From ce1216fdc551ae21ec2a374a4bb7f8a58a0f1a89 Mon Sep 17 00:00:00 2001 From: yellowhatter Date: Thu, 26 Dec 2024 14:42:16 +0300 Subject: [PATCH 1/9] C++ SHM Conflicts: rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp --- rmw_zenoh_cpp/CMakeLists.txt | 10 ++ .../DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 | 2 +- .../DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 | 2 +- .../src/detail/rmw_context_impl_s.cpp | 44 ++++---- .../src/detail/rmw_context_impl_s.hpp | 6 +- .../src/detail/rmw_publisher_data.cpp | 106 +++++++++++++++--- .../src/detail/rmw_publisher_data.hpp | 15 ++- .../src/detail/rmw_subscription_data.hpp | 8 +- rmw_zenoh_cpp/src/detail/shm_context.cpp | 31 +++++ rmw_zenoh_cpp/src/detail/shm_context.hpp | 34 ++++++ rmw_zenoh_cpp/src/detail/zenoh_config.cpp | 98 ++++++++++++++++ rmw_zenoh_cpp/src/detail/zenoh_config.hpp | 30 +++++ rmw_zenoh_cpp/src/rmw_zenoh.cpp | 14 ++- zenoh_cpp_vendor/CMakeLists.txt | 12 +- 14 files changed, 360 insertions(+), 52 deletions(-) create mode 100644 rmw_zenoh_cpp/src/detail/shm_context.cpp create mode 100644 rmw_zenoh_cpp/src/detail/shm_context.hpp diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt index 732cd470..c8b36b39 100644 --- a/rmw_zenoh_cpp/CMakeLists.txt +++ b/rmw_zenoh_cpp/CMakeLists.txt @@ -11,6 +11,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() +set(RMW_ZENOH_BUILD_WITH_SHARED_MEMORY TRUE CACHE BOOL "Compile Zenoh RMW with Shared Memory support") + # find dependencies find_package(ament_cmake REQUIRED) @@ -43,6 +45,7 @@ add_library(rmw_zenoh_cpp SHARED src/detail/rmw_subscription_data.cpp src/detail/service_type_support.cpp src/detail/simplified_xxhash3.cpp + src/detail/shm_context.cpp src/detail/type_support.cpp src/detail/type_support_common.cpp src/detail/zenoh_config.cpp @@ -81,6 +84,13 @@ target_compile_definitions(rmw_zenoh_cpp RMW_VERSION_PATCH=${rmw_VERSION_PATCH} ) +if(${RMW_ZENOH_BUILD_WITH_SHARED_MEMORY}) + target_compile_definitions(rmw_zenoh_cpp + PUBLIC + RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + ) +endif() + ament_export_targets(export_rmw_zenoh_cpp) register_rmw_implementation( diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 index ed12a361..b78dc031 100644 --- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 +++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 @@ -461,7 +461,7 @@ /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected. /// /// ROS setting: disabled by default until fully tested - enabled: false, + enabled: true, }, auth: { /// The configuration of authentication. diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 index daffd790..42716f24 100644 --- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 +++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 @@ -464,7 +464,7 @@ /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected. /// /// ROS setting: disabled by default until fully tested - enabled: false, + enabled: true, }, auth: { /// The configuration of authentication. diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp index 61dd9c8b..2f5c9fbc 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp +++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp @@ -165,21 +165,21 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this "rmw_zenoh_cpp", "[rmw_context_impl_s] z_call received an invalid reply.\n"); } } - - // Initialize the shm manager if shared_memory is enabled in the config. - shm_provider_ = std::nullopt; -#ifndef _MSC_VER - if (shm_enabled == "true") { - auto layout = zenoh::MemoryLayout( - SHM_BUFFER_SIZE_MB * 1024 * 1024, - zenoh::AllocAlignment({5})); - zenoh::PosixShmProvider provider(layout, &result); - if (result != Z_OK) { - throw std::runtime_error("Unable to create shm provider."); - } - shm_provider_ = std::move(provider); +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + // Initialize the shm subsystem if shared_memory is enabled in the config + if (rmw_zenoh_cpp::zenoh_shm_enabled()) { + RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is enabled"); + + shm_ = std::make_optional( + rmw_zenoh_cpp::ShmContext( + rmw_zenoh_cpp::zenoh_shm_alloc_size(), + rmw_zenoh_cpp::zenoh_shm_message_size_threshold() + )); + } else { + RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is disabled"); } #endif + graph_guard_condition_ = std::make_unique(); graph_guard_condition_->implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier; graph_guard_condition_->data = &guard_condition_data_; @@ -262,11 +262,13 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this return session_; } - std::optional & shm_provider() +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + std::optional & shm() { std::lock_guard lock(mutex_); - return shm_provider_; + return shm_; } +#endif rmw_guard_condition_t * graph_guard_condition() { @@ -398,9 +400,11 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this std::string enclave_; // An owned session. std::shared_ptr session_; - // An optional SHM manager that is initialized of SHM is enabled in the +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + // An optional SHM context that is initialized of SHM is enabled in the // zenoh session config. - std::optional shm_provider_; + std::optional shm_; +#endif // Graph cache. std::shared_ptr graph_cache_; // ROS graph liveliness subscriber. @@ -456,11 +460,13 @@ const std::shared_ptr rmw_context_impl_s::session() const return data_->session(); } +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY ///============================================================================= -std::optional & rmw_context_impl_s::shm_provider() +std::optional & rmw_context_impl_s::shm() { - return data_->shm_provider(); + return data_->shm(); } +#endif ///============================================================================= rmw_guard_condition_t * rmw_context_impl_s::graph_guard_condition() diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp index a2fdaf5e..3c3b9eb7 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp +++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp @@ -50,11 +50,13 @@ struct rmw_context_impl_s final // Loan the Zenoh session. const std::shared_ptr session() const; - // Get a reference to the shm_provider. +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + // Get a reference to the shm subsystem. // Note: This is not thread-safe. // TODO(Yadunund): Remove this API and instead include a publish() API // that handles the shm_provider once the context manages publishers. - std::optional & shm_provider(); + std::optional & shm(); +#endif // Get the graph guard condition. rmw_guard_condition_t * graph_guard_condition(); diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp index f960b879..13a8ac5a 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp +++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp @@ -201,8 +201,11 @@ PublisherData::PublisherData( ///============================================================================= rmw_ret_t PublisherData::publish( - const void * ros_message, - std::optional & /*shm_provider*/) + const void * ros_message +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + , const std::optional & shm +#endif +) { std::lock_guard lock(mutex_); if (is_shutdown_) { @@ -218,19 +221,59 @@ rmw_ret_t PublisherData::publish( // To store serialized message byte array. char * msg_bytes = nullptr; +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + std::optional shmbuf = std::nullopt; +#endif + rcutils_allocator_t * allocator = &rmw_node_->context->options.allocator; auto always_free_msg_bytes = rcpputils::make_scope_exit( - [&msg_bytes, allocator]() { - if (msg_bytes) { + [&msg_bytes, allocator +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + , &shmbuf +#endif + ]() { + if (msg_bytes +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + && !shmbuf.has_value() +#endif + ) + { allocator->deallocate(msg_bytes, allocator->state); } }); + +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + // Get memory from SHM buffer if available. + if (shm.has_value() && max_data_length >= shm.value().msgsize_threshold) { + RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is enabled."); + + auto & provider = shm.value().shm_provider; + + // TODO(yellowhatter): SHM, use alignment based on msgsize_threshold + auto alloc_result = provider.alloc_gc_defrag_blocking( + max_data_length, + zenoh::AllocAlignment({0})); + + if (std::holds_alternative(alloc_result)) { + auto && buf = std::get(std::move(alloc_result)); + msg_bytes = reinterpret_cast(buf.data()); + shmbuf = std::make_optional(std::move(buf)); + } else { + // TODO(Yadunund): Should we revert to regular allocation and not return an error? + RMW_SET_ERROR_MSG("Failed to allocate a SHM buffer, even after GCing."); + return RMW_RET_ERROR; + } + } else { +#endif // Get memory from the allocator. msg_bytes = static_cast(allocator->allocate(max_data_length, allocator->state)); RMW_CHECK_FOR_NULL_WITH_MSG( msg_bytes, "bytes for message is null", return RMW_RET_BAD_ALLOC); +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY +} +#endif // Object that manages the raw buffer eprosima::fastcdr::FastBuffer fastbuffer(msg_bytes, max_data_length); @@ -257,11 +300,14 @@ rmw_ret_t PublisherData::publish( options.attachment = rmw_zenoh_cpp::AttachmentData( sequence_number_++, source_timestamp, entity_->copy_gid()).serialize_to_zbytes(); - // TODO(ahcorde): shmbuf - std::vector raw_data( - reinterpret_cast(msg_bytes), - reinterpret_cast(msg_bytes) + data_length); - zenoh::Bytes payload(std::move(raw_data)); + auto payload = +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + shmbuf.has_value() ? zenoh::Bytes(std::move(*shmbuf)) : +#endif + zenoh::Bytes( + std::vector( + reinterpret_cast(msg_bytes), + reinterpret_cast(msg_bytes) + data_length)); TRACETOOLS_TRACEPOINT( rmw_publish, static_cast(rmw_publisher_), ros_message, source_timestamp); @@ -282,8 +328,11 @@ rmw_ret_t PublisherData::publish( ///============================================================================= rmw_ret_t PublisherData::publish_serialized_message( - const rmw_serialized_message_t * serialized_message, - std::optional & /*shm_provider*/) + const rmw_serialized_message_t * serialized_message +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + , const std::optional & shm +#endif +) { eprosima::fastcdr::FastBuffer buffer( reinterpret_cast(serialized_message->buffer), serialized_message->buffer_length); @@ -305,14 +354,39 @@ rmw_ret_t PublisherData::publish_serialized_message( options.attachment = rmw_zenoh_cpp::AttachmentData( sequence_number_++, source_timestamp, entity_->copy_gid()).serialize_to_zbytes(); - std::vector raw_data( + +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + // Get memory from SHM buffer if available. + if (shm.has_value() && data_length >= shm.value().msgsize_threshold) { + RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is enabled."); + + auto & provider = shm.value().shm_provider; + + // TODO(yellowhatter): SHM, use alignment based on msgsize_threshold + auto alloc_result = provider.alloc_gc_defrag_blocking(data_length, zenoh::AllocAlignment({0})); + + if (std::holds_alternative(alloc_result)) { + auto && buf = std::get(std::move(alloc_result)); + auto msg_bytes = reinterpret_cast(buf.data()); + memcpy(msg_bytes, serialized_message->buffer, data_length); + zenoh::Bytes payload(std::move(buf)); + pub_.put(std::move(payload), std::move(options), &result); + } else { + // TODO(Yadunund): Should we revert to regular allocation and not return an error? + RMW_SET_ERROR_MSG("Failed to allocate a SHM buffer, even after GCing."); + return RMW_RET_ERROR; + } + } else { +#endif + std::vector raw_image( serialized_message->buffer, serialized_message->buffer + data_length); - zenoh::Bytes payload(std::move(raw_data)); - - TRACETOOLS_TRACEPOINT( - rmw_publish, static_cast(rmw_publisher_), serialized_message, source_timestamp); + zenoh::Bytes payload(raw_image); pub_.put(std::move(payload), std::move(options), &result); +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY +} +#endif + if (result != Z_OK) { if (result == Z_ESESSION_CLOSED) { RMW_ZENOH_LOG_WARN_NAMED( diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp index 7cec5406..c27b10e1 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp +++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp @@ -28,6 +28,7 @@ #include "event.hpp" #include "liveliness_utils.hpp" #include "message_type_support.hpp" +#include "shm_context.hpp" #include "type_support_common.hpp" #include "zenoh_utils.hpp" @@ -56,13 +57,19 @@ class PublisherData final // Publish a ROS message. rmw_ret_t publish( - const void * ros_message, - std::optional & shm_provider); + const void * ros_message +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + , const std::optional & shm +#endif + ); // Publish a serialized ROS message. rmw_ret_t publish_serialized_message( - const rmw_serialized_message_t * serialized_message, - std::optional & shm_provider); + const rmw_serialized_message_t * serialized_message +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + , const std::optional & shm +#endif + ); // Get a copy of the keyexpr_hash of this PublisherData's liveliness::Entity. std::size_t keyexpr_hash() const; diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp index a3fab3f9..344b9138 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp +++ b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp @@ -34,6 +34,7 @@ #include "liveliness_utils.hpp" #include "message_type_support.hpp" #include "attachment_helpers.hpp" +#include "shm_context.hpp" #include "type_support_common.hpp" #include "zenoh_utils.hpp" @@ -76,8 +77,11 @@ class SubscriptionData final : public std::enable_shared_from_this & shm_provider); + const void * ros_message +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + , const std::optional & shm +#endif + ); // Get a copy of the keyexpr_hash of this SubscriptionData's liveliness::Entity. std::size_t keyexpr_hash() const; diff --git a/rmw_zenoh_cpp/src/detail/shm_context.cpp b/rmw_zenoh_cpp/src/detail/shm_context.cpp new file mode 100644 index 00000000..f4c39c16 --- /dev/null +++ b/rmw_zenoh_cpp/src/detail/shm_context.cpp @@ -0,0 +1,31 @@ +// Copyright 2023 Open Source Robotics Foundation, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include "shm_context.hpp" + +namespace rmw_zenoh_cpp +{ +///============================================================================= +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY +ShmContext::ShmContext(size_t alloc_size, size_t msgsize_threshold) +: // Create Layout for provider's memory + // Provider's alignment will be 1 byte as we are going to make only 1-byte aligned allocations + // TODO(yellowhatter): use zenoh_shm_message_size_threshold as base for alignment + shm_provider(zenoh::PosixShmProvider(zenoh::MemoryLayout(alloc_size, zenoh::AllocAlignment {0}))), + msgsize_threshold(msgsize_threshold) +{} +#endif +} // namespace rmw_zenoh_cpp diff --git a/rmw_zenoh_cpp/src/detail/shm_context.hpp b/rmw_zenoh_cpp/src/detail/shm_context.hpp new file mode 100644 index 00000000..1c44dc58 --- /dev/null +++ b/rmw_zenoh_cpp/src/detail/shm_context.hpp @@ -0,0 +1,34 @@ +// Copyright 2023 Open Source Robotics Foundation, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef DETAIL__SHM_CONTEXT_HPP_ +#define DETAIL__SHM_CONTEXT_HPP_ + +#include + +namespace rmw_zenoh_cpp +{ +///============================================================================= +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY +struct ShmContext +{ + zenoh::PosixShmProvider shm_provider; + size_t msgsize_threshold; + + ShmContext(size_t alloc_size, size_t msgsize_threshold); +}; +#endif +} // namespace rmw_zenoh_cpp + +#endif // DETAIL__SHM_CONTEXT_HPP_ diff --git a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp index fa100d0a..3d4b725d 100644 --- a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp +++ b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp @@ -43,6 +43,14 @@ static const std::unordered_map _get_z_config( const char * envar_name, @@ -123,4 +131,94 @@ std::optional zenoh_router_check_attempts() // If unset, use the default. return default_value; } + +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY +///============================================================================= +bool zenoh_shm_enabled() +{ + const char * envar_value; + + if (NULL != rcutils_get_env(zenoh_shm_enabled_envar, &envar_value)) { + RMW_ZENOH_LOG_ERROR_NAMED( + "rmw_zenoh_cpp", "Envar %s cannot be read. Report this bug.", + zenoh_shm_enabled_envar); + return zenoh_shm_enabled_default; + } + + if (strlen(envar_value) == strlen("true") && + strncmp(envar_value, "true", strlen(envar_value)) == 0) + { + return true; + } + + if (strlen(envar_value) == strlen("false") && + strncmp(envar_value, "false", strlen(envar_value)) == 0) + { + return false; + } + + return zenoh_shm_enabled_default; +} +///============================================================================= +size_t zenoh_shm_alloc_size() +{ + const char * envar_value; + + if (NULL != rcutils_get_env(zenoh_shm_alloc_size_envar, &envar_value)) { + RMW_ZENOH_LOG_ERROR_NAMED( + "rmw_zenoh_cpp", "Envar %s cannot be read. Report this bug.", + zenoh_shm_alloc_size_envar); + return zenoh_shm_alloc_size_default; + } + + // If the environment variable contains a value, handle it accordingly. + if (envar_value[0] != '\0') { + const auto read_value = std::strtoull(envar_value, nullptr, 10); + if (read_value > 0) { + if (read_value > std::numeric_limits::max()) { + RMW_ZENOH_LOG_ERROR_NAMED( + "rmw_zenoh_cpp", "Envar %s: value is too large!", + zenoh_shm_alloc_size_envar); + } else { + return read_value; + } + } + } + + return zenoh_shm_alloc_size_default; +} +///============================================================================= +size_t zenoh_shm_message_size_threshold() +{ + const char * envar_value; + + if (NULL != rcutils_get_env(zenoh_shm_message_size_threshold_envar, &envar_value)) { + RMW_ZENOH_LOG_ERROR_NAMED( + "rmw_zenoh_cpp", "Envar %s cannot be read. Report this bug.", + zenoh_shm_message_size_threshold_envar); + return zenoh_shm_message_size_threshold_default; + } + + // If the environment variable contains a value, handle it accordingly. + if (envar_value[0] != '\0') { + const auto read_value = std::strtoull(envar_value, nullptr, 10); + if (read_value > 0) { + if (read_value > std::numeric_limits::max()) { + RMW_ZENOH_LOG_ERROR_NAMED( + "rmw_zenoh_cpp", "Envar %s: value is too large!", + zenoh_shm_message_size_threshold_envar); + } else if ((read_value & (read_value - 1)) != 0) { // power of 2 check + RMW_ZENOH_LOG_ERROR_NAMED( + "rmw_zenoh_cpp", "Envar %s: value must be power of 2!", + zenoh_shm_message_size_threshold_envar); + + } else { + return read_value; + } + } + } + + return zenoh_shm_message_size_threshold_default; +} +#endif } // namespace rmw_zenoh_cpp diff --git a/rmw_zenoh_cpp/src/detail/zenoh_config.hpp b/rmw_zenoh_cpp/src/detail/zenoh_config.hpp index 1f1e194f..7ce7d5f4 100644 --- a/rmw_zenoh_cpp/src/detail/zenoh_config.hpp +++ b/rmw_zenoh_cpp/src/detail/zenoh_config.hpp @@ -61,6 +61,36 @@ std::optional get_z_config(const ConfigurableEntity & entity); /// @return The number of times to try connecting to a zenoh router and /// std::nullopt if establishing a connection to a router is not required. std::optional zenoh_router_check_attempts(); + +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY +///============================================================================= +/// Get the enabled state of shared memory subsystem +/// based on the environment variable ZENOH_SHM_ENABLED. +/// @details The behavior is as follows: +/// - If not set or not "false", the default value of "true" is returned. +/// - Else "false" is returned. +/// @return The amount of shared memory to be pre-allocated for Zenoh SHM operation +bool zenoh_shm_enabled(); + +///============================================================================= +/// Get the amount of shared memory to be pre-allocated for Zenoh SHM operation +/// based on the environment variable ZENOH_SHM_ALLOC_SIZE. +/// @details The behavior is as follows: +/// - If not set or <= 0, the default value of 1MB is returned. +/// - Else value of environemnt variable is returned. +/// @return The amount of shared memory to be pre-allocated for Zenoh SHM operation +size_t zenoh_shm_alloc_size(); + +///============================================================================= +/// Message size threshold for implicit SHM optimization based on the environment +/// variable ZENOH_SHM_MESSAGE_SIZE_THRESHOLD. +/// Messages smaller than this threshold will not be forwarded through Zenoh SHM +/// @details The behavior is as follows: +/// - If not set or <= 0, the default value of 2KB is returned. +/// - Else value of environemnt variable is returned. +/// @return The amount of shared memory to be pre-allocated for Zenoh SHM operation +size_t zenoh_shm_message_size_threshold(); +#endif } // namespace rmw_zenoh_cpp #endif // DETAIL__ZENOH_CONFIG_HPP_ diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp index e7342c13..f573b04f 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -614,8 +614,11 @@ rmw_publish( } return pub_data->publish( - ros_message, - context_impl->shm_provider()); + ros_message +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + , context_impl->shm() +#endif + ); } //============================================================================== @@ -721,8 +724,11 @@ rmw_publish_serialized_message( RMW_CHECK_ARGUMENT_FOR_NULL(publisher_data, RMW_RET_INVALID_ARGUMENT); return publisher_data->publish_serialized_message( - serialized_message, - context_impl->shm_provider()); + serialized_message +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + , context_impl->shm() +#endif + ); } //============================================================================== diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt index 4d8e6536..63eb4d9c 100644 --- a/zenoh_cpp_vendor/CMakeLists.txt +++ b/zenoh_cpp_vendor/CMakeLists.txt @@ -15,7 +15,9 @@ find_package(ament_cmake_vendor_package REQUIRED) # Note: We separate the two args needed for cargo with "$" and not ";" as the # latter is a list separater in cmake and hence the string will be split into two # when expanded. -set(ZENOHC_CARGO_FLAGS "--no-default-features$--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls") +set(ZENOHC_CARGO_FLAGS "--no-default-features$--features=zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls") + +set(RMW_ZENOH_BUILD_WITH_SHARED_MEMORY TRUE CACHE BOOL "Compile Zenoh RMW with Shared Memory support") # Set VCS_VERSION to include latest changes from zenoh-c to benefit from : # - https://github.com/eclipse-zenoh/zenoh-c/pull/340 (fix build issue) @@ -29,6 +31,7 @@ ament_vendor(zenoh_c_vendor VCS_VERSION 2f389597264c200d9ddf72bbabbfea878abd5179 CMAKE_ARGS "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}" + "-DZENOHC_BUILD_WITH_SHARED_MEMORY:BOOL=${RMW_ZENOH_BUILD_WITH_SHARED_MEMORY}" "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE" "-DZENOHC_CUSTOM_TARGET=${ZENOHC_CUSTOM_TARGET}" ) @@ -39,8 +42,11 @@ ament_vendor(zenoh_cpp_vendor VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp VCS_VERSION c549fbdf54e866b9d8f29c883e66359fcac88ed4 CMAKE_ARGS - -DZENOHCXX_ZENOHC=OFF -) + -DZENOHCXX_ZENOHC=ON + -DZENOHCXX_ZENOHPICO=OFF + -DZENOHC_BUILD_WITH_SHARED_MEMORY:BOOL=${RMW_ZENOH_BUILD_WITH_SHARED_MEMORY} + -DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE + ) externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor) From 0e9ace8f200cf7168ac5ff2b088f1e2eb16f8f22 Mon Sep 17 00:00:00 2001 From: yellowhatter Date: Thu, 26 Dec 2024 14:42:25 +0300 Subject: [PATCH 2/9] fix default shm msg size threshold --- rmw_zenoh_cpp/src/detail/zenoh_config.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp index 3d4b725d..dd960529 100644 --- a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp +++ b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp @@ -49,7 +49,7 @@ static const bool zenoh_shm_enabled_default = true; static const char * zenoh_shm_alloc_size_envar = "ZENOH_SHM_ALLOC_SIZE"; static const size_t zenoh_shm_alloc_size_default = 1 * 1024 * 1024; static const char * zenoh_shm_message_size_threshold_envar = "ZENOH_SHM_MESSAGE_SIZE_THRESHOLD"; -static const size_t zenoh_shm_message_size_threshold_default = 1; //2 * 1024; +static const size_t zenoh_shm_message_size_threshold_default = 2 * 1024; #endif std::optional _get_z_config( From b3d0a47039ab14012c564025865739239da54270 Mon Sep 17 00:00:00 2001 From: yellowhatter Date: Thu, 26 Dec 2024 14:42:31 +0300 Subject: [PATCH 3/9] code format fix --- rmw_zenoh_cpp/src/detail/shm_context.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/rmw_zenoh_cpp/src/detail/shm_context.cpp b/rmw_zenoh_cpp/src/detail/shm_context.cpp index f4c39c16..865ff69d 100644 --- a/rmw_zenoh_cpp/src/detail/shm_context.cpp +++ b/rmw_zenoh_cpp/src/detail/shm_context.cpp @@ -21,9 +21,9 @@ namespace rmw_zenoh_cpp ///============================================================================= #ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY ShmContext::ShmContext(size_t alloc_size, size_t msgsize_threshold) -: // Create Layout for provider's memory - // Provider's alignment will be 1 byte as we are going to make only 1-byte aligned allocations - // TODO(yellowhatter): use zenoh_shm_message_size_threshold as base for alignment +: // Create Layout for provider's memory + // Provider's alignment will be 1 byte as we are going to make only 1-byte aligned allocations + // TODO(yellowhatter): use zenoh_shm_message_size_threshold as base for alignment shm_provider(zenoh::PosixShmProvider(zenoh::MemoryLayout(alloc_size, zenoh::AllocAlignment {0}))), msgsize_threshold(msgsize_threshold) {} From b420096cccec7742dee3e84e0e20bcf34c9fcf11 Mon Sep 17 00:00:00 2001 From: yellowhatter Date: Thu, 26 Dec 2024 15:37:09 +0300 Subject: [PATCH 4/9] add lost tracepoints --- rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp index 13a8ac5a..10ddeb29 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp +++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp @@ -370,6 +370,10 @@ rmw_ret_t PublisherData::publish_serialized_message( auto msg_bytes = reinterpret_cast(buf.data()); memcpy(msg_bytes, serialized_message->buffer, data_length); zenoh::Bytes payload(std::move(buf)); + + TRACETOOLS_TRACEPOINT( + rmw_publish, static_cast(rmw_publisher_), serialized_message, source_timestamp); + pub_.put(std::move(payload), std::move(options), &result); } else { // TODO(Yadunund): Should we revert to regular allocation and not return an error? @@ -382,6 +386,10 @@ rmw_ret_t PublisherData::publish_serialized_message( serialized_message->buffer, serialized_message->buffer + data_length); zenoh::Bytes payload(raw_image); + + TRACETOOLS_TRACEPOINT( + rmw_publish, static_cast(rmw_publisher_), serialized_message, source_timestamp); + pub_.put(std::move(payload), std::move(options), &result); #ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY } From 6f42c1b370fcfa170b919d00e5fc906dc6030e94 Mon Sep 17 00:00:00 2001 From: yellowhatter Date: Thu, 26 Dec 2024 15:47:09 +0300 Subject: [PATCH 5/9] code format --- rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp index 10ddeb29..40dc747f 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp +++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp @@ -372,7 +372,8 @@ rmw_ret_t PublisherData::publish_serialized_message( zenoh::Bytes payload(std::move(buf)); TRACETOOLS_TRACEPOINT( - rmw_publish, static_cast(rmw_publisher_), serialized_message, source_timestamp); + rmw_publish, static_cast(rmw_publisher_), serialized_message, + source_timestamp); pub_.put(std::move(payload), std::move(options), &result); } else { From 8e8e4b8f052d4b2c07afe1880d2a8564aeb9ea9c Mon Sep 17 00:00:00 2001 From: yellowhatter Date: Thu, 26 Dec 2024 16:37:14 +0300 Subject: [PATCH 6/9] remove unnecessry flags from zenoh-cpp vendor --- zenoh_cpp_vendor/CMakeLists.txt | 2 -- 1 file changed, 2 deletions(-) diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt index 63eb4d9c..f16d79d0 100644 --- a/zenoh_cpp_vendor/CMakeLists.txt +++ b/zenoh_cpp_vendor/CMakeLists.txt @@ -44,8 +44,6 @@ ament_vendor(zenoh_cpp_vendor CMAKE_ARGS -DZENOHCXX_ZENOHC=ON -DZENOHCXX_ZENOHPICO=OFF - -DZENOHC_BUILD_WITH_SHARED_MEMORY:BOOL=${RMW_ZENOH_BUILD_WITH_SHARED_MEMORY} - -DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE ) externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor) From 085771e4e7ca692e1e9c75d4df04fdd294f707f1 Mon Sep 17 00:00:00 2001 From: yellowhatter Date: Thu, 26 Dec 2024 16:48:28 +0300 Subject: [PATCH 7/9] review fixes --- rmw_zenoh_cpp/src/detail/shm_context.cpp | 8 +++++--- rmw_zenoh_cpp/src/detail/shm_context.hpp | 6 ++++-- rmw_zenoh_cpp/src/detail/zenoh_config.cpp | 2 +- 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/rmw_zenoh_cpp/src/detail/shm_context.cpp b/rmw_zenoh_cpp/src/detail/shm_context.cpp index 865ff69d..51d8187a 100644 --- a/rmw_zenoh_cpp/src/detail/shm_context.cpp +++ b/rmw_zenoh_cpp/src/detail/shm_context.cpp @@ -12,6 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + #include #include "shm_context.hpp" @@ -19,13 +21,13 @@ namespace rmw_zenoh_cpp { ///============================================================================= -#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY ShmContext::ShmContext(size_t alloc_size, size_t msgsize_threshold) : // Create Layout for provider's memory - // Provider's alignment will be 1 byte as we are going to make only 1-byte aligned allocations + // Provider's alignment will be 1 (=2^0) bytes as we are going to make only 1-byte aligned allocations // TODO(yellowhatter): use zenoh_shm_message_size_threshold as base for alignment shm_provider(zenoh::PosixShmProvider(zenoh::MemoryLayout(alloc_size, zenoh::AllocAlignment {0}))), msgsize_threshold(msgsize_threshold) {} -#endif } // namespace rmw_zenoh_cpp + +#endif diff --git a/rmw_zenoh_cpp/src/detail/shm_context.hpp b/rmw_zenoh_cpp/src/detail/shm_context.hpp index 1c44dc58..146d9143 100644 --- a/rmw_zenoh_cpp/src/detail/shm_context.hpp +++ b/rmw_zenoh_cpp/src/detail/shm_context.hpp @@ -12,6 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + #ifndef DETAIL__SHM_CONTEXT_HPP_ #define DETAIL__SHM_CONTEXT_HPP_ @@ -20,7 +22,6 @@ namespace rmw_zenoh_cpp { ///============================================================================= -#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY struct ShmContext { zenoh::PosixShmProvider shm_provider; @@ -28,7 +29,8 @@ struct ShmContext ShmContext(size_t alloc_size, size_t msgsize_threshold); }; -#endif } // namespace rmw_zenoh_cpp #endif // DETAIL__SHM_CONTEXT_HPP_ + +#endif diff --git a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp index dd960529..3d4b725d 100644 --- a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp +++ b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp @@ -49,7 +49,7 @@ static const bool zenoh_shm_enabled_default = true; static const char * zenoh_shm_alloc_size_envar = "ZENOH_SHM_ALLOC_SIZE"; static const size_t zenoh_shm_alloc_size_default = 1 * 1024 * 1024; static const char * zenoh_shm_message_size_threshold_envar = "ZENOH_SHM_MESSAGE_SIZE_THRESHOLD"; -static const size_t zenoh_shm_message_size_threshold_default = 2 * 1024; +static const size_t zenoh_shm_message_size_threshold_default = 1; //2 * 1024; #endif std::optional _get_z_config( From e42499caf7a5cc51b81a54f08130b21b1cd3a21e Mon Sep 17 00:00:00 2001 From: yellowhatter Date: Thu, 26 Dec 2024 16:54:36 +0300 Subject: [PATCH 8/9] codestyle fixes --- rmw_zenoh_cpp/src/detail/shm_context.cpp | 2 +- rmw_zenoh_cpp/src/detail/shm_context.hpp | 8 ++++---- rmw_zenoh_cpp/src/detail/zenoh_config.cpp | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/rmw_zenoh_cpp/src/detail/shm_context.cpp b/rmw_zenoh_cpp/src/detail/shm_context.cpp index 51d8187a..5078d4a5 100644 --- a/rmw_zenoh_cpp/src/detail/shm_context.cpp +++ b/rmw_zenoh_cpp/src/detail/shm_context.cpp @@ -23,7 +23,7 @@ namespace rmw_zenoh_cpp ///============================================================================= ShmContext::ShmContext(size_t alloc_size, size_t msgsize_threshold) : // Create Layout for provider's memory - // Provider's alignment will be 1 (=2^0) bytes as we are going to make only 1-byte aligned allocations + // Provider's alignment is 1 (=2^0) bytes as we are going to make only 1-byte aligned allocations // TODO(yellowhatter): use zenoh_shm_message_size_threshold as base for alignment shm_provider(zenoh::PosixShmProvider(zenoh::MemoryLayout(alloc_size, zenoh::AllocAlignment {0}))), msgsize_threshold(msgsize_threshold) diff --git a/rmw_zenoh_cpp/src/detail/shm_context.hpp b/rmw_zenoh_cpp/src/detail/shm_context.hpp index 146d9143..450e2dea 100644 --- a/rmw_zenoh_cpp/src/detail/shm_context.hpp +++ b/rmw_zenoh_cpp/src/detail/shm_context.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY - #ifndef DETAIL__SHM_CONTEXT_HPP_ #define DETAIL__SHM_CONTEXT_HPP_ +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + #include namespace rmw_zenoh_cpp @@ -31,6 +31,6 @@ struct ShmContext }; } // namespace rmw_zenoh_cpp -#endif // DETAIL__SHM_CONTEXT_HPP_ - #endif + +#endif // DETAIL__SHM_CONTEXT_HPP_ diff --git a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp index 3d4b725d..dd960529 100644 --- a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp +++ b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp @@ -49,7 +49,7 @@ static const bool zenoh_shm_enabled_default = true; static const char * zenoh_shm_alloc_size_envar = "ZENOH_SHM_ALLOC_SIZE"; static const size_t zenoh_shm_alloc_size_default = 1 * 1024 * 1024; static const char * zenoh_shm_message_size_threshold_envar = "ZENOH_SHM_MESSAGE_SIZE_THRESHOLD"; -static const size_t zenoh_shm_message_size_threshold_default = 1; //2 * 1024; +static const size_t zenoh_shm_message_size_threshold_default = 2 * 1024; #endif std::optional _get_z_config( From c06c5a7a1a745221ab8c7aa0165e9880ae525c13 Mon Sep 17 00:00:00 2001 From: yellowhatter Date: Fri, 27 Dec 2024 14:44:48 +0300 Subject: [PATCH 9/9] Change 2023 -> 2024 in copyright --- rmw_zenoh_cpp/src/detail/shm_context.cpp | 2 +- rmw_zenoh_cpp/src/detail/shm_context.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/rmw_zenoh_cpp/src/detail/shm_context.cpp b/rmw_zenoh_cpp/src/detail/shm_context.cpp index 5078d4a5..e750fa81 100644 --- a/rmw_zenoh_cpp/src/detail/shm_context.cpp +++ b/rmw_zenoh_cpp/src/detail/shm_context.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 Open Source Robotics Foundation, Inc. +// Copyright 2024 Open Source Robotics Foundation, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/rmw_zenoh_cpp/src/detail/shm_context.hpp b/rmw_zenoh_cpp/src/detail/shm_context.hpp index 450e2dea..112d7af0 100644 --- a/rmw_zenoh_cpp/src/detail/shm_context.hpp +++ b/rmw_zenoh_cpp/src/detail/shm_context.hpp @@ -1,4 +1,4 @@ -// Copyright 2023 Open Source Robotics Foundation, Inc. +// Copyright 2024 Open Source Robotics Foundation, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License.