fi_accept(ep, NULL, 0);
	if (ret) {
	        printf("fi_accept: %d\n", ret);
	        return ret;
	}

	rd = fi_eq_sread(eq, &event, &entry, sizeof(entry), -1, 0);
	if (rd != sizeof(entry)) {
		ret = (int) rd;
		printf("fi_eq_read: %d\n", ret);
		return ret;
	}
    return 0;

err:
    if (info)
    	fi_reject(pep, info->handle, NULL, 0);
    return ret;

}

static void cleanup(void)
{
	int ret;
	
	/* All OFI resources are cleaned up using the same fi_close(fid) call. */
	if (ep) {
		ret = fi_close(&ep->fid);
		if (ret)
			printf("warning: error closing EP (%d)\n", ret);
	}
	if (pep) {
		ret = fi_close(&pep->fid);
		if (ret)
			printf("warning: error closing PEP (%d)\n", ret);
	}

	ret = fi_close(&cq->fid);
	if (ret)
		printf("warning: error closing CQ (%d)\n", ret);
	
	ret = fi_close(&domain->fid);
	if (ret)
		printf("warning: error closing domain (%d)\n", ret);

	ret = fi_close(&eq->fid);
        if (ret)
            printf("warning: error closing EQ (%d)\n", ret);

	ret = fi_close(&fabric->fid);
        if (ret)
            printf("warning: error closing fabric (%d)\n", ret);

	if (info)
		fi_freeinfo(info);

	if (fi_pep)
        fi_freeinfo(fi_pep);
}

/* Post a receive buffer. This call does not ensure a message has been received, just
 * that a buffer has been passed to OFI for the next message the provider receives.
 * Receives may be directed or undirected using the address parameter. Here, we
 * pass in the fi_addr but note that the server has not inserted the client's
 * address into its AV, so the address is still FI_ADDR_UNSPEC, indicating that
 * this buffer may receive incoming data from any address. An application may
 * set this to a real fi_addr if the buffer should only receive data from a certain
 * peer.
 * When posting a buffer, if the provider is not ready to process messages (because
 * of connection initialization for example), it may return -FI_EAGAIN. This does
 * not indicate an error, but rather that the application should try again later.
 * This is why we almost always wrap sends and receives in a do/while. Some providers
 * may need the application to drive progress in order to get out of the -FI_EAGAIN
 * loop. To drive progress, the application needs to call fi_cq_read (not necessarily
 * reading any completion entries).
 */
static int post_recv(void)
{
	int ret;

	do {
		ret = fi_recv(ep, buffer, BUF_SIZE, NULL, fi_addr, NULL);
		if (ret && ret != -FI_EAGAIN) {
			printf("error posting recv buffer (%d\n", ret);
			return ret;
		}
		if (ret == -FI_EAGAIN)
			(void) fi_cq_read(cq, NULL, 0);
	} while (ret);

	return 0;
}

/* Post a send buffer. This call does not ensure a message has been sent, just that
 * a buffer has been submitted to OFI to be sent. Unlike a receive buffer, a send
 * needs a valid fi_addr as input to tell the provider where to send the message.
 * Similar to the receive buffer posting porcess, when posting a send buffer, if the
 * provider is not ready to process messages, it may return -FI_EAGAIN. This does not
 * indicate an error, but rather that the application should try again later. Just like
 * the receive, we drive progress with fi_cq_read if this is the case.
 */
static int post_send(void)
{
	char *msg = "Hello, server! I am the client you've been waiting for!\0";
	int ret;

	(void) snprintf(buffer, BUF_SIZE, "%s", msg);

	do {
		ret = fi_send(ep, buffer, BUF_SIZE, NULL, fi_addr, NULL);
		if (ret && ret != -FI_EAGAIN) {
			printf("error posting send buffer (%d)\n", ret);
			return ret;
		}
		if (ret == -FI_EAGAIN)
			(void) fi_cq_read(cq, NULL, 0);
	} while (ret);

	return 0;
}

/* Wait for the message to be sent/received using the CQ. fi_cq_read not only drives progress
 * but also returns any completed events to notify the application that it can reuse
 * the send/recv buffer. The returned completion entry will have fields set to let the application
 * know what operation completed. Not all fields will be valid. The fields set will be indicated
 * by the cq format (when creating the CQ). In this example, we use FI_CQ_FORMAT_MSG in order to
 * use the flags field.
 */
static int wait_cq(void)
{
	struct fi_cq_err_entry comp;
	int ret;

	do {
		ret = fi_cq_read(cq, &comp, 1);
		if (ret < 0 && ret != -FI_EAGAIN) {
			printf("error reading cq (%d)\n", ret);
			return ret;
		}
	} while (ret != 1);

	if (comp.flags & FI_RECV)
		printf("I received a message!\n");
	else if (comp.flags & FI_SEND)
		printf("My message got sent!\n");

	return 0;
}

static int run(void)
{
	int ret;

	if (dst_addr) {
		printf("Client: send to server %s\n", dst_addr);

		ret = post_send();
		if (ret)
			return ret;

		ret = wait_cq();
		if (ret)
			return ret;

	} else {
		printf("Server: post buffer and wait for message from client\n");

		ret = post_recv();
		if (ret)
			return ret;

		ret = wait_cq();
		if (ret)
			return ret;

		printf("This is the message I received: %s\n", buffer);
	}
	return 1;
}

int main(int argc, char **argv)
{
	int ret;

	/* Hints are used to request support for specific features from a provider */
	hints = fi_allocinfo(); // 
	if (!hints)
		return EXIT_FAILURE;

	/* Server run with no args, client has server's address as an argument */
	dst_addr = argv[1];


//Set anything in hints that the application needs

	/* Request FI_EP_MSG (reliable datagram) endpoint which will allow us
	 * to reliably send messages to peers without having to listen/connect/accept. */
	hints->ep_attr->type = FI_EP_MSG; // 可靠数据报端点, 类似socket, 但无须执行listen/connect/accept

	/* Request basic messaging capabilities from the provider (no tag matching,
	 * no RMA, no atomic operations) */
	hints->caps = FI_MSG;

	/* Specifically request the tcp provider for the simple test */
	// hints->fabric_attr->prov_name = "tcp"; // 类似socket的, 面向连接的消息类型端点
 	hints->fabric_attr->prov_name = "ofi_rxm;verbs";

	/* Specifically request SOCKADDR_IN address format to simplify addressing for test */
	hints->addr_format = FI_SOCKADDR_IN;

	/* Default to FI_DELIVERY_COMPLETE which will make sure completions do not get generated
	 * until our message arrives at the destination. Otherwise, the client might get a completion
	 * and exit before the server receives the message. This is to make the test simpler */
	/* 默认为 FI_DELIVERY_COMPLETE,这将确保在我们的消息到达目的地之前不会生成完成(等待)。 否则,客户端可能会在服务器收到消息之前完成并退出。 这是为了让测试更简单 */
	hints->tx_attr->op_flags = FI_DELIVERY_COMPLETE;

//Done setting hints

	if (!dst_addr) {
		ret = start_server();
		if (ret) {
			goto out;
			return ret;
		}
	}

	ret = dst_addr ? start_client() : complete_connection();
	if (ret) {
		goto out;
		return ret;
	}

	ret = run();
out:
	cleanup();
	return ret;
}

OFI libfabric原理及应用解析_第15张图片

socket vs libfabric消息类型示意图(两者都可完成建连和消息收发)

OFI libfabric原理及应用解析_第16张图片

GPU数据传输示例

左边是内存直接访问DMA ibv verbs示例, 右边是DMA libfabric统一API的语义的示例

OFI libfabric原理及应用解析_第17张图片

OFI libfabric原理及应用解析_第18张图片

verbs
服务端: ./rdmabw-xe -m host
客户端: ./rdmabw-xe -m host -S 1 -t write 192.168.5.6  #都是用主机内存, 完成1字节的远程内存写操作

主机对主机GPU libfabric 内存直接访问DMA示例

OFI libfabric原理及应用解析_第19张图片

libfabric, host -> host DMA
服务端: ./fi-rdmabw-xe -m host
客户端: ./fi-rdmabw-xe -m host -S 1 -t write 192.168.5.6  #都是用主机内存, 完成1字节的远程内存写操作
verbs 代码相对位置: fabtests/component/dmabuf-rdma/rdmabw-xe.c

主机发给GPU设备 内存直接访问DMA libfabric示例

OFI libfabric原理及应用解析_第20张图片

libfabric GPU设备 -> host
服务端: ./fi-rdmabw-xe -m device #使用GPU设备的内存
客户端: ./fi-rdmabw-xe -m host -S 1 -t write 192.168.5.6  #用主机内存, 完成1字节的远程内存写操作
libfabric 代码相对位置: fabtests/component/dmabuf-rdma/fi-rdmabw-xe.c

OFI libfabric原理及应用解析_第21张图片

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