US20130205038A1 - Lossless socket-based layer 4 transport (reliability) system for a converged ethernet network - Google Patents
Lossless socket-based layer 4 transport (reliability) system for a converged ethernet network Download PDFInfo
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- US20130205038A1 US20130205038A1 US13/366,640 US201213366640A US2013205038A1 US 20130205038 A1 US20130205038 A1 US 20130205038A1 US 201213366640 A US201213366640 A US 201213366640A US 2013205038 A1 US2013205038 A1 US 2013205038A1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/11—Identifying congestion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/19—Flow control; Congestion control at layers above the network layer
- H04L47/193—Flow control; Congestion control at layers above the network layer at the transport layer, e.g. TCP related
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/26—Flow control; Congestion control using explicit feedback to the source, e.g. choke packets
Definitions
- the invention relates to the field of computer networking, and, more particularly, to Ethernet networks.
- Converged Enhanced Ethernet (CEE) datacenters allow high link speeds and short delays while introducing lossless operation (and lossless traffic classes) by the means of link layer flow control (LL-FC, a.k.a. Priority Flow Control (PFC) in CEE) beyond the traditional lossy operation (lossy traffic classes).
- LL-FC link layer flow control
- PFC Priority Flow Control
- a reliability system for a Converged Enhanced Ethernet network may include a plurality of end points each comprising a layer 4 transport layer, where each end point is connected to a data center bridging (DCB) layer 2 network.
- the system may also include an adaptor between the layer 4 transport layer comprising one or more protocols, such as TCP, UDP, RCP, DCCP, XCP, etc., and the DCB layer 2 network to translate at least one of flow and congestion control feedback signals, provided by at least one of the DCB network and the transport layer, to consolidated feedback signals for controlling transmission by the transport layer.
- protocols such as TCP, UDP, RCP, DCCP, XCP, etc.
- the DCB layer 2 network may generate flow control signals according to a flow control protocol supporting multiple priorities, such as Priority Flow Control (PFC).
- the DCB layer 2 network may generate congestion control feedback signals according to a quantized congestion notification (QCN) protocol.
- PFC and QCN can be individually or simultaneously enabled in the DCB layer 2 network. If both PFC and QCN are enabled, either one or both may be independently used by any end point.
- the end point may be connected to the DCB layer 2 network through an end station, wherein the end station implements a quantized congestion notification (QCN) reaction point imposing rate limits based on a QCN protocol to limit network congestion in the DCB layer 2 network in response to receiving congestion control signals.
- QCN quantized congestion notification
- the network traffic generated by the transport layer may be carried on layer 2 with lossy operation, either by configuring the end station to steer the traffic to a lossy priority of a priority flow control (PFC) protocol, or by not using any PFC protocol.
- PFC priority flow control
- the network traffic generated by the transport layer may be carried on layer 2 with lossless operation, by configuring the end station to steer the traffic to a lossless priority of a priority flow control (PFC) protocol and by letting the end station react to layer 2 flow control messages generated by the adjacent switch.
- the network traffic generated by the transport layer may be carried on layer 2 with lossy operation, either by configuring the end station to steer the traffic to a lossy priority of a priority flow control (PFC) protocol, or by not using any PFC protocol.
- the network traffic generated by the transport layer may be carried on layer 2 with lossless operation, by configuring the end station to steer the traffic to a lossless priority of a priority flow control (PFC) protocol and by letting the end station react to layer 2 flow control messages generated by an adjacent switch.
- the adaptor may preprocess the flow and congestion control feedback signals into consolidated feedback signals, with the preprocessing including at least one of delaying, aggregating, filtering, replicating, enhancing and decimating the primary feedback signals.
- the layer 4 transport layer may be a Transmission Control Protocol (TCP), RCP, XCP, DCCP, UDP or any socket-based transport scheme, herein named TCP.
- TCP Transmission Control Protocol
- the interface may provide a reduced-rate consolidated feedback signal indicating congestion severity induced by a TCP flow, and in which the interface comprises a TCP congestion module for controlling TCP flow transmissions in response to the consolidated feedback signal.
- the consolidated feedback signal may comprise at least one of a TCP flow rate limit, a TCP flow buffer occupancy metric, and a TCP flow rate limit for processing TCP ACKs [if existent, as UDP doesn't employ ACK] or Explicit Congestion Notifications (ECN) and for controlling associated TCP transmissions.
- the congestion module adjusts a TCP flow congestion window and transmission schedule in response to the consolidated feedback signal.
- the method may include providing a plurality of end points each comprising a layer 4 transport layer, where each end point is connected to a data center bridging (DCB) layer 2 network.
- the method may also include positioning an adaptor between the layer 4 transport layer and the DCB layer 2 network to translate at least one of flow and congestion control feedback signals, provided by at least one of the DCB network and the transport layer, to consolidated feedback signals for controlling transmission by the transport layer.
- DCB data center bridging
- the method may further include generating flow control signals at the DCB layer 2 network according to a flow control protocol supporting multiple priorities, such as Priority Flow Control (PFC).
- the method may additionally include generating congestion control feedback signals at the DCB layer 2 network according to a quantized congestion notification (QCN) protocol.
- QCN quantized congestion notification
- the method may also include connecting the end point to the DCB layer 2 network through an end station, where the end station implements a quantized congestion notification (QCN) reaction point imposing rate limits based on a QCN protocol to limit network congestion in the DCB layer 2 network in response to receiving congestion control signals.
- QCN quantized congestion notification
- the method may further include carrying network traffic generated by the transport layer on layer 2 with lossy operation, either by configuring the end station to steer the traffic to a lossy priority of a priority flow control (PFC) protocol, or by not using any PFC protocol.
- PFC priority flow control
- the method may additionally include carrying the network traffic generated by the transport layer on layer 2 with lossless operation, by configuring the end station to steer the traffic to a lossless priority of a priority flow control (PFC) protocol and by letting the end station react to layer 2 flow control messages generated by an adjacent switch.
- PFC priority flow control
- switch we refer to any physical or virtual device that may be used for switching, bridging, steering, sorting, routing, forwarding, scheduling packets or Ethernet frames.
- the method may also include processing TCP ACKs and/or ECNs, and controlling associated TCP transmissions where the consolidated feedback signal comprises at least one of a TCP flow rate limit, a TCP flow buffer occupancy metric, and a TCP flow rate limit.
- the method may further include adjusting a TCP flow congestion window and transmission schedule in response to the consolidated feedback signal via the congestion module.
- the computer readable program codes may be configured to cause the program to provide a plurality of end points each comprising a layer 4 transport layer, where each end point is connected to a data center bridging (DCB) layer 2 network.
- the computer readable program codes may also position an adaptor between the layer 4 transport layer and the DCB layer 2 network to translate at least one of flow and congestion control feedback signals, provided by at least one of the DCB network and the transport layer, to consolidated feedback signals for controlling transmission by the transport layer.
- FIG. 1 is a block diagram illustrating a Converged Enhanced network in accordance with the invention.
- FIG. 2 is a flowchart illustrating method aspects according to the invention.
- FIG. 3 is a flowchart illustrating method aspects according to the method of FIG. 2 .
- FIG. 4 is a flowchart illustrating method aspects according to the method of FIG. 2 .
- FIG. 5 is a flowchart illustrating method aspects according to the method of FIG. 4 .
- FIG. 6 is a flowchart illustrating method aspects according to the method of FIG. 4 .
- FIG. 7 is a flowchart illustrating method aspects according to the method of FIG. 4 .
- FIG. 8 is a flowchart illustrating method aspects according to the method of FIG. 5 .
- FIG. 9 is a flowchart illustrating method aspects according to the method of FIG. 5 .
- FIG. 10 illustrates a prior art hotspot saturation tree in a 5-stage fat tree.
- FIG. 11 illustrates explicit congestion notification buffering size in the prior art.
- FIG. 12 is a block diagram illustrating an alternative Converged Enhanced network embodiment in accordance with the invention.
- the system 10 includes a plurality of end points 14 a - 14 n each comprising a layer 4 transport layer 16 a - 16 n , where each end point is connected to a data center bridging (DCB) layer 2 network 18 .
- the system 10 also includes an adaptor 20 between the layer 4 transport layer 16 a - 16 n and the DCB layer 2 network 18 to translate at least one of flow and congestion control feedback signals, provided by at least one of the DCB network and the transport layer, to consolidated feedback signals for controlling transmission by the transport layer.
- the DCB layer 2 network 18 generates flow control signals according to a flow control protocol supporting multiple priorities, such as Priority Flow Control (PFC) and/or the like. In another embodiment, the DCB layer 2 network 18 generates congestion control feedback signals according to a quantized congestion notification (QCN) protocol.
- PFC Priority Flow Control
- QCN quantized congestion notification
- the end point 14 a - 14 n is connected to the DCB layer 2 network 18 through an end station 22 , wherein the end station implements a quantized congestion notification (QCN) reaction point imposing rate limits based on a QCN protocol to limit network congestion in the DCB layer 2 network in response to receiving congestion control signals.
- QCN quantized congestion notification
- the network traffic generated by the transport layer 16 a - 16 n is carried on layer 2 18 with lossy operation, either by configuring the end station 22 to steer the traffic to a lossy priority of a priority flow control (PFC) protocol, or by not using any PFC protocol.
- PFC priority flow control
- the network traffic generated by the transport layer 16 a - 16 n is carried on layer 2 18 with lossless operation, by configuring the end station to steer the traffic to a lossless priority of a priority flow control (PFC) protocol and by letting the end station 22 react to layer 2 flow control messages generated by the adjacent switch 24 .
- the network traffic generated by the transport layer 16 a - 16 n is carried on layer 2 18 with lossy operation, either by configuring the end station 22 to steer the traffic to a lossy priority of a priority flow control (PFC) protocol, or by not using any PFC protocol.
- PFC priority flow control
- the network traffic generated by the transport layer 16 a - 16 n is carried on layer 2 18 with lossless operation, by configuring the end station 22 to steer the traffic to a lossless priority of a priority flow control (PFC) protocol and by letting the end station react to layer 2 flow control messages generated by an adjacent switch 24 .
- the adaptor 20 preprocess the flow and congestion control feedback signals into consolidated feedback signals, with the preprocessing including at least one of delaying, aggregating, filtering, replicating, enhancing and decimating the primary feedback signals.
- the layer 4 transport layer 16 a - 16 n is a Transmission Control Protocol (TCP) layer.
- the adaptor 20 provides a reduced-rate consolidated feedback signal indicating congestion severity induced by a TCP flow, and in which the adaptor comprises a TCP congestion module for controlling TCP flow transmissions in response to the consolidated feedback signal.
- the consolidated feedback signal may comprise at least one of a TCP flow rate limit, a TCP flow buffer occupancy metric, and a TCP flow rate limit for processing TCP ACKs and for controlling associated TCP transmissions.
- the congestion module adjusts a TCP flow congestion window and transmission schedule in response to the consolidated feedback signal.
- the method begins at Block 34 and may include providing a plurality of end points each comprising a layer 4 transport layer, where each end point is connected to a data center bridging (DCB) layer 2 network at Block 36 .
- the method may also include positioning an adaptor between the layer 4 transport layer and the DCB layer 2 network to translate at least one of flow and congestion control feedback signals, provided by at least one of the DCB network and the transport layer, to consolidated feedback signals for controlling transmission by the transport layer at Block 38 .
- the method ends at Block 40 .
- the method begins at Block 44 .
- the method may include the steps of FIG. 2 at Blocks 36 and 38 .
- the method may further include generating flow control signals at the DCB layer 2 network according to a flow control protocol supporting multiple priorities, such as Priority Flow Control (PFC) at Block 46 .
- PFC Priority Flow Control
- the method ends at Block 48 .
- the method begins at Block 52 .
- the method may include the steps of FIG. 2 at Blocks 36 and 38 .
- the method may additionally include generating congestion control feedback signals at the DCB layer 2 network according to a quantized congestion notification (QCN) protocol at Block 54 .
- QCN quantized congestion notification
- the method begins at Block 60 .
- the method may include the steps of FIG. 4 at Blocks 36 , 38 , and 54 .
- the method may also include connecting the end point to the DCB layer 2 network through an end station, where the end station implements a quantized congestion notification (QCN) reaction point imposing rate limits based on a QCN protocol to limit network congestion in the DCB layer 2 network in response to receiving congestion control signals at Block 62 .
- QCN quantized congestion notification
- the method ends at Block 64 .
- the method begins at Block 68 .
- the method may include the steps of FIG. 4 at Blocks 36 , 38 , and 54 .
- the method may further include carrying network traffic generated by the transport layer on layer 2 with lossy operation, either by configuring the end station to steer the traffic to a lossy priority of a priority flow control (PFC) protocol, or by not using any PFC protocol at Block 70 .
- PFC priority flow control
- the method begins at Block 76 .
- the method may include the steps of FIG. 4 at Blocks 36 , 38 , and 54 .
- the method may additionally include carrying the network traffic generated by the transport layer on layer 2 with lossless operation, by configuring the end station to steer the traffic to a lossless priority of a priority flow control (PFC) protocol and by letting the end station react to layer 2 flow control messages generated by an adjacent switch at Block 78 .
- PFC priority flow control
- the method ends at Block 80 .
- the method begins at Block 84 .
- the method may include the steps of FIG. 5 at Blocks 36 , 38 , 54 , and 62 .
- the method may also include processing TCP ACKs and ECNs and controlling associated TCP transmissions where the consolidated feedback signal comprises at least one of a TCP flow rate limit, a TCP flow buffer occupancy metric, and a TCP flow rate limit at Block 86 .
- the method ends at Block 88 .
- the method begins at Block 92 .
- the method may include the steps of FIG. 5 at Blocks 36 , 38 , 54 , and 62 .
- the method may further include adjusting a TCP flow congestion window and transmission schedule in response to the consolidated feedback signal via the congestion module at Block 94 .
- the method ends at Block 96 .
- the computer readable program codes may be configured to cause the program to provide a plurality of end points 14 a - 14 n each comprising a layer 4 transport layer 16 a - 16 n respectively, where each end point is connected to a data center bridging (DCB) layer 2 network 18 .
- the computer readable program codes may also position an adaptor 20 between the layer 4 transport layer 16 a - 16 n and the DCB layer 2 network 18 to translate at least one of flow and congestion control feedback signals, provided by at least one of the DCB network and the transport layer, to consolidated feedback signals for controlling transmission by the transport layer.
- the system 10 provides reliability in a Converged Enhanced Ethernet network.
- CEE Converged Enhanced Ethernet
- DCN Converged Enhanced Ethernet
- CEE datacenters allow high link speeds and short delays while introducing lossless operation (and lossless traffic classes) by the means of link layer flow control (LL-FC, aka PFC in CEE) beyond the traditional lossy operation (lossy traffic classes).
- LL-FC link layer flow control
- PFC link layer flow control
- the lossless operation of CEE introduces new challenges, such as deadlocks and saturation tree congestion. Namely, a single hotspot saturation tree congestion can cause a total DCN collapse within a few 10s-100s of us.
- FIG. 10 illustrates the problem (hotspot congestion box). If a sufficient fraction of all the inputs' traffic targets one of the outputs (in the figure, the output labeled 128 ), that output link can saturate: it becomes a hotspot (HS) that causes the queues in the switch feeding that link to fill up. If the traffic pattern persists, then, no matter what techniques are used to reassign buffer space, it is all ultimately exhausted. This forces that switch's LL-FC to quickly throttle back all the inputs feeding that switch. That in turn causes the previous stage to fill its buffer space. In a domino effect, the congestion eventually backs up all the way to the network inputs. This has been called tree saturation or, in other contexts, high-order Head of Line (HOL) blocking congestion spreading.
- HOL Head of Line
- the traffic causing the hotspot will root one or more saturation trees partly caused by the inherent traffic distribution and partly by flow interference or high-order HOL blocking.
- lossless LL-FC offers substantial performance benefits, albeit it has the drawback, besides its complexity, of facilitating saturation tree congestion.
- lossless ICTNs such as CEE-based DCNs will be increasingly exposed to saturation trees and congestion collapse.
- the first attempts in the CEE context were done in IEEE 802.1Qau, by using the QCN mechanism against simple (single bottleneck), yet persistent, hotspot congestion.
- TCP transmission control protocol
- IP Internet Protocol
- Double feedback loop Unlike TCP in IP networks, FCC mechanisms in DCNs are based on a dual closed-loop control system: (i) LL-FC (PFC) and (ii) end-to-end CM (either QCN, or TCP, or both).
- the former is the smaller and faster loop taking care of LL correctness and, sometimes, performance like e.g. advanced scheduling [ETS].
- CM involves a larger and slower loop with much longer time constants than the LL RTT; a complete CM solution may include congestion avoidance/prevention and control (after it happens). Since CM is inherently slower than its underlying LL-FC loops, it needs an aggregated view of the ICTN status—whereas the LL-FC relies only on local status.
- CM should compensate the inertia of its larger loop by (a) acquiring global view. Feedback (QCN CNM, TCP ECNs, Vegas' delays etc.) about traffic conditions and (b) elaborating a more complex source reaction that considers the outdated global view and ideally, tries to predict the traffic based on the trends acquired so far.
- TCP does not assume the existence of a fast and lossless LL-FC layer; nor does TCP coexist well with other flow control schemes (QCN), as proven by TCP over ATM/ABR.
- Shallow buffers The alternative would be to over-design the switch buffers beyond the size mandated for lossless ICTNs. This, however, is not practically possible (see FIG. 11 ), but also aggravates the post-congestion phase by slowing its recovery.
- TCP and ABR were extensively studied and improved for BE networks, we still lack conclusive evidence of their applicability and sufficiency in ICTNs.
- recent research invalidates TCP's use for certain types of middleware, as well as the TCP Incast.
- TCP was designed in early 80s to curb single bottleneck congestion in lossy BE networks with e2e lags of 100s of ms and 10s of MB switch buffers.
- a CEE-based DCN is lossless (hence multi-bottleneck saturation tree congestion), fast (lags of 0.5-50 us) and shallow (10-100s KB) buffers.
- system 10 uses the following changes/enhancements to TCP, resulting in “DC-TCP”: 1) Employ a software and/or hardware version of TCP, such as (CU)BIC, Reno, Vegas, Compound etc. in the end nodes.
- a software and/or hardware version of TCP such as (CU)BIC, Reno, Vegas, Compound etc.
- Future CEE DCN will implement native L2 CM, i.e. QCN (see 802.1Qau in [42]). Retain the QCN congestion detection, while disabling the QCN rate limiter in the source.
- Congestion signaling and TCP rate limiter Replace or complement the traditional TCP rate limiter based on duplicate ACKs with a hybrid rate limiter based on backward congestion notifications (BCNs) and QCN congestion notification messages (CNMs). Feed a digested form of CNMs associated with the TCP source into TCP for window control based on L2 feedback.
- BCNs backward congestion notifications
- CNMs QCN congestion notification messages
- TCP constants e.g. RTO
- Potentially adapt to changing network size and delay in real time (optional, via delay probing or Feedback Request protocol).
- the TCP receiver will report congestion/loss in the lossy network via duplicate ACKs.
- the CNMs sent towards the source must be appropriately translated at the boundary between the lossless and the lossy networks.
- One possibility is to convert CNMs to TCP window scalings in the boundary switch, as CNMs will not be understood by the lossy network.
- FIG. 12 illustrates one embodiment of system 10 .
- System 10 adapts TCP to a lossless DCN, by combining a re-tuned TCP flavor (CUBIC, Compound and New Reno are favored, others may apply) with L2 QCN signaling.
- CBIC re-tuned TCP flavor
- System 10 copes with saturation trees issues, us latency, and shallow buffers.
- System 10 also compensates and adapts to rapidly changing DCN loads.
- System 10 provided full TCP socket compatibility, and therefore legacy application support.
- a method for preventing the spread of packet congestion while simultaneously preventing packet loss in the network having at least one source channel adapter, at least one destination channel adapter, and multiple fiber channel over Ethernet (FCoE) enabled switches 24 is enabled by system 10 .
- the system 10 detects congestion occurring within the data center network.
- the system 10 measures the extent of the congestion and generates a feedback signal (value) at the Layer 2 level, notifying the source channel adapter and destination channel adapter that congestion is occurring.
- the system 10 also compensates for that congestion by changing the packet injection rate (within a sliding window) by an amount proportional to the magnitude of the feedback signal and dynamically readjusts the feedback signal (value) based on the extent of congestion.
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US13/708,933 US9356867B2 (en) | 2012-02-06 | 2012-12-08 | Lossless socket-based layer 4 transport (reliability) system for a converged ethernet network |
CN201380008254.1A CN104094559B (zh) | 2012-02-06 | 2013-01-23 | 用于收敛增强以太网络的可靠性的方法和系统 |
PCT/EP2013/051169 WO2013117427A1 (en) | 2012-02-06 | 2013-01-23 | Lossless socket-based layer 4 transport (reliability) system for a converged ethernet network |
EP13700912.2A EP2829025A1 (en) | 2012-02-06 | 2013-01-23 | Lossless socket-based layer 4 transport (reliability) system for a converged ethernet network |
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JP6015744B2 (ja) * | 2012-03-23 | 2016-10-26 | 富士通株式会社 | 輻輳制御方法、輻輳制御装置、通信システム及び輻輳制御プログラム |
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2012
- 2012-02-06 US US13/366,640 patent/US20130205038A1/en not_active Abandoned
- 2012-12-08 US US13/708,933 patent/US9356867B2/en active Active
-
2013
- 2013-01-23 EP EP13700912.2A patent/EP2829025A1/en not_active Withdrawn
- 2013-01-23 WO PCT/EP2013/051169 patent/WO2013117427A1/en active Application Filing
- 2013-01-23 CN CN201380008254.1A patent/CN104094559B/zh active Active
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
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US20140301197A1 (en) * | 2013-04-05 | 2014-10-09 | International Business Machines Corporation | Virtual quantized congestion notification |
US20150295839A1 (en) * | 2013-04-05 | 2015-10-15 | International Business Machines Corporation | Virtual quantized congestion notification |
US9166925B2 (en) * | 2013-04-05 | 2015-10-20 | International Business Machines Corporation | Virtual quantized congestion notification |
US9654410B2 (en) * | 2013-04-05 | 2017-05-16 | International Business Machines Corporation | Virtual quantized congestion notification |
US10182016B2 (en) * | 2013-04-05 | 2019-01-15 | International Business Machines Corporation | Virtual quantized congestion notification |
US9325639B2 (en) | 2013-12-17 | 2016-04-26 | At&T Intellectual Property I, L.P. | Hierarchical caching system for lossless network packet capture applications |
US9577959B2 (en) | 2013-12-17 | 2017-02-21 | At&T Intellectual Property I, L.P. | Hierarchical caching system for lossless network packet capture applications |
CN104980359A (zh) * | 2014-04-04 | 2015-10-14 | 中兴通讯股份有限公司 | 以太网光纤通道的流量控制方法、装置及系统 |
US9614765B2 (en) | 2014-08-26 | 2017-04-04 | Lenovo Enterprise Solutions (Singapore) Pte. Ltd. | Quantized congestion notification (QCN) proxy function in data center bridging capabilities exchange (DCBX) protocol |
CN112968811A (zh) * | 2021-02-20 | 2021-06-15 | 中国工商银行股份有限公司 | 一种rdma网络的pfc异常处理方法及装置 |
US11683250B2 (en) * | 2021-10-22 | 2023-06-20 | Palo Alto Networks, Inc. | Managing proxy throughput between paired transport layer connections |
Also Published As
Publication number | Publication date |
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WO2013117427A1 (en) | 2013-08-15 |
CN104094559A (zh) | 2014-10-08 |
US20130205039A1 (en) | 2013-08-08 |
EP2829025A1 (en) | 2015-01-28 |
CN104094559B (zh) | 2016-12-14 |
US9356867B2 (en) | 2016-05-31 |
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