niklas/rmw_cyclonedds
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Create one DDS publisher, subscriber per node

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Otherwise each writer/reader gets its own, and at approximately 1kB
each, with hundreds of endpoints that starts adding up to a meaningful
amount of memory.

Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2019-06-24 09:56:54 +02:00 • committed by eboasson
parent 3e9a56a36b
commit 5299a83916
1 changed files with 19 additions and 4 deletions
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23
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -91,6 +91,8 @@ static const dds_entity_t builtin_topics[] = {
struct CddsNode {
dds_entity_t pp;
dds_entity_t pub;
dds_entity_t sub;
rmw_guard_condition_t *graph_guard_condition;
};
@ -367,6 +369,17 @@ extern "C" rmw_node_t *rmw_create_node (rmw_context_t *context, const char *name
RCUTILS_LOG_ERROR_NAMED ("rmw_cyclonedds_cpp", "rmw_create_node: failed to create DDS participant");
return nullptr;
}
dds_entity_t pub, sub;
if ((pub = dds_create_publisher (pp, nullptr, nullptr)) < 0) {
RCUTILS_LOG_ERROR_NAMED ("rmw_cyclonedds_cpp", "rmw_create_node: failed to create DDS publisher");
dds_delete (pp);
return nullptr;
}
if ((sub = dds_create_subscriber (pp, nullptr, nullptr)) < 0) {
RCUTILS_LOG_ERROR_NAMED ("rmw_cyclonedds_cpp", "rmw_create_node: failed to create DDS subscriber");
dds_delete (pp);
return nullptr;
}
auto *node_impl = new CddsNode ();
rmw_node_t *node_handle = nullptr;
RET_ALLOC_X (node_impl, goto fail_node_impl);
@ -375,6 +388,8 @@ extern "C" rmw_node_t *rmw_create_node (rmw_context_t *context, const char *name
goto fail_ggc;
}
node_impl->pp = pp;
node_impl->pub = pub;
node_impl->sub = sub;
node_impl->graph_guard_condition = graph_guard_condition;
{
@ -716,7 +731,7 @@ static CddsPublisher *create_cdds_publisher (const rmw_node_t *node, const rosid
if ((qos = create_readwrite_qos (qos_policies, false)) == nullptr) {
goto fail_qos;
}
if ((pub->pubh = dds_create_writer (node_impl->pp, topic, qos, nullptr)) < 0) {
if ((pub->pubh = dds_create_writer (node_impl->pub, topic, qos, nullptr)) < 0) {
RMW_SET_ERROR_MSG ("failed to create writer");
goto fail_writer;
}
@ -888,7 +903,7 @@ static CddsSubscription *create_cdds_subscription (const rmw_node_t *node, const
if ((qos = create_readwrite_qos (qos_policies, ignore_local_publications)) == nullptr) {
goto fail_qos;
}
if ((sub->subh = dds_create_reader (node_impl->pp, topic, qos, nullptr)) < 0) {
if ((sub->subh = dds_create_reader (node_impl->sub, topic, qos, nullptr)) < 0) {
RMW_SET_ERROR_MSG ("failed to create reader");
goto fail_reader;
}
@ -1472,14 +1487,14 @@ static rmw_ret_t rmw_init_cs (CddsCS *cs, const rmw_node_t *node, const rosidl_s
}
dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS (1));
dds_qset_history (qos, DDS_HISTORY_KEEP_ALL, DDS_LENGTH_UNLIMITED);
if ((pub->pubh = dds_create_writer (node_impl->pp, pubtopic, qos, nullptr)) < 0) {
if ((pub->pubh = dds_create_writer (node_impl->pub, pubtopic, qos, nullptr)) < 0) {
RMW_SET_ERROR_MSG ("failed to create writer");
goto fail_writer;
}
/* FIXME: not guaranteed that "topic" will refer to "sertopic" because topic might have been
created earlier, but the two are equivalent, so this'll do */
pub->sertopic = pub_st;
if ((sub->subh = dds_create_reader (node_impl->pp, subtopic, qos, nullptr)) < 0) {
if ((sub->subh = dds_create_reader (node_impl->sub, subtopic, qos, nullptr)) < 0) {
RMW_SET_ERROR_MSG ("failed to create reader");
goto fail_reader;
}