feat: zenoh plugin with shm (#96)
* add zenoh-shm API * use zenoh shm-api for channel and rpc * set z_alloc_result as a local variable. * add zenoh_buffer_array_allocator * avoid copy opreation when pub data with shm * if shm pool size is not enough, use net buffer instead * add z_pub_shm_size_map_ to store topic-loan_size * little fix * remove client send data 's copying * remove server send data 's copy * add doc * change benchamrk item * minor modification --------- Co-authored-by: hanjun <hanjun@agibot.com>
This commit is contained in:
han J
GitHub
parent
5c0e63c4ca
commit
062ffad431
@ -27,6 +27,12 @@ endif()
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function(get_zenohc)
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function(get_zenohc)
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FetchContent_GetProperties(zenohc)
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FetchContent_GetProperties(zenohc)
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if(NOT zenohc_POPULATED)
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if(NOT zenohc_POPULATED)
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set(ZENOHC_BUILD_WITH_UNSTABLE_API
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TRUE
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CACHE BOOL "Enable unstable API")
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set(ZENOHC_BUILD_WITH_SHARED_MEMORY
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TRUE
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CACHE BOOL "Enable shared memory")
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FetchContent_MakeAvailable(zenohc)
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FetchContent_MakeAvailable(zenohc)
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endif()
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endif()
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endfunction()
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endfunction()
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@ -3,9 +3,9 @@
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**重要修改**：
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**重要修改**：
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- 优化了 zenoh 插件：
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- 优化了 zenoh 插件：
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- 更新 zenohc 库至 1.0.0.11 版本；
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- 添加了 zenoh rpc 后端；
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- 添加了 zenoh rpc 后端；
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- 现在可以传入 zenoh 原生配置；
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- zenoh 插件支持网络通信和共享内存两种通信方式；
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- 可以传入 zenoh 原生配置进行更丰富的配置；
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- 新增了第三方库 asio，runtime::core 不再引用 boost，改为引用独立的 asio 库，以减轻依赖；
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- 新增了第三方库 asio，runtime::core 不再引用 boost，改为引用独立的 asio 库，以减轻依赖；
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- 新增 aimrt_cli trans 命令，用于将 使用 aimrt record_playback 插件录制的 bag 文件转换为 ros2 的 bag 文件；
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- 新增 aimrt_cli trans 命令，用于将 使用 aimrt record_playback 插件录制的 bag 文件转换为 ros2 的 bag 文件；
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- 新增 Echo 插件，用于回显消息；
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- 新增 Echo 插件，用于回显消息；
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@ -27,6 +27,7 @@
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- 支持日志自定义输出格式；
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- 支持日志自定义输出格式；
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- 支持日志定期主动落盘操作；
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- 支持日志定期主动落盘操作；
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- grpc 插件支持 ros2 消息以及 json 序列化格式；
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- grpc 插件支持 ros2 消息以及 json 序列化格式；
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- mqtt 新增配置项以支持 ssl/tls 加密传输；
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- mqtt 新增配置项以支持 ssl/tls 单向认证/双向认证的加密传输；
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- mqtt 插件在broker未启动时，会自动重试异步连接；
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- mqtt 插件在broker未启动时，会自动重试异步连接， 并提供重连间隔配置项；
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- ros2 插件支持自定义 rpc 服务名称；
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- asio thread/strand 执行器现在支持是否使用 system clock；
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- asio thread/strand 执行器现在支持是否使用 system clock；
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@ -13,21 +13,26 @@
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- `服务发现`机制的通信系统；
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- `服务发现`机制的通信系统；
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- 灵活的网络拓扑结构；
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- 灵活的网络拓扑结构；
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- 低延迟、高吞吐量的网络通信和数据传输；
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- 低延迟、高吞吐量的网络通信和数据传输；
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- SHM 和 非 SHM 两种传输模式；
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-
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此插件为 AimRT 提供以下组件：
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此插件为 AimRT 提供以下组件：
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- `zenoh` 类型 Rpc 后端
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- `zenoh` 类型 Rpc 后端
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- `zenoh` 类型 Channel 后端
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- `zenoh` 类型 Channel 后端
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插件的配置项如下：
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插件的配置项如下：
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| 节点 | 类型 | 是否可选 | 默认值 | 作用 |
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| 节点 | 类型 | 是否可选 | 默认值 | 作用 |
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| :-------------: | :----: | :------: | :----: | :-------------------------: |
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| :----------------: | :----: | :------: | :----: | :-----------------------------: |
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| native_cfg_path | string | 可选 | "" | 使用zenoh提供的原生配置文件 |
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| shm_pool_size | int | 可选 | 10 MB | 共享内存池的大小 ， 单位：B |
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| limit_domain | string | 可选 | "" | 对插件的通信域进行限制 |
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| shm_init_loan_size | int | 可选 | 1 KB | 共享内存初始借用大小 ， 单位：B |
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| native_cfg_path | string | 可选 | "" | 使用zenoh提供的原生配置文件 |
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| limit_domain | string | 可选 | "" | 对插件的通信域进行限制 |
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关于**zenoh_plugin**的配置，使用注意点如下：
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关于**zenoh_plugin**的配置，使用注意点如下：
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- `shm_pool_size` 表示共享内存池的大小，单位：B，默认值是 10 MB，可以根据实际情况调整， 如果不使用共享内存，可忽略该配置项。 如果剩余共享内存不足以满足数据传输需求，则会自动切换到非共享内存传输模式 。
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- `shm_init_loan_size` 表示向共享内存池初始借用大小，单位：B，默认值是 1 KB，可以根据实际情况调整， 如果不使用共享内存，可忽略该配置项。
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- `native_cfg_path` 表示 zenoh 提供的原生配置文件的路径，可以通过配置该文件来灵活配置 zenoh 的网络结构。如果不填写则默认使用 zenoh 官方提供的默认配置，具体配置内容请参考 zenoh 官方关于[configuration](https://zenoh.io/docs/manual/configuration/)的说明，您也可以直接修改 {{ '[zenoh_native_config.json5]({}/src/examples/plugins/zenoh_plugin/install/linux/bin/cfg/zenoh_native_config.json5)'.format(code_site_root_path_url) }}文件来自定义配置，这里列举几个常用的配置项：
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- `native_cfg_path` 表示 zenoh 提供的原生配置文件的路径，可以通过配置该文件来灵活配置 zenoh 的网络结构。如果不填写则默认使用 zenoh 官方提供的默认配置，具体配置内容请参考 zenoh 官方关于[configuration](https://zenoh.io/docs/manual/configuration/)的说明，您也可以直接修改 {{ '[zenoh_native_config.json5]({}/src/examples/plugins/zenoh_plugin/install/linux/bin/cfg/zenoh_native_config.json5)'.format(code_site_root_path_url) }}文件来自定义配置，这里列举几个常用的配置项：
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| 配置项 | 作用 | zenoh_native_config中的配置值 |
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| 配置项 | 作用 | zenoh_native_config中的配置值 |
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@ -67,9 +72,17 @@ aimrt:
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## zenoh 类型 Rpc 后端
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## zenoh 类型 Rpc 后端
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`zenoh`类型的 Rpc后端是**zenoh_plugin**中提供的一种 Rpc 后端，主要用来构建请求-响应模型。其所有的配置项如下：
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`zenoh`类型的 Rpc后端是**zenoh_plugin**中提供的一种 Rpc 后端，主要用来构建请求-响应模型。其所有的配置项如下：
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| 节点 | 类型 | 是否可选 | 默认值 | 作用 |
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| 节点 | 类型 | 是否可选 | 默认值 | 作用 |
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| ---------------- | ------ | -------- | ------ | ------------------------------------ |
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| ------------------------------ | ------ | -------- | ------ | ------------------------------------ |
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| timeout_executor | string | 可选 | "" | Client 端发起 RPC 超时情况下的执行器 |
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| timeout_executor | string | 可选 | "" | Client 端发起 RPC 超时情况下的执行器 |
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| clients_options | array | 可选 | [] | Client 端发起 RPC 请求时的规则 |
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| clients_options[i].func_name | string | 必选 | "" | RPC Func 名称，支持正则表达式 |
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| clients_options[i].shm_enabled | bool | 必选 | false | RPC Func 是否使用共享内存通信 |
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| servers_options | array | 可选 | [] | 服务端处理 RPC 请求时的规则 |
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| servers_options[i].func_name | string | 必选 | "" | RPC Func 名称，支持正则表达式 |
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| servers_options[i].shm_enabled | bool | 必选 | false | RPC Func 是否使用共享内存通信 |
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注意： zenoh 支持 SHM 和 非 SHM 的自动转换， 即如果数据离开其所在的SHM 域，则自动切换到非 SHM 通信。 例如，如果节点 A 和 节点 B 都设置的共享内存，但其不再同一机器上，仍可以进行通信，因为数据会自动切换到非共享内存的传输模式。
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以下是一个简单的客户端的示例：
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以下是一个简单的客户端的示例：
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path: ./libaimrt_zenoh_plugin.so
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path: ./libaimrt_zenoh_plugin.so
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options:
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options:
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native_cfg_path: ./cfg/zenoh_native_config.json5
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native_cfg_path: ./cfg/zenoh_native_config.json5
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shm_pool_size: 10240
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executor:
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executor:
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executors:
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executors:
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- name: timeout_handle
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- name: timeout_handle
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- type: zenoh
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- type: zenoh
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options:
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options:
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timeout_executor: timeout_handle
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timeout_executor: timeout_handle
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clients_options:
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- func_name: "(.*)"
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shm_enabled: false
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clients_options:
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clients_options:
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- func_name: "(.*)"
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- func_name: "(.*)"
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enable_backends: [zenoh]
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enable_backends: [zenoh]
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rpc:
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rpc:
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backends:
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backends:
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- type: zenoh
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- type: zenoh
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options:
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timeout_executor: timeout_handle
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servers_options:
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- func_name: "(.*)"
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shm_enabled: true
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servers_options:
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servers_options:
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- func_name: "(.*)"
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- func_name: "(.*)"
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enable_backends: [zenoh]
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enable_backends: [zenoh]
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## zenoh 类型 Channel 后端
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## zenoh 类型 Channel 后端
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`zenoh`类型的 Channel 后端是**zenoh_plugin**中提供的一种Channel后端，主要用来构建发布和订阅模型。
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`zenoh`类型的 Channel 后端是**zenoh_plugin**中提供的一种Channel后端，主要用来构建发布和订阅模型。其所有的配置项如下：
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| 节点 | 类型 | 是否可选 | 默认值 | 作用 |
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| --------------------------------- | ------ | -------- | ------ | ------------------------------- |
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| pub_topics_options | array | 可选 | [] | 发布 Topic 时的规则 |
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| pub_topics_options[i].topic_name | string | 必选 | "" | Topic 名称，支持正则表达式 |
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| pub_topics_options[i].shm_enabled | bool | 必选 | false | Publish 端 是否使用共享内存通信 |
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注意： zenoh 支持 SHM 和 非 SHM 的自动转换， 即如果数据离开其所在的SHM 域，则自动切换到非 SHM 通信。 例如，如果节点 A 和 节点 B 都设置的共享内存，但其不再同一机器上，仍可以进行通信，因为数据会自动切换到非共享内存的传输模式。
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以下是一个简单的发布端的示例：
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以下是一个简单的发布端的示例：
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```yaml
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```yaml
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- name: zenoh_plugin
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- name: zenoh_plugin
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path: ./libaimrt_zenoh_plugin.so
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path: ./libaimrt_zenoh_plugin.so
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options:
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options:
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native_cfg_path: ./cfg/zenoh_native_config.json5
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shm_pool_size: 1024
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channel:
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channel:
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backends:
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backends:
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- type: zenoh
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- type: zenoh
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options:
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pub_topics_options:
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- topic_name: "(.*)"
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shm_enabled: false
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pub_topics_options:
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pub_topics_options:
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- topic_name: "(.*)"
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- topic_name: "(.*)"
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enable_backends: [zenoh]
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enable_backends: [zenoh]
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@ -118,4 +118,116 @@
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说明：
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说明：
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- 本示例与 **protobuf rpc** 示例基本一致，除了业务层使用的是 ros2 msg 形式的协议；
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- 本示例与 **protobuf rpc** 示例基本一致，除了业务层使用的是 ros2 msg 形式的协议；
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## protobuf channel with shared-memory
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一个基于 protobuf 协议与 zenoh 后端的 channel 示例，演示内容包括：
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- 如何在配置文件中加载**zenoh_plugin**；
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- 如何使用 zenoh 类型的 channel 后端；
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- 如何使用共享内存进行通信；
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核心代码：
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- [event.proto](../../../protocols/example/event.proto)
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- [normal_publisher_module.cc](../../cpp/pb_chn/module/normal_publisher_module/normal_publisher_module.cc)
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- [normal_subscriber_module.cc](../../cpp/pb_chn/module/normal_subscriber_module/normal_subscriber_module.cc)
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配置文件：
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- [examples_plugins_zenoh_plugin_pb_chn_pub_with_shm_cfg.yaml](./install/linux/bin/cfg/examples_plugins_zenoh_plugin_pb_chn_pub_with_shm_cfg.yaml)
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- [examples_plugins_zenoh_plugin_pb_chn_sub_with_shm_cfg.yaml](./install/linux/bin/cfg/examples_plugins_zenoh_plugin_pb_chn_sub_with_shm_cfg.yaml)
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运行方式（linux）：
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- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_ZENOH_PLUGIN` 选项编译 AimRT（编译时需要提前准备好rust编译环境）；
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- 在终端输入 `ls -l /dev/shm` 值令 观察此时计算机上共享内存的使用情况， 此时zenoh 未启动，共享内存应该为空；
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- 编译成功后，先运行 build 目录下`start_examples_plugins_zenoh_plugin_pb_chn_sub_with_shm.sh`脚本启动订阅端（sub 进程）；
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- 再开启一个新的终端窗口运行`start_examples_plugins_zenoh_plugin_pb_chn_pub_with_shm.sh`脚本启动发布端（pub 进程）；
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- 程序启动后在终端再次输入 `ls -l /dev/shm` 值令 观察此时计算机上共享内存的使用情况， 此时zenoh 已启动，可观察到 zenoh 占用的共享内存大小信息；
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- 分别在两个终端键入`ctrl-c`停止对应进程；
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说明：
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- 此示例创建了以下两个模块：
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- `NormalPublisherModule`：会基于 `work_thread_pool` 执行器，以配置的频率、向配置的 topic 中发布 `ExampleEventMsg` 类型的消息；
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- `NormalSubscriberModule`：会订阅配置的 topic 下的 `ExampleEventMsg` 类型的消息；
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- 此示例将 `NormalPublisherModule` 和 `NormalSubscriberModule` 分别集成到 `pb_chn_pub_pkg` 和 `pb_chn_sub_pkg` 两个 Pkg 中，并在两个配置文件中分别加载对应的 Pkg 到 pub 和 sub 进程中；
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- 此示例加载了**zenoh_plugin**，并使用 zenoh 类型的 channel 后端进行通信；
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## protobuf rpc with shared-memory
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一个基于 protobuf 协议、协程型接口与 zenoh 后端的 rpc 示例，演示内容包括：
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- 如何在配置文件中加载**zenoh_plugin**；
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- 如何使用 zenoh 类型的 rpc 后端；
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- 如何使用共享内存进行通信；
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核心代码：
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- [rpc.proto](../../../protocols/example/rpc.proto)
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- [normal_rpc_co_client_module.cc](../../cpp/pb_rpc/module/normal_rpc_co_client_module/normal_rpc_co_client_module.cc)
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- [normal_rpc_co_server_module.cc](../../cpp/pb_rpc/module/normal_rpc_co_server_module/normal_rpc_co_server_module.cc)
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- [service.cc](../../cpp/pb_rpc/module/normal_rpc_co_server_module/service.cc)
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配置文件：
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- [examples_plugins_zenoh_plugin_pb_rpc_client_with_shm_cfg.yaml](./install/linux/bin/cfg/examples_plugins_zenoh_plugin_pb_rpc_client_with_shm_cfg.yaml)
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||||||
|
- [examples_plugins_zenoh_plugin_pb_rpc_server_with_shm_cfg.yaml](./install/linux/bin/cfg/examples_plugins_zenoh_plugin_pb_rpc_server_with_shm_cfg.yaml)
|
||||||
|
|
||||||
|
|
||||||
|
运行方式（linux）：
|
||||||
|
- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_ZENOH_PLUGIN` 选项编译 AimRT（编译时需要提前准备好rust编译环境）；
|
||||||
|
- 在终端输入 `ls -l /dev/shm` 值令 观察此时计算机上共享内存的使用情况， 此时zenoh 未启动，共享内存应该为空；
|
||||||
|
- 编译成功后，先运行 build 目录下`start_examples_plugins_zenoh_plugin_pb_rpc_server_with_shm.sh`脚本启动订阅端（srv 进程）；
|
||||||
|
- 再开启一个新的终端窗口运行`start_examples_plugins_zenoh_plugin_pb_rpc_client_with_shm.sh`脚本启动发布端（cli 进程）；
|
||||||
|
- 程序启动后在终端再次输入 `ls -l /dev/shm` 值令 观察此时计算机上共享内存的使用情况， 此时zenoh 已启动，可观察到 zenoh 占用的共享内存大小信息；
|
||||||
|
- 分别在两个终端键入`ctrl-c`停止对应进程；
|
||||||
|
|
||||||
|
说明：
|
||||||
|
- 此示例创建了以下两个模块：
|
||||||
|
- `NormalRpcCoClientModule`：会基于 `work_thread_pool` 执行器，以配置的频率，通过协程 Client 接口，向 `ExampleService` 发起 RPC 请求；
|
||||||
|
- `NormalRpcCoServerModule`：会注册 `ExampleService` 服务端，通过协程 Server 接口，提供 echo 功能；
|
||||||
|
- 此示例在 Rpc Client 端和 Server 端分别注册了两个 Filter 用于打印请求日志和计算耗时；
|
||||||
|
- 此示例将 `NormalRpcCoClientModule` 和 `NormalRpcCoServerModule` 分别集成到 `pb_rpc_client_pkg` 和 `pb_rpc_server_pkg` 两个 Pkg 中，并在两个配置文件中分别加载对应的 Pkg 到 srv 和 cli 进程中；
|
||||||
|
- 此示例加载了**zenoh_plugin**，并使用 zenoh 类型的 rpc 后端进行通信，此外还在客户端配置了 `timeout_handle` 执行器作为超时执行器；
|
||||||
|
|
||||||
|
|
||||||
|
## protobuf channel with shared-memory and network
|
||||||
|
|
||||||
|
一个基于 protobuf 协议与 zenoh 后端的 channel 示例，演示内容包括：
|
||||||
|
- 如何在配置文件中加载**zenoh_plugin**；
|
||||||
|
- 如何使用 zenoh 类型的 channel 后端；
|
||||||
|
- 如何使用共享内存和网络进行混合通信；
|
||||||
|
|
||||||
|
|
||||||
|
核心代码：
|
||||||
|
- [event.proto](../../../protocols/example/event.proto)
|
||||||
|
- [normal_publisher_module.cc](../../cpp/pb_chn/module/normal_publisher_module/normal_publisher_module.cc)
|
||||||
|
- [normal_subscriber_module.cc](../../cpp/pb_chn/module/normal_subscriber_module/normal_subscriber_module.cc)
|
||||||
|
|
||||||
|
|
||||||
|
配置文件：
|
||||||
|
- [examples_plugins_zenoh_plugin_pb_chn_pub_with_shm_cfg.yaml](./install/linux/bin/cfg/examples_plugins_zenoh_plugin_pb_chn_pub_with_shm_cfg.yaml)
|
||||||
|
- [examples_plugins_zenoh_plugin_pb_chn_sub_cfg.yaml](./install/linux/bin/cfg/examples_plugins_zenoh_plugin_pb_chn_sub_cfg.yaml)
|
||||||
|
|
||||||
|
|
||||||
|
运行方式（linux）：
|
||||||
|
- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_ZENOH_PLUGIN` 选项编译 AimRT（编译时需要提前准备好rust编译环境）；
|
||||||
|
- 在终端输入 `ls -l /dev/shm` 值令 观察此时计算机上共享内存的使用情况， 此时zenoh 未启动，共享内存应该为空；
|
||||||
|
- 编译成功后，先运行 build 目录下`start_examples_plugins_zenoh_plugin_pb_chn_sub.sh`脚本启动订阅端（sub 进程）；
|
||||||
|
- 再开启一个新的终端窗口运行`start_examples_plugins_zenoh_plugin_pb_chn_pub_with_shm.sh`脚本启动发布端（pub 进程）；
|
||||||
|
- 程序启动后在终端再次输入 `ls -l /dev/shm` 值令 观察此时计算机上共享内存的使用情况， 此时zenoh 已启动，可观察到 zenoh 占用的共享内存大小信息；
|
||||||
|
- 分别在两个终端键入`ctrl-c`停止对应进程；
|
||||||
|
|
||||||
|
|
||||||
|
说明：
|
||||||
|
- 此示例创建了以下两个模块：
|
||||||
|
- `NormalPublisherModule`：会基于 `work_thread_pool` 执行器，以配置的频率、向配置的 topic 中发布 `ExampleEventMsg` 类型的消息；
|
||||||
|
- `NormalSubscriberModule`：会订阅配置的 topic 下的 `ExampleEventMsg` 类型的消息；
|
||||||
|
- 此示例将 `NormalPublisherModule` 和 `NormalSubscriberModule` 分别集成到 `pb_chn_pub_pkg` 和 `pb_chn_sub_pkg` 两个 Pkg 中，并在两个配置文件中分别加载对应的 Pkg 到 pub 和 sub 进程中；
|
||||||
|
- 此示例加载了**zenoh_plugin**，并使用 zenoh 类型的 channel 后端进行通信；
|
||||||
|
- zenoh 插件配置的共享内存数据一旦超过其作用范围，就会自动切换到网络传输模式。 用户可尝试分别在一台主机和两台主机分别执行上述步骤，观察到不同主机间的通信效果：
|
||||||
|
- 在一台主机上运行的发布端和订阅端，可观察到共享内存的通信效果；
|
||||||
|
- 在两台主机上运行的发布端和订阅端，可观察到网络的通信效果， 尽管发布端使用的共享内存方案；
|
||||||
|
|
||||||
|
|
||||||
@ -0,0 +1,57 @@
|
|||||||
|
# Copyright (c) 2023, AgiBot Inc.
|
||||||
|
# All rights reserved.
|
||||||
|
|
||||||
|
aimrt:
|
||||||
|
plugin:
|
||||||
|
plugins:
|
||||||
|
- name: zenoh_plugin
|
||||||
|
path: ./libaimrt_zenoh_plugin.so
|
||||||
|
options:
|
||||||
|
native_cfg_path: ./cfg/zenoh_native_config.json5
|
||||||
|
shm_pool_size: 10240000
|
||||||
|
log:
|
||||||
|
core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
|
||||||
|
backends:
|
||||||
|
- type: console
|
||||||
|
executor:
|
||||||
|
executors:
|
||||||
|
- name: publish_control_executor
|
||||||
|
type: simple_thread
|
||||||
|
- name: publish_executor_0
|
||||||
|
type: simple_thread
|
||||||
|
- name: publish_executor_1
|
||||||
|
type: simple_thread
|
||||||
|
- name: publish_executor_2
|
||||||
|
type: simple_thread
|
||||||
|
- name: publish_executor_3
|
||||||
|
type: simple_thread
|
||||||
|
channel:
|
||||||
|
backends:
|
||||||
|
- type: zenoh
|
||||||
|
options:
|
||||||
|
pub_topics_options:
|
||||||
|
- topic_name: "(.*)"
|
||||||
|
shm_enabled: true
|
||||||
|
pub_topics_options:
|
||||||
|
- topic_name: "(.*)"
|
||||||
|
enable_backends: [zenoh]
|
||||||
|
module:
|
||||||
|
pkgs:
|
||||||
|
- path: ./libpb_chn_pub_pkg.so
|
||||||
|
enable_modules: [BenchmarkPublisherModule]
|
||||||
|
modules:
|
||||||
|
- name: BenchmarkPublisherModule
|
||||||
|
log_lvl: INFO
|
||||||
|
|
||||||
|
# Module custom configuration
|
||||||
|
BenchmarkPublisherModule:
|
||||||
|
max_topic_number: 4
|
||||||
|
bench_plans:
|
||||||
|
- channel_frq: 1000
|
||||||
|
msg_size: 512
|
||||||
|
topic_number: 4
|
||||||
|
msg_count: 5000
|
||||||
|
- channel_frq: 1000
|
||||||
|
msg_size: 4096
|
||||||
|
topic_number: 1
|
||||||
|
msg_count: 1000
|
||||||
@ -0,0 +1,32 @@
|
|||||||
|
# Copyright (c) 2023, AgiBot Inc.
|
||||||
|
# All rights reserved.
|
||||||
|
|
||||||
|
aimrt:
|
||||||
|
plugin:
|
||||||
|
plugins:
|
||||||
|
- name: zenoh_plugin
|
||||||
|
path: ./libaimrt_zenoh_plugin.so
|
||||||
|
options:
|
||||||
|
native_cfg_path: ./cfg/zenoh_native_config.json5
|
||||||
|
log:
|
||||||
|
core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
|
||||||
|
backends:
|
||||||
|
- type: console
|
||||||
|
executor:
|
||||||
|
channel:
|
||||||
|
backends:
|
||||||
|
- type: zenoh
|
||||||
|
sub_topics_options:
|
||||||
|
- topic_name: "(.*)"
|
||||||
|
enable_backends: [zenoh]
|
||||||
|
module:
|
||||||
|
pkgs:
|
||||||
|
- path: ./libpb_chn_sub_pkg.so
|
||||||
|
enable_modules: [BenchmarkSubscriberModule]
|
||||||
|
modules:
|
||||||
|
- name: BenchmarkSubscriberModule
|
||||||
|
log_lvl: INFO
|
||||||
|
|
||||||
|
# Module custom configuration
|
||||||
|
BenchmarkSubscriberModule:
|
||||||
|
max_topic_number: 4
|
||||||
@ -0,0 +1,42 @@
|
|||||||
|
# Copyright (c) 2023, AgiBot Inc.
|
||||||
|
# All rights reserved.
|
||||||
|
|
||||||
|
aimrt:
|
||||||
|
plugin:
|
||||||
|
plugins:
|
||||||
|
- name: zenoh_plugin
|
||||||
|
path: ./libaimrt_zenoh_plugin.so
|
||||||
|
options:
|
||||||
|
shm_pool_size: 10240
|
||||||
|
log:
|
||||||
|
core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
|
||||||
|
backends:
|
||||||
|
- type: console
|
||||||
|
executor:
|
||||||
|
executors:
|
||||||
|
- name: work_thread_pool
|
||||||
|
type: asio_thread
|
||||||
|
options:
|
||||||
|
thread_num: 2
|
||||||
|
channel:
|
||||||
|
backends:
|
||||||
|
- type: zenoh
|
||||||
|
options:
|
||||||
|
pub_topics_options:
|
||||||
|
- topic_name: "(.*)"
|
||||||
|
shm_enabled: true
|
||||||
|
pub_topics_options:
|
||||||
|
- topic_name: "(.*)"
|
||||||
|
enable_backends: [zenoh]
|
||||||
|
module:
|
||||||
|
pkgs:
|
||||||
|
- path: ./libpb_chn_pub_pkg.so
|
||||||
|
enable_modules: [NormalPublisherModule]
|
||||||
|
modules:
|
||||||
|
- name: NormalPublisherModule
|
||||||
|
log_lvl: INFO
|
||||||
|
|
||||||
|
# Module custom configuration
|
||||||
|
NormalPublisherModule:
|
||||||
|
topic_name: test_topic
|
||||||
|
channel_frq: 0.5
|
||||||
@ -0,0 +1,30 @@
|
|||||||
|
# Copyright (c) 2023, AgiBot Inc.
|
||||||
|
# All rights reserved.
|
||||||
|
|
||||||
|
aimrt:
|
||||||
|
plugin:
|
||||||
|
plugins:
|
||||||
|
- name: zenoh_plugin
|
||||||
|
path: ./libaimrt_zenoh_plugin.so
|
||||||
|
log:
|
||||||
|
core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
|
||||||
|
backends:
|
||||||
|
- type: console
|
||||||
|
executor:
|
||||||
|
channel:
|
||||||
|
backends:
|
||||||
|
- type: zenoh
|
||||||
|
sub_topics_options:
|
||||||
|
- topic_name: "(.*)"
|
||||||
|
enable_backends: [zenoh]
|
||||||
|
module:
|
||||||
|
pkgs:
|
||||||
|
- path: ./libpb_chn_sub_pkg.so
|
||||||
|
enable_modules: [NormalSubscriberModule]
|
||||||
|
modules:
|
||||||
|
- name: NormalSubscriberModule
|
||||||
|
log_lvl: INFO
|
||||||
|
|
||||||
|
# Module custom configuration
|
||||||
|
NormalSubscriberModule:
|
||||||
|
topic_name: test_topic
|
||||||
@ -0,0 +1,65 @@
|
|||||||
|
# Copyright (c) 2023, AgiBot Inc.
|
||||||
|
# All rights reserved.
|
||||||
|
|
||||||
|
aimrt:
|
||||||
|
plugin:
|
||||||
|
plugins:
|
||||||
|
- name: zenoh_plugin
|
||||||
|
path: ./libaimrt_zenoh_plugin.so
|
||||||
|
options:
|
||||||
|
native_cfg_path: ./cfg/zenoh_native_config.json5
|
||||||
|
shm_pool_size: 10240000
|
||||||
|
log:
|
||||||
|
core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
|
||||||
|
backends:
|
||||||
|
- type: console
|
||||||
|
executor:
|
||||||
|
executors:
|
||||||
|
- name: client_statistics_executor
|
||||||
|
type: asio_thread
|
||||||
|
options:
|
||||||
|
thread_num: 4
|
||||||
|
- name: timeout_handle
|
||||||
|
type: time_wheel
|
||||||
|
options:
|
||||||
|
bind_executor: client_statistics_executor
|
||||||
|
- name: client_executor_0
|
||||||
|
type: asio_thread
|
||||||
|
- name: client_executor_1
|
||||||
|
type: asio_thread
|
||||||
|
- name: client_executor_2
|
||||||
|
type: asio_thread
|
||||||
|
- name: client_executor_3
|
||||||
|
type: asio_thread
|
||||||
|
rpc:
|
||||||
|
backends:
|
||||||
|
- type: zenoh
|
||||||
|
options:
|
||||||
|
timeout_executor: timeout_handle
|
||||||
|
clients_options:
|
||||||
|
- func_name: "(.*)"
|
||||||
|
shm_enabled: true
|
||||||
|
clients_options:
|
||||||
|
- func_name: "(.*)"
|
||||||
|
enable_backends: [zenoh]
|
||||||
|
module:
|
||||||
|
pkgs:
|
||||||
|
- path: ./libpb_rpc_client_pkg.so
|
||||||
|
enable_modules: [BenchmarkRpcClientModule]
|
||||||
|
modules:
|
||||||
|
- name: BenchmarkRpcClientModule
|
||||||
|
log_lvl: INFO
|
||||||
|
|
||||||
|
# Module custom configuration
|
||||||
|
BenchmarkRpcClientModule:
|
||||||
|
max_parallel: 4
|
||||||
|
bench_plans:
|
||||||
|
- perf_mode: bench
|
||||||
|
msg_size: 256
|
||||||
|
parallel: 4
|
||||||
|
msg_count: 10000
|
||||||
|
- perf_mode: fixed-freq
|
||||||
|
freq: 1000
|
||||||
|
msg_size: 1024
|
||||||
|
parallel: 2
|
||||||
|
msg_count: 1000
|
||||||
@ -0,0 +1,46 @@
|
|||||||
|
# Copyright (c) 2023, AgiBot Inc.
|
||||||
|
# All rights reserved.
|
||||||
|
|
||||||
|
aimrt:
|
||||||
|
plugin:
|
||||||
|
plugins:
|
||||||
|
- name: zenoh_plugin
|
||||||
|
path: ./libaimrt_zenoh_plugin.so
|
||||||
|
options:
|
||||||
|
native_cfg_path: ./cfg/zenoh_native_config.json5
|
||||||
|
log:
|
||||||
|
core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
|
||||||
|
backends:
|
||||||
|
- type: console
|
||||||
|
executor:
|
||||||
|
executors:
|
||||||
|
- name: work_thread_pool
|
||||||
|
type: asio_thread
|
||||||
|
options:
|
||||||
|
thread_num: 4
|
||||||
|
- name: timeout_handle
|
||||||
|
type: time_wheel
|
||||||
|
options:
|
||||||
|
bind_executor: work_thread_pool
|
||||||
|
rpc:
|
||||||
|
backends:
|
||||||
|
- type: zenoh
|
||||||
|
options:
|
||||||
|
timeout_executor: timeout_handle
|
||||||
|
clients_options:
|
||||||
|
- func_name: "(.*)"
|
||||||
|
shm_enabled: true
|
||||||
|
clients_options:
|
||||||
|
- func_name: "(.*)"
|
||||||
|
enable_backends: [zenoh]
|
||||||
|
module:
|
||||||
|
pkgs:
|
||||||
|
- path: ./libpb_rpc_client_pkg.so
|
||||||
|
enable_modules: [NormalRpcCoClientModule]
|
||||||
|
modules:
|
||||||
|
- name: NormalRpcCoClientModule
|
||||||
|
log_lvl: INFO
|
||||||
|
|
||||||
|
# Module custom configuration
|
||||||
|
NormalRpcCoClientModule:
|
||||||
|
rpc_frq: 0.5
|
||||||
@ -25,4 +25,4 @@ aimrt:
|
|||||||
enable_modules: [NormalRpcCoServerModule]
|
enable_modules: [NormalRpcCoServerModule]
|
||||||
modules:
|
modules:
|
||||||
- name: NormalRpcCoServerModule
|
- name: NormalRpcCoServerModule
|
||||||
log_lvl: INFO
|
log_lvl: Info
|
||||||
|
|||||||
@ -0,0 +1,33 @@
|
|||||||
|
# Copyright (c) 2023, AgiBot Inc.
|
||||||
|
# All rights reserved.
|
||||||
|
|
||||||
|
aimrt:
|
||||||
|
plugin:
|
||||||
|
plugins:
|
||||||
|
- name: zenoh_plugin
|
||||||
|
path: ./libaimrt_zenoh_plugin.so
|
||||||
|
options:
|
||||||
|
native_cfg_path: ./cfg/zenoh_native_config.json5
|
||||||
|
shm_pool_size: 10240000
|
||||||
|
log:
|
||||||
|
core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
|
||||||
|
backends:
|
||||||
|
- type: console
|
||||||
|
executor:
|
||||||
|
rpc:
|
||||||
|
backends:
|
||||||
|
- type: zenoh
|
||||||
|
options:
|
||||||
|
servers_options:
|
||||||
|
- func_name: "(.*)"
|
||||||
|
shm_enabled: true
|
||||||
|
servers_options:
|
||||||
|
- func_name: "(.*)"
|
||||||
|
enable_backends: [zenoh]
|
||||||
|
module:
|
||||||
|
pkgs:
|
||||||
|
- path: ./libpb_rpc_server_pkg.so
|
||||||
|
enable_modules: [NormalRpcCoServerModule]
|
||||||
|
modules:
|
||||||
|
- name: NormalRpcCoServerModule
|
||||||
|
log_lvl: Info
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
./aimrt_main --cfg_file_path=./cfg/examples_plugins_zenoh_plugin_pb_chn_benchmark_pub_with_shm_cfg.yaml
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
./aimrt_main --cfg_file_path=./cfg/examples_plugins_zenoh_plugin_pb_chn_benchmark_sub_with_shm_cfg.yaml
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
./aimrt_main --cfg_file_path=./cfg/examples_plugins_zenoh_plugin_pb_chn_pub_with_shm_cfg.yaml
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
./aimrt_main --cfg_file_path=./cfg/examples_plugins_zenoh_plugin_pb_chn_sub_with_shm_cfg.yaml
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
./aimrt_main --cfg_file_path=./cfg/examples_plugins_zenoh_plugin_pb_rpc_benchmark_client_with_shm_cfg.yaml
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
./aimrt_main --cfg_file_path=./cfg/examples_plugins_zenoh_plugin_pb_rpc_client_with_shm_cfg.yaml
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
./aimrt_main --cfg_file_path=./cfg/examples_plugins_zenoh_plugin_pb_rpc_server_with_shm_cfg.yaml
|
||||||
80
src/plugins/zenoh_plugin/util.h
Normal file
80
src/plugins/zenoh_plugin/util.h
Normal file
@ -0,0 +1,80 @@
|
|||||||
|
// Copyright(c) 2023, AgiBot Inc.
|
||||||
|
// All rights reserved.
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "core/channel/channel_msg_wrapper.h"
|
||||||
|
#include "core/rpc/rpc_invoke_wrapper.h"
|
||||||
|
|
||||||
|
namespace aimrt::plugins::zenoh_plugin {
|
||||||
|
constexpr unsigned int kFixedLen = 20; // FIXED_LEN represents the length of the pkg_size's string， which is enough to the max value of uint64_t
|
||||||
|
|
||||||
|
inline std::pair<std::shared_ptr<aimrt::util::BufferArrayView>, size_t> SerializeMsgSupportedZenoh(
|
||||||
|
runtime::core::channel::MsgWrapper& msg_wrapper, std::string_view serialization_type, aimrt::util::BufferArrayAllocatorRef allocator) {
|
||||||
|
auto& serialization_cache = msg_wrapper.serialization_cache;
|
||||||
|
const auto& info = msg_wrapper.info;
|
||||||
|
|
||||||
|
auto finditr = serialization_cache.find(serialization_type);
|
||||||
|
if (finditr != serialization_cache.end()) {
|
||||||
|
return {finditr->second, finditr->second->BufferSize()};
|
||||||
|
}
|
||||||
|
auto buffer_array_ptr = std::make_unique<aimrt::util::BufferArray>(allocator);
|
||||||
|
bool serialize_ret = info.msg_type_support_ref.Serialize(
|
||||||
|
serialization_type,
|
||||||
|
msg_wrapper.msg_ptr,
|
||||||
|
buffer_array_ptr->AllocatorNativeHandle(),
|
||||||
|
buffer_array_ptr->BufferArrayNativeHandle());
|
||||||
|
AIMRT_ASSERT(serialize_ret, "Serialize failed.");
|
||||||
|
|
||||||
|
return {nullptr, buffer_array_ptr->BufferSize()};
|
||||||
|
}
|
||||||
|
|
||||||
|
inline std::pair<std::shared_ptr<aimrt::util::BufferArrayView>, size_t> SerializeReqSupportedZenoh(
|
||||||
|
runtime::core::rpc::InvokeWrapper& invoke_wrapper, std::string_view serialization_type, aimrt::util::BufferArrayAllocatorRef allocator) {
|
||||||
|
const auto& info = invoke_wrapper.info;
|
||||||
|
auto& req_serialization_cache = invoke_wrapper.req_serialization_cache;
|
||||||
|
|
||||||
|
auto find_itr = req_serialization_cache.find(serialization_type);
|
||||||
|
if (find_itr != req_serialization_cache.end())
|
||||||
|
return {find_itr->second, find_itr->second->BufferSize()};
|
||||||
|
|
||||||
|
auto buffer_array_ptr = std::make_unique<aimrt::util::BufferArray>(allocator);
|
||||||
|
bool serialize_ret = info.req_type_support_ref.Serialize(
|
||||||
|
serialization_type,
|
||||||
|
invoke_wrapper.req_ptr,
|
||||||
|
buffer_array_ptr->AllocatorNativeHandle(),
|
||||||
|
buffer_array_ptr->BufferArrayNativeHandle());
|
||||||
|
|
||||||
|
AIMRT_ASSERT(serialize_ret, "Serialize failed.");
|
||||||
|
|
||||||
|
return {nullptr, buffer_array_ptr->BufferSize()};
|
||||||
|
}
|
||||||
|
|
||||||
|
inline std::pair<std::shared_ptr<aimrt::util::BufferArrayView>, size_t> SerializeRspSupportedZenoh(
|
||||||
|
runtime::core::rpc::InvokeWrapper& invoke_wrapper, std::string_view serialization_type, aimrt::util::BufferArrayAllocatorRef allocator) {
|
||||||
|
const auto& info = invoke_wrapper.info;
|
||||||
|
auto& rsp_serialization_cache = invoke_wrapper.rsp_serialization_cache;
|
||||||
|
|
||||||
|
auto find_itr = rsp_serialization_cache.find(serialization_type);
|
||||||
|
if (find_itr != rsp_serialization_cache.end())
|
||||||
|
return {find_itr->second, find_itr->second->BufferSize()};
|
||||||
|
|
||||||
|
auto buffer_array_ptr = std::make_unique<aimrt::util::BufferArray>(allocator);
|
||||||
|
bool serialize_ret = info.rsp_type_support_ref.Serialize(
|
||||||
|
serialization_type,
|
||||||
|
invoke_wrapper.rsp_ptr,
|
||||||
|
buffer_array_ptr->AllocatorNativeHandle(),
|
||||||
|
buffer_array_ptr->BufferArrayNativeHandle());
|
||||||
|
|
||||||
|
AIMRT_ASSERT(serialize_ret, "Serialize failed.");
|
||||||
|
|
||||||
|
return {nullptr, buffer_array_ptr->BufferSize()};
|
||||||
|
}
|
||||||
|
|
||||||
|
inline std::string IntToFixedLengthString(int number, int length) {
|
||||||
|
std::ostringstream oss;
|
||||||
|
oss << std::setw(length) << number;
|
||||||
|
return oss.str();
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace aimrt::plugins::zenoh_plugin
|
||||||
98
src/plugins/zenoh_plugin/zenoh_buffer_array_allocator.h
Normal file
98
src/plugins/zenoh_plugin/zenoh_buffer_array_allocator.h
Normal file
@ -0,0 +1,98 @@
|
|||||||
|
// Copyright (c) 2023, AgiBot Inc.
|
||||||
|
// All rights reserved.
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <cstdint>
|
||||||
|
#include <cstdio>
|
||||||
|
#include <cstdlib>
|
||||||
|
#include <cstring>
|
||||||
|
#include "aimrt_module_c_interface/util/buffer_base.h"
|
||||||
|
|
||||||
|
namespace aimrt::util {
|
||||||
|
|
||||||
|
class ZenohBufferArrayAllocator {
|
||||||
|
public:
|
||||||
|
ZenohBufferArrayAllocator(uint64_t z_shm_capacity, void* z_shm_head_ptr)
|
||||||
|
: z_shm_capacity_(z_shm_capacity),
|
||||||
|
z_shm_head_ptr_(z_shm_head_ptr),
|
||||||
|
z_shm_cur_ptr_(z_shm_head_ptr),
|
||||||
|
base_(GenBase(this)) {}
|
||||||
|
|
||||||
|
~ZenohBufferArrayAllocator() = default;
|
||||||
|
ZenohBufferArrayAllocator(const ZenohBufferArrayAllocator&) = delete;
|
||||||
|
ZenohBufferArrayAllocator& operator=(const ZenohBufferArrayAllocator&) = delete;
|
||||||
|
const aimrt_buffer_array_allocator_t* NativeHandle() const { return &base_; }
|
||||||
|
|
||||||
|
void Reserve(aimrt_buffer_array_t* buffer_array, size_t new_cap) {
|
||||||
|
aimrt_buffer_t* cur_data = buffer_array->data;
|
||||||
|
|
||||||
|
buffer_array->data = new aimrt_buffer_t[new_cap];
|
||||||
|
buffer_array->capacity = new_cap;
|
||||||
|
|
||||||
|
if (cur_data) {
|
||||||
|
memcpy(buffer_array->data, cur_data, buffer_array->len * sizeof(aimrt_buffer_t));
|
||||||
|
delete[] cur_data;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
aimrt_buffer_t Allocate(aimrt_buffer_array_t* buffer_array, size_t size) {
|
||||||
|
void* data = z_shm_cur_ptr_;
|
||||||
|
z_shm_cur_ptr_ = static_cast<char*>(z_shm_cur_ptr_) + size;
|
||||||
|
z_shm_used_size_ += size;
|
||||||
|
|
||||||
|
if (z_shm_used_size_ > z_shm_capacity_) [[unlikely]] {
|
||||||
|
z_is_shm_enough_ = false;
|
||||||
|
return aimrt_buffer_t{nullptr, 0};
|
||||||
|
}
|
||||||
|
|
||||||
|
if (data == nullptr) [[unlikely]]
|
||||||
|
return aimrt_buffer_t{nullptr, 0};
|
||||||
|
|
||||||
|
if (buffer_array->capacity > buffer_array->len) {
|
||||||
|
return (buffer_array->data[buffer_array->len++] = aimrt_buffer_t{data, size});
|
||||||
|
}
|
||||||
|
|
||||||
|
static constexpr size_t kInitCapacitySzie = 2;
|
||||||
|
size_t new_capacity = (buffer_array->capacity < kInitCapacitySzie)
|
||||||
|
? kInitCapacitySzie
|
||||||
|
: (buffer_array->capacity << 1);
|
||||||
|
|
||||||
|
Reserve(buffer_array, new_capacity);
|
||||||
|
|
||||||
|
return (buffer_array->data[buffer_array->len++] = aimrt_buffer_t{data, size});
|
||||||
|
}
|
||||||
|
|
||||||
|
void Release(aimrt_buffer_array_t* buffer_array) {
|
||||||
|
if (buffer_array->data) delete[] buffer_array->data;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool IsShmEnough() { return z_is_shm_enough_; }
|
||||||
|
|
||||||
|
static const aimrt_buffer_array_allocator_t GenBase(void* impl) {
|
||||||
|
return aimrt_buffer_array_allocator_t{
|
||||||
|
.reserve = [](void* impl, aimrt_buffer_array_t* buffer_array, size_t new_cap) {
|
||||||
|
static_cast<ZenohBufferArrayAllocator*>(impl)->Reserve(buffer_array, new_cap); //
|
||||||
|
},
|
||||||
|
.allocate = [](void* impl, aimrt_buffer_array_t* buffer_array, size_t size) -> aimrt_buffer_t {
|
||||||
|
return static_cast<ZenohBufferArrayAllocator*>(impl)->Allocate(buffer_array, size);
|
||||||
|
},
|
||||||
|
.release = [](void* impl, aimrt_buffer_array_t* buffer_array) {
|
||||||
|
static_cast<ZenohBufferArrayAllocator*>(impl)->Release(buffer_array); //
|
||||||
|
},
|
||||||
|
.impl = impl};
|
||||||
|
}
|
||||||
|
|
||||||
|
private:
|
||||||
|
const aimrt_buffer_array_allocator_t base_;
|
||||||
|
|
||||||
|
void* z_shm_head_ptr_;
|
||||||
|
void* z_shm_cur_ptr_;
|
||||||
|
|
||||||
|
uint64_t z_shm_capacity_;
|
||||||
|
uint64_t z_shm_used_size_ = 0;
|
||||||
|
|
||||||
|
bool z_is_shm_enough_ = true;
|
||||||
|
};
|
||||||
|
|
||||||
|
} // namespace aimrt::util
|
||||||
@ -11,10 +11,29 @@ struct convert<aimrt::plugins::zenoh_plugin::ZenohChannelBackend::Options> {
|
|||||||
static Node encode(const Options& rhs) {
|
static Node encode(const Options& rhs) {
|
||||||
Node node;
|
Node node;
|
||||||
|
|
||||||
|
node["pub_topics_options"] = YAML::Node();
|
||||||
|
for (const auto& pub_topic_options : rhs.pub_topics_options) {
|
||||||
|
Node pub_topic_options_node;
|
||||||
|
pub_topic_options_node["topic_name"] = pub_topic_options.topic_name;
|
||||||
|
pub_topic_options_node["shm_enabled"] = pub_topic_options.shm_enabled;
|
||||||
|
node["pub_topics_options"].push_back(pub_topic_options_node);
|
||||||
|
}
|
||||||
|
|
||||||
return node;
|
return node;
|
||||||
}
|
}
|
||||||
|
|
||||||
static bool decode(const Node& node, Options& rhs) {
|
static bool decode(const Node& node, Options& rhs) {
|
||||||
|
if (node["pub_topics_options"] && node["pub_topics_options"].IsSequence()) {
|
||||||
|
for (const auto& pub_topic_options_node : node["pub_topics_options"]) {
|
||||||
|
auto pub_topic_options = Options::PubTopicOptions{
|
||||||
|
.topic_name = pub_topic_options_node["topic_name"].as<std::string>(),
|
||||||
|
.shm_enabled = pub_topic_options_node["shm_enabled"].as<bool>(),
|
||||||
|
};
|
||||||
|
|
||||||
|
rhs.pub_topics_options.emplace_back(std::move(pub_topic_options));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
@ -52,16 +71,34 @@ bool ZenohChannelBackend::RegisterPublishType(
|
|||||||
|
|
||||||
const auto& info = publish_type_wrapper.info;
|
const auto& info = publish_type_wrapper.info;
|
||||||
|
|
||||||
// check path
|
bool shm_enabled = false;
|
||||||
|
|
||||||
|
auto find_option_itr = std::find_if(
|
||||||
|
options_.pub_topics_options.begin(), options_.pub_topics_options.end(),
|
||||||
|
[topic_name = info.topic_name](const Options::PubTopicOptions& pub_option) {
|
||||||
|
try {
|
||||||
|
return std::regex_match(topic_name.begin(), topic_name.end(), std::regex(pub_option.topic_name, std::regex::ECMAScript));
|
||||||
|
} catch (const std::exception& e) {
|
||||||
|
AIMRT_WARN("Regex get exception, expr: {}, string: {}, exception info: {}",
|
||||||
|
pub_option.topic_name, topic_name, e.what());
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
});
|
||||||
|
|
||||||
|
if (find_option_itr != options_.pub_topics_options.end()) {
|
||||||
|
shm_enabled = find_option_itr->shm_enabled;
|
||||||
|
}
|
||||||
|
|
||||||
namespace util = aimrt::common::util;
|
namespace util = aimrt::common::util;
|
||||||
std::string pattern = std::string("channel/") +
|
std::string pattern = std::string("channel/") +
|
||||||
util::UrlEncode(info.topic_name) + "/" +
|
util::UrlEncode(info.topic_name) + "/" +
|
||||||
util::UrlEncode(info.msg_type) +
|
util::UrlEncode(info.msg_type) +
|
||||||
limit_domain_;
|
limit_domain_;
|
||||||
|
|
||||||
zenoh_manager_ptr_->RegisterPublisher(pattern);
|
zenoh_manager_ptr_->RegisterPublisher(pattern, shm_enabled);
|
||||||
|
z_pub_shm_size_map_[pattern] = shm_init_loan_size_;
|
||||||
|
|
||||||
AIMRT_INFO("Register publish type to zenoh channel, url: {}", pattern);
|
AIMRT_INFO("Register publish type to zenoh channel, url: {}, shm_enabled: {}", pattern, shm_enabled);
|
||||||
|
|
||||||
return true;
|
return true;
|
||||||
} catch (const std::exception& e) {
|
} catch (const std::exception& e) {
|
||||||
@ -102,25 +139,31 @@ bool ZenohChannelBackend::Subscribe(
|
|||||||
try {
|
try {
|
||||||
auto ctx_ptr = std::make_shared<aimrt::channel::Context>(aimrt_channel_context_type_t::AIMRT_CHANNEL_SUBSCRIBER_CONTEXT);
|
auto ctx_ptr = std::make_shared<aimrt::channel::Context>(aimrt_channel_context_type_t::AIMRT_CHANNEL_SUBSCRIBER_CONTEXT);
|
||||||
|
|
||||||
|
// todo(hj): avoid copy when use shm
|
||||||
const z_loaned_bytes_t* payload = z_sample_payload(message);
|
const z_loaned_bytes_t* payload = z_sample_payload(message);
|
||||||
size_t serialized_size = z_bytes_len(payload);
|
size_t serialized_size = z_bytes_len(payload);
|
||||||
z_bytes_reader_t reader = z_bytes_get_reader(payload);
|
z_bytes_reader_t reader = z_bytes_get_reader(payload);
|
||||||
std::vector<char> serialized_data(serialized_size);
|
std::vector<char> serialized_data(serialized_size);
|
||||||
|
|
||||||
if (z_bytes_reader_read(&reader, reinterpret_cast<uint8_t*>(serialized_data.data()), serialized_size) >= 0) {
|
// read data from payload
|
||||||
util::ConstBufferOperator buf_oper(serialized_data.data(), serialized_size);
|
auto ret = z_bytes_reader_read(&reader, reinterpret_cast<uint8_t*>(serialized_data.data()), serialized_size);
|
||||||
|
if (ret >= 0) {
|
||||||
|
util::ConstBufferOperator buf_oper(serialized_data.data() + kFixedLen, std::stoi(std::string(serialized_data.data(), kFixedLen)));
|
||||||
|
|
||||||
|
// get serialization type
|
||||||
std::string serialization_type(buf_oper.GetString(util::BufferLenType::kUInt8));
|
std::string serialization_type(buf_oper.GetString(util::BufferLenType::kUInt8));
|
||||||
ctx_ptr->SetSerializationType(serialization_type);
|
ctx_ptr->SetSerializationType(serialization_type);
|
||||||
|
|
||||||
|
// get context meta
|
||||||
size_t ctx_num = buf_oper.GetUint8();
|
size_t ctx_num = buf_oper.GetUint8();
|
||||||
for (size_t ii = 0; ii < ctx_num; ++ii) {
|
for (size_t ii = 0; ii < ctx_num; ++ii) {
|
||||||
auto key = buf_oper.GetString(util::BufferLenType::kUInt16);
|
auto key = buf_oper.GetString(util::BufferLenType::kUInt16);
|
||||||
auto val = buf_oper.GetString(util::BufferLenType::kUInt16);
|
auto val = buf_oper.GetString(util::BufferLenType::kUInt16);
|
||||||
ctx_ptr->SetMetaValue(key, val);
|
ctx_ptr->SetMetaValue(key, val);
|
||||||
}
|
}
|
||||||
|
|
||||||
ctx_ptr->SetMetaValue(AIMRT_CHANNEL_CONTEXT_KEY_BACKEND, Name());
|
ctx_ptr->SetMetaValue(AIMRT_CHANNEL_CONTEXT_KEY_BACKEND, Name());
|
||||||
|
|
||||||
|
// get msg
|
||||||
auto remaining_buf = buf_oper.GetRemainingBuffer();
|
auto remaining_buf = buf_oper.GetRemainingBuffer();
|
||||||
|
|
||||||
sub_tool_ptr->DoSubscribeCallback(
|
sub_tool_ptr->DoSubscribeCallback(
|
||||||
@ -145,12 +188,29 @@ bool ZenohChannelBackend::Subscribe(
|
|||||||
|
|
||||||
void ZenohChannelBackend::Publish(runtime::core::channel::MsgWrapper& msg_wrapper) noexcept {
|
void ZenohChannelBackend::Publish(runtime::core::channel::MsgWrapper& msg_wrapper) noexcept {
|
||||||
try {
|
try {
|
||||||
|
// checkout state
|
||||||
AIMRT_CHECK_ERROR_THROW(state_.load() == State::kStart,
|
AIMRT_CHECK_ERROR_THROW(state_.load() == State::kStart,
|
||||||
"Method can only be called when state is 'Start'.");
|
"Method can only be called when state is 'Start'.");
|
||||||
|
|
||||||
namespace util = aimrt::common::util;
|
namespace util = aimrt::common::util;
|
||||||
const auto& info = msg_wrapper.info;
|
const auto& info = msg_wrapper.info;
|
||||||
|
|
||||||
|
std::string zenoh_pub_topic = std::string("channel/") +
|
||||||
|
util::UrlEncode(info.topic_name) + "/" +
|
||||||
|
util::UrlEncode(info.msg_type) +
|
||||||
|
limit_domain_;
|
||||||
|
|
||||||
|
// find publisher with zenoh_pub_topic
|
||||||
|
auto z_pub_registry = zenoh_manager_ptr_->GetPublisherRegisterMap();
|
||||||
|
auto z_pub_iter = z_pub_registry->find(zenoh_pub_topic);
|
||||||
|
if (z_pub_iter == z_pub_registry->end()) {
|
||||||
|
AIMRT_ERROR("Url: {} is not registered!", zenoh_pub_topic);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
auto z_pub = z_pub_iter->second;
|
||||||
|
|
||||||
|
// get serialization type
|
||||||
auto publish_type_support_ref = info.msg_type_support_ref;
|
auto publish_type_support_ref = info.msg_type_support_ref;
|
||||||
|
|
||||||
auto serialization_type = msg_wrapper.ctx_ref.GetSerializationType();
|
auto serialization_type = msg_wrapper.ctx_ref.GetSerializationType();
|
||||||
@ -158,16 +218,7 @@ void ZenohChannelBackend::Publish(runtime::core::channel::MsgWrapper& msg_wrappe
|
|||||||
serialization_type = publish_type_support_ref.DefaultSerializationType();
|
serialization_type = publish_type_support_ref.DefaultSerializationType();
|
||||||
}
|
}
|
||||||
|
|
||||||
auto buffer_array_view_ptr = aimrt::runtime::core::channel::SerializeMsgWithCache(msg_wrapper, serialization_type);
|
// get meta data
|
||||||
AIMRT_CHECK_ERROR_THROW(
|
|
||||||
buffer_array_view_ptr,
|
|
||||||
"Msg serialization failed, serialization_type {}, pkg_path: {}, module_name: {}, topic_name: {}, msg_type: {}",
|
|
||||||
serialization_type, info.pkg_path, info.module_name, info.topic_name, info.msg_type);
|
|
||||||
|
|
||||||
const auto* buffer_array_data = buffer_array_view_ptr->Data();
|
|
||||||
const size_t buffer_array_len = buffer_array_view_ptr->Size();
|
|
||||||
size_t msg_size = buffer_array_view_ptr->BufferSize();
|
|
||||||
|
|
||||||
const auto& keys = msg_wrapper.ctx_ref.GetMetaKeys();
|
const auto& keys = msg_wrapper.ctx_ref.GetMetaKeys();
|
||||||
AIMRT_CHECK_ERROR_THROW(keys.size() <= 255,
|
AIMRT_CHECK_ERROR_THROW(keys.size() <= 255,
|
||||||
"Too much context meta, require less than 255, but actually {}.", keys.size());
|
"Too much context meta, require less than 255, but actually {}.", keys.size());
|
||||||
@ -183,32 +234,163 @@ void ZenohChannelBackend::Publish(runtime::core::channel::MsgWrapper& msg_wrappe
|
|||||||
context_meta_kv.emplace_back(val);
|
context_meta_kv.emplace_back(val);
|
||||||
}
|
}
|
||||||
|
|
||||||
int32_t pkg_size = 1 + serialization_type.size() + context_meta_kv_size + msg_size;
|
// shm_enabled
|
||||||
|
if (z_pub.second) {
|
||||||
|
unsigned char* z_pub_loaned_shm_ptr = nullptr;
|
||||||
|
std::shared_ptr<aimrt::util::BufferArrayView> buffer_array_cache_ptr = nullptr;
|
||||||
|
|
||||||
|
bool is_shm_loan_size_enough = true;
|
||||||
|
bool is_shm_pool_size_enough = true;
|
||||||
|
|
||||||
|
uint64_t msg_size = 0;
|
||||||
|
z_buf_layout_alloc_result_t loan_result;
|
||||||
|
|
||||||
|
do {
|
||||||
|
// release old shm
|
||||||
|
if (z_pub_loaned_shm_ptr != nullptr) {
|
||||||
|
z_shm_provider_garbage_collect(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
z_shm_provider_defragment(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
}
|
||||||
|
|
||||||
|
// load a new size shm
|
||||||
|
uint64_t loan_size = z_pub_shm_size_map_[zenoh_pub_topic];
|
||||||
|
z_shm_provider_alloc(&loan_result, z_loan(zenoh_manager_ptr_->shm_provider_), loan_size, zenoh_manager_ptr_->alignment_);
|
||||||
|
|
||||||
|
// if shm pool is not enough, use net buffer instead
|
||||||
|
if (loan_result.status != ZC_BUF_LAYOUT_ALLOC_STATUS_OK) {
|
||||||
|
is_shm_pool_size_enough = false;
|
||||||
|
z_shm_provider_garbage_collect(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
z_shm_provider_defragment(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
AIMRT_WARN("Zenoh Plugin shm pool is not enough, use net buffer instead.");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
z_pub_loaned_shm_ptr = z_shm_mut_data_mut(z_loan_mut(loan_result.buf));
|
||||||
|
|
||||||
|
// write info pkg on loaned shm : the first FIXED_LEN bytes needs to write the length of pkg
|
||||||
|
util::BufferOperator buf_oper(reinterpret_cast<char*>(z_pub_loaned_shm_ptr) + kFixedLen, loan_size - kFixedLen);
|
||||||
|
|
||||||
|
// write serialization type on loaned shm
|
||||||
|
buf_oper.SetString(serialization_type, util::BufferLenType::kUInt8);
|
||||||
|
|
||||||
|
// write context meta on loaned shm
|
||||||
|
buf_oper.SetUint8(static_cast<uint8_t>(keys.size()));
|
||||||
|
for (const auto& s : context_meta_kv) {
|
||||||
|
buf_oper.SetString(s, util::BufferLenType::kUInt16);
|
||||||
|
}
|
||||||
|
auto type_and_ctx_len = 1 + serialization_type.size() + context_meta_kv_size;
|
||||||
|
|
||||||
|
// write msg on loaned shm： should start at the (FIXED_LEN + type_and_ctx_len)-th byte
|
||||||
|
aimrt::util::ZenohBufferArrayAllocator z_allocator(buf_oper.GetRemainingSize(), z_pub_loaned_shm_ptr + type_and_ctx_len + kFixedLen);
|
||||||
|
if (buffer_array_cache_ptr == nullptr) {
|
||||||
|
try {
|
||||||
|
auto result = SerializeMsgSupportedZenoh(msg_wrapper, serialization_type, aimrt::util::BufferArrayAllocatorRef(z_allocator.NativeHandle()));
|
||||||
|
msg_size = result.second;
|
||||||
|
buffer_array_cache_ptr = result.first;
|
||||||
|
if (buffer_array_cache_ptr == nullptr) {
|
||||||
|
// in this case means no cache is set, then do nomal serialization(if size is small will throw exception)
|
||||||
|
is_shm_loan_size_enough = true;
|
||||||
|
} else {
|
||||||
|
if (msg_size > buf_oper.GetRemainingSize()) {
|
||||||
|
// in this case means the msg has serialization cache but the size is too large, then expand suitable size
|
||||||
|
is_shm_loan_size_enough = false;
|
||||||
|
z_pub_shm_size_map_[zenoh_pub_topic] = msg_size + type_and_ctx_len + kFixedLen;
|
||||||
|
} else {
|
||||||
|
// in this case means the msg has serialization cache and the size is suitable, then use cachema
|
||||||
|
is_shm_loan_size_enough = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} catch (const std::exception& e) {
|
||||||
|
if (!z_allocator.IsShmEnough()) {
|
||||||
|
// the shm is not enough, need to expand a double size
|
||||||
|
z_pub_shm_size_map_[zenoh_pub_topic] = z_pub_shm_size_map_[zenoh_pub_topic] << 1;
|
||||||
|
is_shm_loan_size_enough = false;
|
||||||
|
} else {
|
||||||
|
AIMRT_ERROR(
|
||||||
|
"Msg serialization failed, serialization_type {}, pkg_path: {}, module_name: {}, topic_name: {}, msg_type: {}, exception: {}",
|
||||||
|
serialization_type, info.pkg_path, info.module_name, info.topic_name, info.msg_type, e.what());
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} while (!is_shm_loan_size_enough);
|
||||||
|
|
||||||
|
if (is_shm_pool_size_enough) {
|
||||||
|
// if has cache, the copy it to shm to replace the serialization
|
||||||
|
if (buffer_array_cache_ptr != nullptr) {
|
||||||
|
unsigned char* strat_pos = z_pub_loaned_shm_ptr + kFixedLen + context_meta_kv_size + serialization_type.size() + 1;
|
||||||
|
for (size_t ii = 0; ii < buffer_array_cache_ptr->Size(); ++ii) {
|
||||||
|
std::memcpy(strat_pos, buffer_array_cache_ptr.get()[ii].Data()->data, buffer_array_cache_ptr.get()[ii].Data()->len);
|
||||||
|
strat_pos += buffer_array_cache_ptr.get()[ii].Data()->len;
|
||||||
|
}
|
||||||
|
|
||||||
|
buffer_array_cache_ptr = nullptr;
|
||||||
|
}
|
||||||
|
// write info pkg length on loaned shm
|
||||||
|
std::memcpy(z_pub_loaned_shm_ptr, IntToFixedLengthString(1 + serialization_type.size() + context_meta_kv_size + msg_size, kFixedLen).c_str(), kFixedLen);
|
||||||
|
z_owned_bytes_t z_payload;
|
||||||
|
if (loan_result.status == ZC_BUF_LAYOUT_ALLOC_STATUS_OK) {
|
||||||
|
z_bytes_from_shm_mut(&z_payload, z_move(loan_result.buf));
|
||||||
|
}
|
||||||
|
z_publisher_put(z_loan(z_pub.first), z_move(z_payload), &zenoh_manager_ptr_->z_pub_options_);
|
||||||
|
|
||||||
|
// collect garbage and defragment shared memory, whose reference counting is zero
|
||||||
|
z_shm_provider_garbage_collect(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
z_shm_provider_defragment(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
|
||||||
|
AIMRT_TRACE("Zenoh publish to '{}'", zenoh_pub_topic);
|
||||||
|
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// shm disabled
|
||||||
|
// serialize msg
|
||||||
|
auto buffer_array_view_ptr = aimrt::runtime::core::channel::SerializeMsgWithCache(msg_wrapper, serialization_type);
|
||||||
|
AIMRT_CHECK_ERROR_THROW(
|
||||||
|
buffer_array_view_ptr,
|
||||||
|
"Msg serialization failed, serialization_type {}, pkg_path: {}, module_name: {}, topic_name: {}, msg_type: {}",
|
||||||
|
serialization_type, info.pkg_path, info.module_name, info.topic_name, info.msg_type);
|
||||||
|
|
||||||
|
const auto* buffer_array_data = buffer_array_view_ptr->Data();
|
||||||
|
const size_t buffer_array_len = buffer_array_view_ptr->Size();
|
||||||
|
size_t msg_size = buffer_array_view_ptr->BufferSize();
|
||||||
|
|
||||||
|
int32_t data_size = 1 + serialization_type.size() + context_meta_kv_size + msg_size;
|
||||||
|
int32_t pkg_size = data_size + kFixedLen;
|
||||||
|
|
||||||
|
// create buffer for serialization
|
||||||
std::vector<char> serialized_data(pkg_size);
|
std::vector<char> serialized_data(pkg_size);
|
||||||
util::BufferOperator buf_oper(serialized_data.data(), pkg_size);
|
util::BufferOperator buf_oper(serialized_data.data(), pkg_size);
|
||||||
|
|
||||||
|
// full data_size
|
||||||
|
buf_oper.SetBuffer(IntToFixedLengthString(data_size, kFixedLen).c_str(), kFixedLen);
|
||||||
|
|
||||||
|
// full serialization_type
|
||||||
buf_oper.SetString(serialization_type, util::BufferLenType::kUInt8);
|
buf_oper.SetString(serialization_type, util::BufferLenType::kUInt8);
|
||||||
|
|
||||||
|
// full context meta
|
||||||
buf_oper.SetUint8(static_cast<uint8_t>(keys.size()));
|
buf_oper.SetUint8(static_cast<uint8_t>(keys.size()));
|
||||||
for (const auto& s : context_meta_kv) {
|
for (const auto& s : context_meta_kv) {
|
||||||
buf_oper.SetString(s, util::BufferLenType::kUInt16);
|
buf_oper.SetString(s, util::BufferLenType::kUInt16);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// full msg
|
||||||
for (size_t ii = 0; ii < buffer_array_len; ++ii) {
|
for (size_t ii = 0; ii < buffer_array_len; ++ii) {
|
||||||
buf_oper.SetBuffer(
|
buf_oper.SetBuffer(
|
||||||
static_cast<const char*>(buffer_array_data[ii].data),
|
static_cast<const char*>(buffer_array_data[ii].data),
|
||||||
buffer_array_data[ii].len);
|
buffer_array_data[ii].len);
|
||||||
}
|
}
|
||||||
|
|
||||||
std::string zenoh_pub_topic = std::string("channel/") +
|
// publish
|
||||||
util::UrlEncode(info.topic_name) + "/" +
|
z_owned_bytes_t z_payload;
|
||||||
util::UrlEncode(info.msg_type) +
|
z_bytes_from_buf(&z_payload, reinterpret_cast<uint8_t*>(serialized_data.data()), pkg_size, nullptr, nullptr);
|
||||||
limit_domain_;
|
z_publisher_put(z_loan(z_pub.first), z_move(z_payload), &zenoh_manager_ptr_->z_pub_options_);
|
||||||
|
|
||||||
AIMRT_TRACE("Zenoh publish to '{}'", zenoh_pub_topic);
|
AIMRT_TRACE("Zenoh publish to '{}'", zenoh_pub_topic);
|
||||||
|
|
||||||
zenoh_manager_ptr_->Publish(zenoh_pub_topic, serialized_data.data(), pkg_size);
|
|
||||||
|
|
||||||
return;
|
return;
|
||||||
} catch (const std::exception& e) {
|
} catch (const std::exception& e) {
|
||||||
AIMRT_ERROR("{}", e.what());
|
AIMRT_ERROR("{}", e.what());
|
||||||
|
|||||||
@ -8,6 +8,8 @@
|
|||||||
#include "util/buffer_util.h"
|
#include "util/buffer_util.h"
|
||||||
#include "util/url_encode.h"
|
#include "util/url_encode.h"
|
||||||
#include "zenoh.h"
|
#include "zenoh.h"
|
||||||
|
#include "zenoh_plugin/util.h"
|
||||||
|
#include "zenoh_plugin/zenoh_buffer_array_allocator.h"
|
||||||
#include "zenoh_plugin/zenoh_manager.h"
|
#include "zenoh_plugin/zenoh_manager.h"
|
||||||
|
|
||||||
namespace aimrt::plugins::zenoh_plugin {
|
namespace aimrt::plugins::zenoh_plugin {
|
||||||
@ -15,13 +17,19 @@ namespace aimrt::plugins::zenoh_plugin {
|
|||||||
class ZenohChannelBackend : public runtime::core::channel::ChannelBackendBase {
|
class ZenohChannelBackend : public runtime::core::channel::ChannelBackendBase {
|
||||||
public:
|
public:
|
||||||
struct Options {
|
struct Options {
|
||||||
|
struct PubTopicOptions {
|
||||||
|
std::string topic_name;
|
||||||
|
bool shm_enabled = false;
|
||||||
|
};
|
||||||
|
std::vector<PubTopicOptions> pub_topics_options;
|
||||||
};
|
};
|
||||||
|
|
||||||
public:
|
public:
|
||||||
ZenohChannelBackend(
|
ZenohChannelBackend(
|
||||||
const std::shared_ptr<ZenohManager>& zenoh_util_ptr, const std::string& limit_domain)
|
const std::shared_ptr<ZenohManager>& zenoh_util_ptr, const std::string& limit_domain, size_t shm_init_loan_size)
|
||||||
: zenoh_manager_ptr_(zenoh_util_ptr),
|
: zenoh_manager_ptr_(zenoh_util_ptr),
|
||||||
limit_domain_(limit_domain) {}
|
limit_domain_(limit_domain),
|
||||||
|
shm_init_loan_size_(shm_init_loan_size) {}
|
||||||
|
|
||||||
~ZenohChannelBackend() override = default;
|
~ZenohChannelBackend() override = default;
|
||||||
|
|
||||||
@ -60,6 +68,10 @@ class ZenohChannelBackend : public runtime::core::channel::ChannelBackendBase {
|
|||||||
std::string,
|
std::string,
|
||||||
std::unique_ptr<aimrt::runtime::core::channel::SubscribeTool>>
|
std::unique_ptr<aimrt::runtime::core::channel::SubscribeTool>>
|
||||||
subscribe_wrapper_map_;
|
subscribe_wrapper_map_;
|
||||||
|
|
||||||
|
std::unordered_map<std::string, uint64_t> z_pub_shm_size_map_;
|
||||||
|
|
||||||
|
uint64_t shm_init_loan_size_;
|
||||||
};
|
};
|
||||||
|
|
||||||
} // namespace aimrt::plugins::zenoh_plugin
|
} // namespace aimrt::plugins::zenoh_plugin
|
||||||
@ -7,7 +7,7 @@
|
|||||||
|
|
||||||
namespace aimrt::plugins::zenoh_plugin {
|
namespace aimrt::plugins::zenoh_plugin {
|
||||||
|
|
||||||
void ZenohManager::Initialize(const std::string &native_cfg_path) {
|
void ZenohManager::Initialize(const std::string &native_cfg_path, size_t shm_pool_size) {
|
||||||
if (!native_cfg_path.empty() && native_cfg_path.c_str() != nullptr) {
|
if (!native_cfg_path.empty() && native_cfg_path.c_str() != nullptr) {
|
||||||
if (zc_config_from_file(&z_config_, native_cfg_path.c_str()) != Z_OK) {
|
if (zc_config_from_file(&z_config_, native_cfg_path.c_str()) != Z_OK) {
|
||||||
AIMRT_ERROR("Unable to load configuration file: {}", native_cfg_path);
|
AIMRT_ERROR("Unable to load configuration file: {}", native_cfg_path);
|
||||||
@ -22,11 +22,14 @@ void ZenohManager::Initialize(const std::string &native_cfg_path) {
|
|||||||
AIMRT_ERROR("Unable to open zenoh session!");
|
AIMRT_ERROR("Unable to open zenoh session!");
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
shm_pool_size_ = shm_pool_size;
|
||||||
}
|
}
|
||||||
|
|
||||||
void ZenohManager::Shutdown() {
|
void ZenohManager::Shutdown() {
|
||||||
for (auto ptr : z_pub_registry_) {
|
for (const auto &ptr : z_pub_registry_) {
|
||||||
z_drop(z_move(ptr.second));
|
auto z_pub = ptr.second.first;
|
||||||
|
z_drop(z_move(z_pub));
|
||||||
}
|
}
|
||||||
|
|
||||||
for (auto ptr : z_sub_registry_) {
|
for (auto ptr : z_sub_registry_) {
|
||||||
@ -38,25 +41,34 @@ void ZenohManager::Shutdown() {
|
|||||||
z_sub_registry_.clear();
|
z_sub_registry_.clear();
|
||||||
|
|
||||||
z_drop(z_move(z_session_));
|
z_drop(z_move(z_session_));
|
||||||
|
z_drop(z_move(shm_provider_));
|
||||||
|
z_drop(z_move(shm_layout_));
|
||||||
}
|
}
|
||||||
|
|
||||||
void ZenohManager::RegisterPublisher(const std::string &keyexpr) {
|
void ZenohManager::RegisterPublisher(const std::string &keyexpr, bool shm_enabled) {
|
||||||
z_view_keyexpr_t key;
|
z_view_keyexpr_t key;
|
||||||
z_view_keyexpr_from_str(&key, keyexpr.c_str());
|
z_view_keyexpr_from_str(&key, keyexpr.c_str());
|
||||||
|
|
||||||
z_owned_publisher_t z_pub;
|
z_owned_publisher_t z_pub;
|
||||||
z_publisher_put_options_default(&z_pub_options_);
|
z_publisher_put_options_default(&z_pub_options_);
|
||||||
|
|
||||||
if (z_declare_publisher(z_loan(z_session_), &z_pub, z_loan(key), NULL) < 0) {
|
if (z_declare_publisher(z_loan(z_session_), &z_pub, z_loan(key), nullptr) < 0) {
|
||||||
AIMRT_ERROR("Unable to declare Publisher!");
|
AIMRT_ERROR("Unable to declare Publisher!");
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
z_pub_registry_.emplace(keyexpr, z_pub);
|
z_pub_registry_.emplace(keyexpr, std::make_pair(z_pub, shm_enabled));
|
||||||
AIMRT_TRACE("Publisher with keyexpr: {} registered successfully.", keyexpr.c_str());
|
AIMRT_TRACE("Publisher with keyexpr: {} registered successfully.", keyexpr.c_str());
|
||||||
|
|
||||||
|
// Create shared memory provider
|
||||||
|
std::lock_guard<std::mutex> lock(z_mutex_);
|
||||||
|
if (!shm_initialized_.load() && shm_enabled) {
|
||||||
|
z_memory_layout_new(&shm_layout_, shm_pool_size_, alignment_);
|
||||||
|
z_posix_shm_provider_new(&shm_provider_, z_loan(shm_layout_));
|
||||||
|
shm_initialized_.store(true);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void data_handler(const z_loaned_sample_t *sample, void *arg) {}
|
|
||||||
void ZenohManager::RegisterSubscriber(const std::string &keyexpr, MsgHandleFunc handle) {
|
void ZenohManager::RegisterSubscriber(const std::string &keyexpr, MsgHandleFunc handle) {
|
||||||
z_view_keyexpr_t key;
|
z_view_keyexpr_t key;
|
||||||
z_view_keyexpr_from_str(&key, keyexpr.c_str());
|
z_view_keyexpr_from_str(&key, keyexpr.c_str());
|
||||||
@ -74,7 +86,7 @@ void ZenohManager::RegisterSubscriber(const std::string &keyexpr, MsgHandleFunc
|
|||||||
|
|
||||||
z_owned_subscriber_t z_sub;
|
z_owned_subscriber_t z_sub;
|
||||||
|
|
||||||
if (z_declare_subscriber(z_loan(z_session_), &z_sub, z_loan(key), z_move(z_callback), NULL) < 0) {
|
if (z_declare_subscriber(z_loan(z_session_), &z_sub, z_loan(key), z_move(z_callback), nullptr) < 0) {
|
||||||
AIMRT_ERROR("Unable to declare Subscriber!");
|
AIMRT_ERROR("Unable to declare Subscriber!");
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
@ -83,7 +95,7 @@ void ZenohManager::RegisterSubscriber(const std::string &keyexpr, MsgHandleFunc
|
|||||||
AIMRT_TRACE("Subscriber with keyexpr: {} registered successfully.", keyexpr.c_str());
|
AIMRT_TRACE("Subscriber with keyexpr: {} registered successfully.", keyexpr.c_str());
|
||||||
}
|
}
|
||||||
|
|
||||||
void ZenohManager::RegisterRpcNode(const std::string &keyexpr, MsgHandleFunc handle, const std::string &role) {
|
void ZenohManager::RegisterRpcNode(const std::string &keyexpr, MsgHandleFunc handle, const std::string &role, bool shm_enabled) {
|
||||||
std::string pub_keyexpr;
|
std::string pub_keyexpr;
|
||||||
std::string sub_keyexpr;
|
std::string sub_keyexpr;
|
||||||
|
|
||||||
@ -98,9 +110,9 @@ void ZenohManager::RegisterRpcNode(const std::string &keyexpr, MsgHandleFunc han
|
|||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
RegisterPublisher(pub_keyexpr);
|
RegisterPublisher(pub_keyexpr, shm_enabled);
|
||||||
RegisterSubscriber(sub_keyexpr, std::move(handle));
|
RegisterSubscriber(sub_keyexpr, std::move(handle));
|
||||||
AIMRT_INFO("{} with keyexpr: {} registered successfully.", role, keyexpr.c_str());
|
AIMRT_INFO("{} with keyexpr: {} ,role: {} , shm_enabled: {} is registered successfully.", role, keyexpr.c_str(), role, shm_enabled);
|
||||||
}
|
}
|
||||||
|
|
||||||
void ZenohManager::Publish(const std::string &topic, char *serialized_data_ptr, uint64_t serialized_data_len) {
|
void ZenohManager::Publish(const std::string &topic, char *serialized_data_ptr, uint64_t serialized_data_len) {
|
||||||
@ -112,8 +124,13 @@ void ZenohManager::Publish(const std::string &topic, char *serialized_data_ptr,
|
|||||||
|
|
||||||
z_owned_bytes_t z_payload;
|
z_owned_bytes_t z_payload;
|
||||||
|
|
||||||
z_bytes_from_buf(&z_payload, reinterpret_cast<uint8_t *>(serialized_data_ptr), serialized_data_len, NULL, NULL);
|
z_bytes_from_buf(&z_payload, reinterpret_cast<uint8_t *>(serialized_data_ptr), serialized_data_len, nullptr, nullptr);
|
||||||
z_publisher_put(z_loan(z_pub_iter->second), z_move(z_payload), &z_pub_options_);
|
|
||||||
|
z_publisher_put(z_loan(z_pub_iter->second.first), z_move(z_payload), &z_pub_options_);
|
||||||
|
}
|
||||||
|
|
||||||
|
std::unique_ptr<std::unordered_map<std::string, std::pair<z_owned_publisher_t, bool>>> ZenohManager::GetPublisherRegisterMap() {
|
||||||
|
return std::make_unique<std::unordered_map<std::string, std::pair<z_owned_publisher_t, bool>>>(z_pub_registry_);
|
||||||
}
|
}
|
||||||
|
|
||||||
} // namespace aimrt::plugins::zenoh_plugin
|
} // namespace aimrt::plugins::zenoh_plugin
|
||||||
@ -17,16 +17,23 @@ class ZenohManager {
|
|||||||
ZenohManager(const ZenohManager&) = delete;
|
ZenohManager(const ZenohManager&) = delete;
|
||||||
ZenohManager& operator=(const ZenohManager&) = delete;
|
ZenohManager& operator=(const ZenohManager&) = delete;
|
||||||
|
|
||||||
void Initialize(const std::string& native_cfg_path);
|
void Initialize(const std::string& native_cfg_path, size_t shm_pool_size);
|
||||||
void Shutdown();
|
void Shutdown();
|
||||||
|
|
||||||
void RegisterSubscriber(const std::string& keyexpr, MsgHandleFunc handle);
|
void RegisterSubscriber(const std::string& keyexpr, MsgHandleFunc handle);
|
||||||
void RegisterPublisher(const std::string& keyexpr);
|
void RegisterPublisher(const std::string& keyexpr, bool shm_enabled);
|
||||||
|
|
||||||
void RegisterRpcNode(const std::string& keyexpr, MsgHandleFunc handle, const std::string& role);
|
void RegisterRpcNode(const std::string& keyexpr, MsgHandleFunc handle, const std::string& role, bool shm_enabled);
|
||||||
|
|
||||||
void Publish(const std::string& topic, char* serialized_data_ptr, uint64_t serialized_data_len);
|
void Publish(const std::string& topic, char* serialized_data_ptr, uint64_t serialized_data_len);
|
||||||
|
|
||||||
|
std::unique_ptr<std::unordered_map<std::string, std::pair<z_owned_publisher_t, bool>>> GetPublisherRegisterMap();
|
||||||
|
|
||||||
|
public:
|
||||||
|
z_owned_shm_provider_t shm_provider_;
|
||||||
|
z_alloc_alignment_t alignment_ = {0};
|
||||||
|
z_publisher_put_options_t z_pub_options_;
|
||||||
|
|
||||||
private:
|
private:
|
||||||
static void PrintZenohCgf(z_owned_config_t z_config) {
|
static void PrintZenohCgf(z_owned_config_t z_config) {
|
||||||
z_owned_string_t out_config_string;
|
z_owned_string_t out_config_string;
|
||||||
@ -46,14 +53,21 @@ class ZenohManager {
|
|||||||
z_drop(z_move(out_config_string));
|
z_drop(z_move(out_config_string));
|
||||||
}
|
}
|
||||||
|
|
||||||
std::unordered_map<std::string, z_owned_publisher_t> z_pub_registry_;
|
std::unordered_map<std::string, std::pair<z_owned_publisher_t, bool>> z_pub_registry_;
|
||||||
std::unordered_map<std::string, z_owned_subscriber_t> z_sub_registry_;
|
std::unordered_map<std::string, z_owned_subscriber_t> z_sub_registry_;
|
||||||
|
|
||||||
std::vector<std::shared_ptr<MsgHandleFunc>> msg_handle_vec_;
|
std::vector<std::shared_ptr<MsgHandleFunc>> msg_handle_vec_;
|
||||||
|
|
||||||
z_publisher_put_options_t z_pub_options_;
|
|
||||||
z_owned_session_t z_session_;
|
z_owned_session_t z_session_;
|
||||||
z_owned_config_t z_config_;
|
z_owned_config_t z_config_;
|
||||||
|
|
||||||
|
// shm related
|
||||||
|
size_t shm_pool_size_;
|
||||||
|
z_owned_memory_layout_t shm_layout_;
|
||||||
|
|
||||||
|
std::atomic_bool shm_initialized_ = false;
|
||||||
|
|
||||||
|
std::mutex z_mutex_;
|
||||||
};
|
};
|
||||||
|
|
||||||
} // namespace aimrt::plugins::zenoh_plugin
|
} // namespace aimrt::plugins::zenoh_plugin
|
||||||
@ -13,6 +13,8 @@ struct convert<aimrt::plugins::zenoh_plugin::ZenohPlugin::Options> {
|
|||||||
|
|
||||||
node["native_cfg_path"] = rhs.native_cfg_path;
|
node["native_cfg_path"] = rhs.native_cfg_path;
|
||||||
node["limit_domain"] = rhs.limit_domain;
|
node["limit_domain"] = rhs.limit_domain;
|
||||||
|
node["shm_pool_size"] = rhs.shm_pool_size;
|
||||||
|
node["shm_init_loan_size"] = rhs.shm_init_loan_size;
|
||||||
|
|
||||||
return node;
|
return node;
|
||||||
}
|
}
|
||||||
@ -26,6 +28,12 @@ struct convert<aimrt::plugins::zenoh_plugin::ZenohPlugin::Options> {
|
|||||||
if (node["limit_domain"])
|
if (node["limit_domain"])
|
||||||
rhs.limit_domain = '/' + node["limit_domain"].as<std::string>();
|
rhs.limit_domain = '/' + node["limit_domain"].as<std::string>();
|
||||||
|
|
||||||
|
if (node["shm_pool_size"])
|
||||||
|
rhs.shm_pool_size = node["shm_pool_size"].as<size_t>();
|
||||||
|
|
||||||
|
if (node["shm_init_loan_size"])
|
||||||
|
rhs.shm_init_loan_size = node["shm_init_loan_size"].as<size_t>();
|
||||||
|
|
||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
@ -46,7 +54,7 @@ bool ZenohPlugin::Initialize(runtime::core::AimRTCore *core_ptr) noexcept {
|
|||||||
init_flag_ = true;
|
init_flag_ = true;
|
||||||
|
|
||||||
// todo remove role
|
// todo remove role
|
||||||
zenoh_manager_ptr_->Initialize(options_.native_cfg_path);
|
zenoh_manager_ptr_->Initialize(options_.native_cfg_path, options_.shm_pool_size);
|
||||||
|
|
||||||
core_ptr_->RegisterHookFunc(runtime::core::AimRTCore::State::kPostInitLog,
|
core_ptr_->RegisterHookFunc(runtime::core::AimRTCore::State::kPostInitLog,
|
||||||
[this] { SetPluginLogger(); });
|
[this] { SetPluginLogger(); });
|
||||||
@ -88,7 +96,7 @@ void ZenohPlugin::SetPluginLogger() {
|
|||||||
|
|
||||||
void ZenohPlugin::RegisterZenohChannelBackend() {
|
void ZenohPlugin::RegisterZenohChannelBackend() {
|
||||||
std::unique_ptr<runtime::core::channel::ChannelBackendBase> zenoh_channel_backend_ptr =
|
std::unique_ptr<runtime::core::channel::ChannelBackendBase> zenoh_channel_backend_ptr =
|
||||||
std::make_unique<ZenohChannelBackend>(zenoh_manager_ptr_, options_.limit_domain);
|
std::make_unique<ZenohChannelBackend>(zenoh_manager_ptr_, options_.limit_domain, options_.shm_init_loan_size);
|
||||||
|
|
||||||
core_ptr_->GetChannelManager().RegisterChannelBackend(std::move(zenoh_channel_backend_ptr));
|
core_ptr_->GetChannelManager().RegisterChannelBackend(std::move(zenoh_channel_backend_ptr));
|
||||||
}
|
}
|
||||||
|
|||||||
@ -17,6 +17,8 @@ class ZenohPlugin : public AimRTCorePluginBase {
|
|||||||
struct Options {
|
struct Options {
|
||||||
std::string native_cfg_path;
|
std::string native_cfg_path;
|
||||||
std::string limit_domain;
|
std::string limit_domain;
|
||||||
|
size_t shm_pool_size = static_cast<size_t>(1024 * 1024 * 10); // default: 10 MB
|
||||||
|
size_t shm_init_loan_size = 1024; // default: 1 KB
|
||||||
};
|
};
|
||||||
|
|
||||||
public:
|
public:
|
||||||
|
|||||||
@ -13,6 +13,22 @@ struct convert<aimrt::plugins::zenoh_plugin::ZenohRpcBackend::Options> {
|
|||||||
|
|
||||||
node["timeout_executor"] = rhs.timeout_executor;
|
node["timeout_executor"] = rhs.timeout_executor;
|
||||||
|
|
||||||
|
node["clients_options"] = YAML::Node();
|
||||||
|
for (const auto& client_options : rhs.clients_options) {
|
||||||
|
Node client_options_node;
|
||||||
|
client_options_node["func_name"] = client_options.func_name;
|
||||||
|
client_options_node["shm_enabled"] = client_options.shm_enabled;
|
||||||
|
node["clients_options"].push_back(client_options_node);
|
||||||
|
}
|
||||||
|
|
||||||
|
node["servers_options"] = YAML::Node();
|
||||||
|
for (const auto& server_options : rhs.servers_options) {
|
||||||
|
Node server_options_node;
|
||||||
|
server_options_node["func_name"] = server_options.func_name;
|
||||||
|
server_options_node["shm_enabled"] = server_options.shm_enabled;
|
||||||
|
node["servers_options"].push_back(server_options_node);
|
||||||
|
}
|
||||||
|
|
||||||
return node;
|
return node;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -20,6 +36,28 @@ struct convert<aimrt::plugins::zenoh_plugin::ZenohRpcBackend::Options> {
|
|||||||
if (node["timeout_executor"])
|
if (node["timeout_executor"])
|
||||||
rhs.timeout_executor = node["timeout_executor"].as<std::string>();
|
rhs.timeout_executor = node["timeout_executor"].as<std::string>();
|
||||||
|
|
||||||
|
if (node["clients_options"] && node["clients_options"].IsSequence()) {
|
||||||
|
for (const auto& client_options_node : node["clients_options"]) {
|
||||||
|
auto client_options = Options::ClientOptions{
|
||||||
|
.func_name = client_options_node["func_name"].as<std::string>(),
|
||||||
|
.shm_enabled = client_options_node["shm_enabled"].as<bool>(),
|
||||||
|
};
|
||||||
|
|
||||||
|
rhs.clients_options.emplace_back(std::move(client_options));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (node["servers_options"] && node["servers_options"].IsSequence()) {
|
||||||
|
for (const auto& server_options_node : node["servers_options"]) {
|
||||||
|
auto server_options = Options::ServerOptions{
|
||||||
|
.func_name = server_options_node["func_name"].as<std::string>(),
|
||||||
|
.shm_enabled = server_options_node["shm_enabled"].as<bool>(),
|
||||||
|
};
|
||||||
|
|
||||||
|
rhs.servers_options.emplace_back(std::move(server_options));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
@ -86,6 +124,24 @@ bool ZenohRpcBackend::RegisterServiceFunc(
|
|||||||
namespace util = aimrt::common::util;
|
namespace util = aimrt::common::util;
|
||||||
const auto& info = service_func_wrapper.info;
|
const auto& info = service_func_wrapper.info;
|
||||||
|
|
||||||
|
bool shm_enabled = false;
|
||||||
|
|
||||||
|
auto find_option_itr = std::find_if(
|
||||||
|
options_.servers_options.begin(), options_.servers_options.end(),
|
||||||
|
[func_name = GetRealFuncName(info.func_name)](const Options::ServerOptions& server_option) {
|
||||||
|
try {
|
||||||
|
return std::regex_match(func_name.begin(), func_name.end(), std::regex(server_option.func_name, std::regex::ECMAScript));
|
||||||
|
} catch (const std::exception& e) {
|
||||||
|
AIMRT_WARN("Regex get exception, expr: {}, string: {}, exception info: {}",
|
||||||
|
server_option.func_name, func_name, e.what());
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
});
|
||||||
|
|
||||||
|
if (find_option_itr != options_.servers_options.end()) {
|
||||||
|
shm_enabled = find_option_itr->shm_enabled;
|
||||||
|
}
|
||||||
|
|
||||||
std::string pattern = std::string("aimrt_rpc/") +
|
std::string pattern = std::string("aimrt_rpc/") +
|
||||||
util::UrlEncode(GetRealFuncName(info.func_name)) +
|
util::UrlEncode(GetRealFuncName(info.func_name)) +
|
||||||
limit_domain_;
|
limit_domain_;
|
||||||
@ -101,14 +157,15 @@ bool ZenohRpcBackend::RegisterServiceFunc(
|
|||||||
auto ctx_ptr = std::make_shared<aimrt::rpc::Context>(aimrt_rpc_context_type_t::AIMRT_RPC_SERVER_CONTEXT);
|
auto ctx_ptr = std::make_shared<aimrt::rpc::Context>(aimrt_rpc_context_type_t::AIMRT_RPC_SERVER_CONTEXT);
|
||||||
service_invoke_wrapper_ptr->ctx_ref = ctx_ptr;
|
service_invoke_wrapper_ptr->ctx_ref = ctx_ptr;
|
||||||
|
|
||||||
// read data
|
|
||||||
const z_loaned_bytes_t* payload = z_sample_payload(message);
|
const z_loaned_bytes_t* payload = z_sample_payload(message);
|
||||||
size_t serialized_size = z_bytes_len(payload);
|
size_t serialized_size = z_bytes_len(payload);
|
||||||
z_bytes_reader_t reader = z_bytes_get_reader(payload);
|
z_bytes_reader_t reader = z_bytes_get_reader(payload);
|
||||||
std::vector<char> serialized_data(serialized_size);
|
std::vector<char> serialized_data(serialized_size);
|
||||||
|
|
||||||
if (z_bytes_reader_read(&reader, reinterpret_cast<uint8_t*>(serialized_data.data()), serialized_size) >= 0) {
|
// read data from payload
|
||||||
util::ConstBufferOperator buf_oper(serialized_data.data(), serialized_size);
|
auto ret = z_bytes_reader_read(&reader, reinterpret_cast<uint8_t*>(serialized_data.data()), serialized_size);
|
||||||
|
if (ret >= 0) {
|
||||||
|
util::ConstBufferOperator buf_oper(serialized_data.data() + kFixedLen, std::stoi(std::string(serialized_data.data(), kFixedLen)));
|
||||||
|
|
||||||
// deserialize type
|
// deserialize type
|
||||||
std::string serialization_type(buf_oper.GetString(util::BufferLenType::kUInt8));
|
std::string serialization_type(buf_oper.GetString(util::BufferLenType::kUInt8));
|
||||||
@ -165,6 +222,134 @@ bool ZenohRpcBackend::RegisterServiceFunc(
|
|||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
std::string node_pub_topic = "rsp/" + pattern;
|
||||||
|
|
||||||
|
// find node's publisher with pattern
|
||||||
|
auto z_node_pub_registry = zenoh_manager_ptr_->GetPublisherRegisterMap();
|
||||||
|
auto z_node_pub_iter = z_node_pub_registry->find(node_pub_topic);
|
||||||
|
if (z_node_pub_iter == z_node_pub_registry->end()) [[unlikely]] {
|
||||||
|
AIMRT_ERROR("Can not find publisher with pattern: {}", pattern);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
auto z_node_pub = z_node_pub_iter->second;
|
||||||
|
|
||||||
|
// shm enabled
|
||||||
|
if (z_node_pub.second) {
|
||||||
|
unsigned char* z_pub_loaned_shm_ptr = nullptr;
|
||||||
|
std::shared_ptr<aimrt::util::BufferArrayView> buffer_array_cache_ptr = nullptr;
|
||||||
|
|
||||||
|
bool is_shm_loan_size_enough = true;
|
||||||
|
bool is_shm_pool_size_enough = true;
|
||||||
|
|
||||||
|
uint64_t msg_size = 0;
|
||||||
|
size_t header_len = 0;
|
||||||
|
z_buf_layout_alloc_result_t loan_result;
|
||||||
|
|
||||||
|
do {
|
||||||
|
// release old shm
|
||||||
|
if (z_pub_loaned_shm_ptr != nullptr) {
|
||||||
|
z_shm_provider_garbage_collect(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
z_shm_provider_defragment(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
}
|
||||||
|
|
||||||
|
// loan a new size shm
|
||||||
|
uint64_t loan_size = z_node_shm_size_map_[node_pub_topic];
|
||||||
|
z_shm_provider_alloc_gc_defrag(&loan_result, z_loan(zenoh_manager_ptr_->shm_provider_), loan_size, zenoh_manager_ptr_->alignment_);
|
||||||
|
|
||||||
|
// if shm pool is not enough, use net buffer instead
|
||||||
|
if (loan_result.status != ZC_BUF_LAYOUT_ALLOC_STATUS_OK) {
|
||||||
|
is_shm_pool_size_enough = false;
|
||||||
|
z_shm_provider_garbage_collect(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
z_shm_provider_defragment(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
AIMRT_WARN("Zenoh Plugin shm pool is not enough, use net buffer instead.");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
z_pub_loaned_shm_ptr = z_shm_mut_data_mut(z_loan_mut(loan_result.buf));
|
||||||
|
|
||||||
|
// write info pkg on loaned shm : the first FIXED_LEN bytes needs to write the length of pkg
|
||||||
|
util::BufferOperator buf_oper(reinterpret_cast<char*>(z_pub_loaned_shm_ptr) + kFixedLen, loan_size - kFixedLen);
|
||||||
|
|
||||||
|
// write serialization type on loaned shm
|
||||||
|
buf_oper.SetString(serialization_type, util::BufferLenType::kUInt8);
|
||||||
|
|
||||||
|
// write req id on loaned shm
|
||||||
|
buf_oper.SetBuffer(req_id_buf, sizeof(req_id_buf));
|
||||||
|
|
||||||
|
// write an zero on loaned shm
|
||||||
|
buf_oper.SetUint32(0);
|
||||||
|
|
||||||
|
header_len = 1 + serialization_type.size() + 4 + 4;
|
||||||
|
|
||||||
|
// write msg on loaned shm： should start at the (FIXED_LEN + header_len)-th byte
|
||||||
|
aimrt::util::ZenohBufferArrayAllocator z_allocator(buf_oper.GetRemainingSize(), z_pub_loaned_shm_ptr + header_len + kFixedLen);
|
||||||
|
|
||||||
|
if (buffer_array_cache_ptr == nullptr) {
|
||||||
|
try {
|
||||||
|
auto result = SerializeRspSupportedZenoh(*service_invoke_wrapper_ptr, serialization_type, aimrt::util::BufferArrayAllocatorRef(z_allocator.NativeHandle()));
|
||||||
|
msg_size = result.second;
|
||||||
|
buffer_array_cache_ptr = result.first;
|
||||||
|
if (buffer_array_cache_ptr == nullptr) {
|
||||||
|
// in this case means no cache is set, then do nomal serialization(if size is small will throw exception)
|
||||||
|
is_shm_loan_size_enough = true;
|
||||||
|
} else {
|
||||||
|
if (msg_size > buf_oper.GetRemainingSize()) {
|
||||||
|
// in this case means the msg has serialization cache but the size is too large, then expand suitable size
|
||||||
|
is_shm_loan_size_enough = false;
|
||||||
|
z_node_shm_size_map_[node_pub_topic] = kFixedLen + header_len + msg_size;
|
||||||
|
} else {
|
||||||
|
// in this case means the msg has serialization cache and the size is suitable, then use cachema
|
||||||
|
is_shm_loan_size_enough = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} catch (const std::exception& e) {
|
||||||
|
if (!z_allocator.IsShmEnough()) {
|
||||||
|
// the shm is not enough, need to expand a double size
|
||||||
|
z_node_shm_size_map_[node_pub_topic] = z_node_shm_size_map_[node_pub_topic] << 1;
|
||||||
|
is_shm_loan_size_enough = false;
|
||||||
|
} else {
|
||||||
|
AIMRT_ERROR(
|
||||||
|
"Msg serialization failed, serialization_type {}, pattern: {}, exception: {}",
|
||||||
|
serialization_type, pattern, e.what());
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} while (!is_shm_loan_size_enough);
|
||||||
|
|
||||||
|
if (is_shm_pool_size_enough) {
|
||||||
|
// if has cache, the copy it to shm to replace the serialization
|
||||||
|
if (buffer_array_cache_ptr != nullptr) {
|
||||||
|
unsigned char* strat_pos = z_pub_loaned_shm_ptr + kFixedLen + header_len;
|
||||||
|
for (size_t ii = 0; ii < buffer_array_cache_ptr->Size(); ++ii) {
|
||||||
|
std::memcpy(strat_pos, buffer_array_cache_ptr.get()[ii].Data()->data, buffer_array_cache_ptr.get()[ii].Data()->len);
|
||||||
|
strat_pos += buffer_array_cache_ptr.get()[ii].Data()->len;
|
||||||
|
}
|
||||||
|
|
||||||
|
buffer_array_cache_ptr = nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
// write info pkg length on loaned shm
|
||||||
|
std::memcpy(z_pub_loaned_shm_ptr, IntToFixedLengthString(header_len, kFixedLen).c_str(), kFixedLen);
|
||||||
|
z_owned_bytes_t z_payload;
|
||||||
|
if (loan_result.status == ZC_BUF_LAYOUT_ALLOC_STATUS_OK) {
|
||||||
|
z_bytes_from_shm_mut(&z_payload, z_move(loan_result.buf));
|
||||||
|
}
|
||||||
|
z_publisher_put(z_loan(z_node_pub.first), z_move(z_payload), &zenoh_manager_ptr_->z_pub_options_);
|
||||||
|
|
||||||
|
// collect garbage and defragment shared memory, whose reference counting is zero
|
||||||
|
z_shm_provider_garbage_collect(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
z_shm_provider_defragment(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
|
||||||
|
AIMRT_TRACE("Zenoh Invoke req with '{}'", pattern);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// shm disabled
|
||||||
// serivice rsp serialize
|
// serivice rsp serialize
|
||||||
auto buffer_array_view_ptr = aimrt::runtime::core::rpc::TrySerializeRspWithCache(
|
auto buffer_array_view_ptr = aimrt::runtime::core::rpc::TrySerializeRspWithCache(
|
||||||
*service_invoke_wrapper_ptr, serialization_type);
|
*service_invoke_wrapper_ptr, serialization_type);
|
||||||
@ -178,21 +363,36 @@ bool ZenohRpcBackend::RegisterServiceFunc(
|
|||||||
const size_t buffer_array_len = buffer_array_view_ptr->Size();
|
const size_t buffer_array_len = buffer_array_view_ptr->Size();
|
||||||
size_t rsp_size = buffer_array_view_ptr->BufferSize();
|
size_t rsp_size = buffer_array_view_ptr->BufferSize();
|
||||||
|
|
||||||
size_t pkg_size = 1 + serialization_type.size() + 4 + 4 + rsp_size;
|
size_t z_data_size = 1 + serialization_type.size() + 4 + 4 + rsp_size;
|
||||||
|
size_t pkg_size = z_data_size + kFixedLen;
|
||||||
|
|
||||||
|
// get buf to store data
|
||||||
std::vector<char> msg_buf_vec(pkg_size);
|
std::vector<char> msg_buf_vec(pkg_size);
|
||||||
util::BufferOperator buf_oper(msg_buf_vec.data(), msg_buf_vec.size());
|
util::BufferOperator buf_oper(msg_buf_vec.data(), pkg_size);
|
||||||
|
|
||||||
|
// full data_size
|
||||||
|
buf_oper.SetBuffer(IntToFixedLengthString(z_data_size, kFixedLen).c_str(), kFixedLen);
|
||||||
|
|
||||||
|
// full serialize type
|
||||||
buf_oper.SetString(serialization_type, util::BufferLenType::kUInt8);
|
buf_oper.SetString(serialization_type, util::BufferLenType::kUInt8);
|
||||||
|
|
||||||
|
// full req_id
|
||||||
buf_oper.SetBuffer(req_id_buf, sizeof(req_id_buf));
|
buf_oper.SetBuffer(req_id_buf, sizeof(req_id_buf));
|
||||||
|
|
||||||
|
// full an 0
|
||||||
buf_oper.SetUint32(0);
|
buf_oper.SetUint32(0);
|
||||||
|
|
||||||
|
// full rsp_size
|
||||||
for (size_t ii = 0; ii < buffer_array_len; ++ii) {
|
for (size_t ii = 0; ii < buffer_array_len; ++ii) {
|
||||||
buf_oper.SetBuffer(
|
buf_oper.SetBuffer(
|
||||||
static_cast<const char*>(buffer_array_data[ii].data),
|
static_cast<const char*>(buffer_array_data[ii].data),
|
||||||
buffer_array_data[ii].len);
|
buffer_array_data[ii].len);
|
||||||
}
|
}
|
||||||
|
|
||||||
zenoh_manager_ptr_->Publish("rsp/" + pattern, msg_buf_vec.data(), pkg_size);
|
// server send rsp
|
||||||
|
z_owned_bytes_t z_payload;
|
||||||
|
z_bytes_from_buf(&z_payload, reinterpret_cast<uint8_t*>(msg_buf_vec.data()), pkg_size, nullptr, nullptr);
|
||||||
|
z_publisher_put(z_loan(z_node_pub.first), z_move(z_payload), &zenoh_manager_ptr_->z_pub_options_);
|
||||||
};
|
};
|
||||||
// call service
|
// call service
|
||||||
service_func_wrapper.service_func(service_invoke_wrapper_ptr);
|
service_func_wrapper.service_func(service_invoke_wrapper_ptr);
|
||||||
@ -204,7 +404,8 @@ bool ZenohRpcBackend::RegisterServiceFunc(
|
|||||||
AIMRT_WARN("Handle zenoh rpc msg failed, exception info: {}", e.what());
|
AIMRT_WARN("Handle zenoh rpc msg failed, exception info: {}", e.what());
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
zenoh_manager_ptr_->RegisterRpcNode(pattern, std::move(handle), "server");
|
zenoh_manager_ptr_->RegisterRpcNode(pattern, std::move(handle), "server", shm_enabled);
|
||||||
|
z_node_shm_size_map_["rsp/" + pattern] = shm_init_loan_size_;
|
||||||
return true;
|
return true;
|
||||||
} catch (const std::exception& e) {
|
} catch (const std::exception& e) {
|
||||||
AIMRT_ERROR("{}", e.what());
|
AIMRT_ERROR("{}", e.what());
|
||||||
@ -224,6 +425,23 @@ bool ZenohRpcBackend::RegisterClientFunc(
|
|||||||
|
|
||||||
const auto& info = client_func_wrapper.info;
|
const auto& info = client_func_wrapper.info;
|
||||||
|
|
||||||
|
bool shm_enabled = false;
|
||||||
|
auto find_option_itr = std::find_if(
|
||||||
|
options_.clients_options.begin(), options_.clients_options.end(),
|
||||||
|
[func_name = GetRealFuncName(info.func_name)](const Options::ClientOptions& client_option) {
|
||||||
|
try {
|
||||||
|
return std::regex_match(func_name.begin(), func_name.end(), std::regex(client_option.func_name, std::regex::ECMAScript));
|
||||||
|
} catch (const std::exception& e) {
|
||||||
|
AIMRT_WARN("Regex get exception, expr: {}, string: {}, exception info: {}",
|
||||||
|
client_option.func_name, func_name, e.what());
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
});
|
||||||
|
|
||||||
|
if (find_option_itr != options_.clients_options.end()) {
|
||||||
|
shm_enabled = find_option_itr->shm_enabled;
|
||||||
|
}
|
||||||
|
|
||||||
std::string pattern = std::string("aimrt_rpc/") +
|
std::string pattern = std::string("aimrt_rpc/") +
|
||||||
util::UrlEncode(GetRealFuncName(info.func_name)) +
|
util::UrlEncode(GetRealFuncName(info.func_name)) +
|
||||||
limit_domain_;
|
limit_domain_;
|
||||||
@ -242,7 +460,7 @@ bool ZenohRpcBackend::RegisterClientFunc(
|
|||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
util::ConstBufferOperator buf_oper(serialized_data.data(), serialized_size);
|
util::ConstBufferOperator buf_oper(serialized_data.data() + kFixedLen, std::stoi(std::string(serialized_data.data(), kFixedLen)));
|
||||||
|
|
||||||
std::string serialization_type(buf_oper.GetString(util::BufferLenType::kUInt8));
|
std::string serialization_type(buf_oper.GetString(util::BufferLenType::kUInt8));
|
||||||
uint32_t req_id = buf_oper.GetUint32();
|
uint32_t req_id = buf_oper.GetUint32();
|
||||||
@ -294,7 +512,8 @@ bool ZenohRpcBackend::RegisterClientFunc(
|
|||||||
client_invoke_wrapper_ptr->callback(aimrt::rpc::Status(AIMRT_RPC_STATUS_CLI_BACKEND_INTERNAL_ERROR));
|
client_invoke_wrapper_ptr->callback(aimrt::rpc::Status(AIMRT_RPC_STATUS_CLI_BACKEND_INTERNAL_ERROR));
|
||||||
};
|
};
|
||||||
|
|
||||||
zenoh_manager_ptr_->RegisterRpcNode(pattern, std::move(handle), "client");
|
zenoh_manager_ptr_->RegisterRpcNode(pattern, std::move(handle), "client", shm_enabled);
|
||||||
|
z_node_shm_size_map_["req/" + pattern] = shm_init_loan_size_;
|
||||||
} catch (const std::exception& e) {
|
} catch (const std::exception& e) {
|
||||||
AIMRT_ERROR("{}", e.what());
|
AIMRT_ERROR("{}", e.what());
|
||||||
return false;
|
return false;
|
||||||
@ -312,15 +531,28 @@ void ZenohRpcBackend::Invoke(
|
|||||||
}
|
}
|
||||||
|
|
||||||
namespace util = aimrt::common::util;
|
namespace util = aimrt::common::util;
|
||||||
|
|
||||||
const auto& info = client_invoke_wrapper_ptr->info;
|
const auto& info = client_invoke_wrapper_ptr->info;
|
||||||
|
|
||||||
std::string pattern = std::string("aimrt_rpc/") +
|
std::string pattern = std::string("aimrt_rpc/") +
|
||||||
util::UrlEncode(GetRealFuncName(info.func_name)) +
|
util::UrlEncode(GetRealFuncName(info.func_name)) +
|
||||||
limit_domain_;
|
limit_domain_;
|
||||||
|
|
||||||
|
std::string node_pub_topic = "req/" + pattern;
|
||||||
|
|
||||||
|
// find node's publisher with pattern
|
||||||
|
auto z_node_pub_registry = zenoh_manager_ptr_->GetPublisherRegisterMap();
|
||||||
|
auto z_node_pub_iter = z_node_pub_registry->find(node_pub_topic);
|
||||||
|
if (z_node_pub_iter == z_node_pub_registry->end()) [[unlikely]] {
|
||||||
|
AIMRT_ERROR("Can not find publisher with pattern: {}", pattern);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
auto z_node_pub = z_node_pub_iter->second;
|
||||||
|
|
||||||
|
// get req id
|
||||||
uint32_t cur_req_id = req_id_++;
|
uint32_t cur_req_id = req_id_++;
|
||||||
|
|
||||||
|
// get serialization type
|
||||||
auto serialization_type =
|
auto serialization_type =
|
||||||
client_invoke_wrapper_ptr->ctx_ref.GetMetaValue(AIMRT_RPC_CONTEXT_KEY_SERIALIZATION_TYPE);
|
client_invoke_wrapper_ptr->ctx_ref.GetMetaValue(AIMRT_RPC_CONTEXT_KEY_SERIALIZATION_TYPE);
|
||||||
|
|
||||||
@ -329,20 +561,7 @@ void ZenohRpcBackend::Invoke(
|
|||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
// client req serialize
|
// get meta data
|
||||||
auto buffer_array_view_ptr = aimrt::runtime::core::rpc::TrySerializeReqWithCache(
|
|
||||||
*client_invoke_wrapper_ptr, serialization_type);
|
|
||||||
if (!buffer_array_view_ptr) [[unlikely]] {
|
|
||||||
// serialize failed
|
|
||||||
client_invoke_wrapper_ptr->callback(aimrt::rpc::Status(AIMRT_RPC_STATUS_CLI_SERIALIZATION_FAILED));
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
const auto* buffer_array_data = buffer_array_view_ptr->Data();
|
|
||||||
const size_t buffer_array_len = buffer_array_view_ptr->Size();
|
|
||||||
size_t req_size = buffer_array_view_ptr->BufferSize();
|
|
||||||
|
|
||||||
// context
|
|
||||||
const auto& keys = client_invoke_wrapper_ptr->ctx_ref.GetMetaKeys();
|
const auto& keys = client_invoke_wrapper_ptr->ctx_ref.GetMetaKeys();
|
||||||
if (keys.size() > 255) [[unlikely]] {
|
if (keys.size() > 255) [[unlikely]] {
|
||||||
AIMRT_WARN("Too much context meta, require less than 255, but actually {}.", keys.size());
|
AIMRT_WARN("Too much context meta, require less than 255, but actually {}.", keys.size());
|
||||||
@ -360,16 +579,11 @@ void ZenohRpcBackend::Invoke(
|
|||||||
context_meta_kv_size += (2 + val.size());
|
context_meta_kv_size += (2 + val.size());
|
||||||
context_meta_kv.emplace_back(val);
|
context_meta_kv.emplace_back(val);
|
||||||
}
|
}
|
||||||
// padding zenoh pkg
|
|
||||||
size_t z_pkg_size = 1 + serialization_type.size() +
|
|
||||||
1 + pattern.size() +
|
|
||||||
4 +
|
|
||||||
context_meta_kv_size +
|
|
||||||
req_size;
|
|
||||||
|
|
||||||
auto timeout = client_invoke_wrapper_ptr->ctx_ref.Timeout();
|
auto timeout = client_invoke_wrapper_ptr->ctx_ref.Timeout();
|
||||||
auto record_ptr = client_invoke_wrapper_ptr;
|
auto record_ptr = client_invoke_wrapper_ptr;
|
||||||
|
|
||||||
|
// record this req with timeout
|
||||||
bool ret = client_tool_ptr_->Record(cur_req_id, timeout, std::move(record_ptr));
|
bool ret = client_tool_ptr_->Record(cur_req_id, timeout, std::move(record_ptr));
|
||||||
|
|
||||||
if (!ret) [[unlikely]] {
|
if (!ret) [[unlikely]] {
|
||||||
@ -378,27 +592,185 @@ void ZenohRpcBackend::Invoke(
|
|||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
std::vector<char> msg_buf_vec(z_pkg_size);
|
// shm enabled
|
||||||
util::BufferOperator buf_oper(msg_buf_vec.data(), msg_buf_vec.size());
|
if (z_node_pub.second) {
|
||||||
|
unsigned char* z_pub_loaned_shm_ptr = nullptr;
|
||||||
|
std::shared_ptr<aimrt::util::BufferArrayView> buffer_array_cache_ptr = nullptr;
|
||||||
|
|
||||||
|
bool is_shm_loan_size_enough = true;
|
||||||
|
bool is_shm_pool_size_enough = true;
|
||||||
|
|
||||||
|
uint64_t msg_size = 0;
|
||||||
|
size_t header_len = 0;
|
||||||
|
z_buf_layout_alloc_result_t loan_result;
|
||||||
|
|
||||||
|
do {
|
||||||
|
// release old shm
|
||||||
|
if (z_pub_loaned_shm_ptr != nullptr) {
|
||||||
|
z_shm_provider_garbage_collect(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
z_shm_provider_defragment(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
}
|
||||||
|
|
||||||
|
// loan a new size shm
|
||||||
|
uint64_t loan_size = z_node_shm_size_map_[node_pub_topic];
|
||||||
|
z_shm_provider_alloc_gc_defrag(&loan_result, z_loan(zenoh_manager_ptr_->shm_provider_), loan_size, zenoh_manager_ptr_->alignment_);
|
||||||
|
|
||||||
|
// if shm pool is not enough, use net buffer instead
|
||||||
|
if (loan_result.status != ZC_BUF_LAYOUT_ALLOC_STATUS_OK) {
|
||||||
|
is_shm_pool_size_enough = false;
|
||||||
|
z_shm_provider_garbage_collect(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
z_shm_provider_defragment(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
AIMRT_WARN("Zenoh Plugin shm pool is not enough, use net buffer instead.");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
z_pub_loaned_shm_ptr = z_shm_mut_data_mut(z_loan_mut(loan_result.buf));
|
||||||
|
|
||||||
|
// write info pkg on loaned shm : the first FIXED_LEN bytes needs to write the length of pkg
|
||||||
|
util::BufferOperator buf_oper(reinterpret_cast<char*>(z_pub_loaned_shm_ptr) + kFixedLen, loan_size - kFixedLen);
|
||||||
|
|
||||||
|
// write serialization type on loaned shm
|
||||||
|
buf_oper.SetString(serialization_type, util::BufferLenType::kUInt8);
|
||||||
|
|
||||||
|
// write pattern on loaned shm
|
||||||
|
buf_oper.SetString(pattern, util::BufferLenType::kUInt8);
|
||||||
|
|
||||||
|
// write req id on loaned shm
|
||||||
|
buf_oper.SetUint32(cur_req_id);
|
||||||
|
|
||||||
|
// write context meta on loaned shm
|
||||||
|
buf_oper.SetUint8(static_cast<uint8_t>(keys.size()));
|
||||||
|
for (const auto& s : context_meta_kv) {
|
||||||
|
buf_oper.SetString(s, util::BufferLenType::kUInt16);
|
||||||
|
}
|
||||||
|
|
||||||
|
header_len = 1 + serialization_type.size() +
|
||||||
|
1 + pattern.size() +
|
||||||
|
4 +
|
||||||
|
context_meta_kv_size;
|
||||||
|
|
||||||
|
// write msg on loaned shm： should start at the (FIXED_LEN + header_len)-th byte
|
||||||
|
aimrt::util::ZenohBufferArrayAllocator z_allocator(buf_oper.GetRemainingSize(), z_pub_loaned_shm_ptr + header_len + kFixedLen);
|
||||||
|
|
||||||
|
if (buffer_array_cache_ptr == nullptr) {
|
||||||
|
try {
|
||||||
|
auto result = SerializeReqSupportedZenoh(*client_invoke_wrapper_ptr, serialization_type, aimrt::util::BufferArrayAllocatorRef(z_allocator.NativeHandle()));
|
||||||
|
msg_size = result.second;
|
||||||
|
buffer_array_cache_ptr = result.first;
|
||||||
|
if (buffer_array_cache_ptr == nullptr) {
|
||||||
|
// in this case means no cache is set, then do nomal serialization(if size is small will throw exception)
|
||||||
|
is_shm_loan_size_enough = true;
|
||||||
|
} else {
|
||||||
|
if (msg_size > buf_oper.GetRemainingSize()) {
|
||||||
|
// in this case means the msg has serialization cache but the size is too large, then expand suitable size
|
||||||
|
is_shm_loan_size_enough = false;
|
||||||
|
z_node_shm_size_map_[node_pub_topic] = kFixedLen + header_len + msg_size;
|
||||||
|
} else {
|
||||||
|
// in this case means the msg has serialization cache and the size is suitable, then use cachema
|
||||||
|
is_shm_loan_size_enough = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} catch (const std::exception& e) {
|
||||||
|
if (!z_allocator.IsShmEnough()) {
|
||||||
|
// the shm is not enough, need to expand a double size
|
||||||
|
z_node_shm_size_map_[node_pub_topic] = z_node_shm_size_map_[node_pub_topic] << 1;
|
||||||
|
is_shm_loan_size_enough = false;
|
||||||
|
} else {
|
||||||
|
AIMRT_ERROR(
|
||||||
|
"Msg serialization failed, serialization_type {}, pkg_path: {}, module_name: {}, func_name: {}, exception: {}",
|
||||||
|
serialization_type, info.pkg_path, info.module_name, info.func_name, e.what());
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} while (!is_shm_loan_size_enough);
|
||||||
|
|
||||||
|
if (is_shm_pool_size_enough) {
|
||||||
|
// if has cache, the copy it to shm to replace the serialization
|
||||||
|
if (buffer_array_cache_ptr != nullptr) {
|
||||||
|
unsigned char* strat_pos = z_pub_loaned_shm_ptr + kFixedLen + header_len;
|
||||||
|
for (size_t ii = 0; ii < buffer_array_cache_ptr->Size(); ++ii) {
|
||||||
|
std::memcpy(strat_pos, buffer_array_cache_ptr.get()[ii].Data()->data, buffer_array_cache_ptr.get()[ii].Data()->len);
|
||||||
|
strat_pos += buffer_array_cache_ptr.get()[ii].Data()->len;
|
||||||
|
}
|
||||||
|
|
||||||
|
buffer_array_cache_ptr = nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
// write info pkg length on loaned shm
|
||||||
|
std::memcpy(z_pub_loaned_shm_ptr, IntToFixedLengthString(header_len, kFixedLen).c_str(), kFixedLen);
|
||||||
|
z_owned_bytes_t z_payload;
|
||||||
|
if (loan_result.status == ZC_BUF_LAYOUT_ALLOC_STATUS_OK) {
|
||||||
|
z_bytes_from_shm_mut(&z_payload, z_move(loan_result.buf));
|
||||||
|
}
|
||||||
|
z_publisher_put(z_loan(z_node_pub.first), z_move(z_payload), &zenoh_manager_ptr_->z_pub_options_);
|
||||||
|
|
||||||
|
// collect garbage and defragment shared memory, whose reference counting is zero
|
||||||
|
z_shm_provider_garbage_collect(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
z_shm_provider_defragment(z_loan(zenoh_manager_ptr_->shm_provider_));
|
||||||
|
|
||||||
|
AIMRT_TRACE("Zenoh Invoke req with '{}'", pattern);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// shm disabled
|
||||||
|
// client req serialize
|
||||||
|
auto buffer_array_view_ptr = aimrt::runtime::core::rpc::TrySerializeReqWithCache(
|
||||||
|
*client_invoke_wrapper_ptr, serialization_type);
|
||||||
|
if (!buffer_array_view_ptr) [[unlikely]] {
|
||||||
|
// serialize failed
|
||||||
|
client_invoke_wrapper_ptr->callback(aimrt::rpc::Status(AIMRT_RPC_STATUS_CLI_SERIALIZATION_FAILED));
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
const auto* buffer_array_data = buffer_array_view_ptr->Data();
|
||||||
|
const size_t buffer_array_len = buffer_array_view_ptr->Size();
|
||||||
|
size_t req_size = buffer_array_view_ptr->BufferSize();
|
||||||
|
|
||||||
|
// padding zenoh pkg (serialization_type + pattern + req_id + context_meta + req)
|
||||||
|
size_t z_data_size = 1 + serialization_type.size() +
|
||||||
|
1 + pattern.size() +
|
||||||
|
4 +
|
||||||
|
context_meta_kv_size +
|
||||||
|
req_size;
|
||||||
|
|
||||||
|
size_t pkg_size = z_data_size + kFixedLen;
|
||||||
|
// create buffer for serialization
|
||||||
|
std::vector<char> msg_buf_vec(pkg_size);
|
||||||
|
util::BufferOperator buf_oper(msg_buf_vec.data(), pkg_size);
|
||||||
|
|
||||||
|
// full data_size
|
||||||
|
buf_oper.SetBuffer(IntToFixedLengthString(z_data_size, kFixedLen).c_str(), kFixedLen);
|
||||||
|
|
||||||
|
// full serialization_type
|
||||||
buf_oper.SetString(serialization_type, util::BufferLenType::kUInt8);
|
buf_oper.SetString(serialization_type, util::BufferLenType::kUInt8);
|
||||||
|
|
||||||
|
// full pattern
|
||||||
buf_oper.SetString(pattern, util::BufferLenType::kUInt8);
|
buf_oper.SetString(pattern, util::BufferLenType::kUInt8);
|
||||||
|
|
||||||
|
// full req id
|
||||||
buf_oper.SetUint32(cur_req_id);
|
buf_oper.SetUint32(cur_req_id);
|
||||||
|
|
||||||
|
// full context meta
|
||||||
buf_oper.SetUint8(static_cast<uint8_t>(keys.size()));
|
buf_oper.SetUint8(static_cast<uint8_t>(keys.size()));
|
||||||
for (const auto& s : context_meta_kv) {
|
for (const auto& s : context_meta_kv) {
|
||||||
buf_oper.SetString(s, util::BufferLenType::kUInt16);
|
buf_oper.SetString(s, util::BufferLenType::kUInt16);
|
||||||
}
|
}
|
||||||
|
|
||||||
// data
|
// full client req
|
||||||
for (size_t ii = 0; ii < buffer_array_len; ++ii) {
|
for (size_t ii = 0; ii < buffer_array_len; ++ii) {
|
||||||
buf_oper.SetBuffer(
|
buf_oper.SetBuffer(
|
||||||
static_cast<const char*>(buffer_array_data[ii].data),
|
static_cast<const char*>(buffer_array_data[ii].data),
|
||||||
buffer_array_data[ii].len);
|
buffer_array_data[ii].len);
|
||||||
}
|
}
|
||||||
|
|
||||||
// send data
|
// send req
|
||||||
zenoh_manager_ptr_->Publish("req/" + pattern, msg_buf_vec.data(), z_pkg_size);
|
z_owned_bytes_t z_payload;
|
||||||
|
z_bytes_from_buf(&z_payload, reinterpret_cast<uint8_t*>(msg_buf_vec.data()), pkg_size, nullptr, nullptr);
|
||||||
|
z_publisher_put(z_loan(z_node_pub.first), z_move(z_payload), &zenoh_manager_ptr_->z_pub_options_);
|
||||||
|
|
||||||
} catch (const std::exception& e) {
|
} catch (const std::exception& e) {
|
||||||
AIMRT_ERROR("{}", e.what());
|
AIMRT_ERROR("{}", e.what());
|
||||||
|
|||||||
@ -11,6 +11,8 @@
|
|||||||
#include "util/buffer_util.h"
|
#include "util/buffer_util.h"
|
||||||
#include "util/url_encode.h"
|
#include "util/url_encode.h"
|
||||||
#include "zenoh.h"
|
#include "zenoh.h"
|
||||||
|
#include "zenoh_plugin/util.h"
|
||||||
|
#include "zenoh_plugin/zenoh_buffer_array_allocator.h"
|
||||||
#include "zenoh_plugin/zenoh_manager.h"
|
#include "zenoh_plugin/zenoh_manager.h"
|
||||||
|
|
||||||
namespace aimrt::plugins::zenoh_plugin {
|
namespace aimrt::plugins::zenoh_plugin {
|
||||||
@ -18,6 +20,17 @@ class ZenohRpcBackend : public runtime::core::rpc::RpcBackendBase {
|
|||||||
public:
|
public:
|
||||||
struct Options {
|
struct Options {
|
||||||
std::string timeout_executor;
|
std::string timeout_executor;
|
||||||
|
struct ClientOptions {
|
||||||
|
std::string func_name;
|
||||||
|
bool shm_enabled = false;
|
||||||
|
};
|
||||||
|
std::vector<ClientOptions> clients_options;
|
||||||
|
|
||||||
|
struct ServerOptions {
|
||||||
|
std::string func_name;
|
||||||
|
bool shm_enabled = false;
|
||||||
|
};
|
||||||
|
std::vector<ServerOptions> servers_options;
|
||||||
};
|
};
|
||||||
|
|
||||||
public:
|
public:
|
||||||
@ -74,6 +87,10 @@ class ZenohRpcBackend : public runtime::core::rpc::RpcBackendBase {
|
|||||||
std::string limit_domain_;
|
std::string limit_domain_;
|
||||||
|
|
||||||
std::unique_ptr<runtime::core::util::RpcClientTool<std::shared_ptr<runtime::core::rpc::InvokeWrapper>>> client_tool_ptr_;
|
std::unique_ptr<runtime::core::util::RpcClientTool<std::shared_ptr<runtime::core::rpc::InvokeWrapper>>> client_tool_ptr_;
|
||||||
|
|
||||||
|
std::unordered_map<std::string, uint64_t> z_node_shm_size_map_;
|
||||||
|
|
||||||
|
uint64_t shm_init_loan_size_ = 1024;
|
||||||
};
|
};
|
||||||
|
|
||||||
} // namespace aimrt::plugins::zenoh_plugin
|
} // namespace aimrt::plugins::zenoh_plugin
|
||||||
Loading…
x
Reference in New Issue
Block a user