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 f100eff6..3a19f768 100644 --- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 +++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 @@ -529,9 +529,7 @@ /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the /// 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 eea7c67d..78f0c112 100644 --- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 +++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 @@ -532,9 +532,7 @@ /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the /// 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 e6198f3a..797ed049 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..bf690d54 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 +221,65 @@ 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( + 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 { + // Print a warning and revert to regular allocation + RMW_ZENOH_LOG_DEBUG_NAMED( + "rmw_zenoh_cpp", "Failed to allocate a SHM buffer, fallback to non-SHM"); + + // TODO(yellowhatter): split the whole publish method onto shm and non-shm versions + // 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); + } + } 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 +306,14 @@ 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 +334,11 @@ 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 +360,48 @@ 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)); + + 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? + 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)); + 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 +} +#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 81c8c107..315ba3f4 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp +++ b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp @@ -33,6 +33,7 @@ #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" 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..e750fa81 --- /dev/null +++ b/rmw_zenoh_cpp/src/detail/shm_context.cpp @@ -0,0 +1,33 @@ +// 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. +// 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. + +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + +#include + +#include "shm_context.hpp" + +namespace rmw_zenoh_cpp +{ +///============================================================================= +ShmContext::ShmContext(size_t alloc_size, size_t msgsize_threshold) +: // Create Layout for provider's memory + // 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) +{} +} // 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 new file mode 100644 index 00000000..7443b978 --- /dev/null +++ b/rmw_zenoh_cpp/src/detail/shm_context.hpp @@ -0,0 +1,38 @@ +// 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. +// 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_ + +#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY + +#include + +#include + +namespace rmw_zenoh_cpp +{ +///============================================================================= +struct ShmContext +{ + zenoh::PosixShmProvider shm_provider; + size_t msgsize_threshold; + + ShmContext(size_t alloc_size, size_t msgsize_threshold); +}; +} // namespace rmw_zenoh_cpp + +#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 fa100d0a..cd2fcad1 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 958ce1e7..decab8d7 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 eb0ec924..9a401d80 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -618,8 +618,11 @@ 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 + ); } //============================================================================== @@ -725,8 +728,11 @@ 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 75a5ee2f..88804db0 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$--features=zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls") + +set(RMW_ZENOH_BUILD_WITH_SHARED_MEMORY TRUE CACHE BOOL "Compile Zenoh RMW with Shared Memory support") # Set VCS_VERSION to include latest changes from zenoh/zenoh-c to benefit from : # - https://github.com/eclipse-zenoh/zenoh/pull/1685 (Fix deadlock in advanced subscription undeclaration) @@ -27,6 +29,7 @@ ament_vendor(zenoh_c_vendor VCS_VERSION 328736fe9bb9b654b1d9f47eecfc6d52f0d7d587 CMAKE_ARGS "-DZENOHC_CARGO_FLAGS=${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}" ) @@ -40,8 +43,9 @@ ament_vendor(zenoh_cpp_vendor VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp VCS_VERSION bbfef04e843289aae70b5aa060a925e8ee5b1b6f CMAKE_ARGS - -DZENOHCXX_ZENOHC=OFF -) + -DZENOHCXX_ZENOHC=ON + -DZENOHCXX_ZENOHPICO=OFF + ) externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)