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Temporary buffer remove #207
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@dirk-thomas |
@dejanpan I think @andreaspasternak should also pass his performance tests on this one |
@MiguelCompany Please look into the failing tests on Windows in the above CI builds. |
@MiguelCompany: we will do this Sat CET time. |
I ran the tests on another machine (my PC at home) and obtained the same results as your CI. I will investigate the issue and, when tests pass and with information on performance, I would then adress the conflicts with the merge of expose_cdr. Today will be complicated, as I have a family intensive day, but I will check on this tomorrow. |
Just pushed changes that pass the tests with the repos state before merging expose_cdr. Will address rebase and code adaptation starting tomorrow |
This are the repo versions I am testing with, in case someone (@dirk-thomas?) can be so kind as to pass the CI with them. https://gist.github.com/MiguelCompany/bf1956d395a6b02e94d550b36ca242aa |
The repos file must use https urls (not |
Ups! Changed! Sorry! |
@MiguelCompany the last CI run linked in #207 (comment) had build failures that don't appear on our default CI. |
@MiguelCompany again, I believe this branch has conflicts due to the merge of the expose_cdr branch. However, you should be able to rebase this branch on top of master without any major conflicts. Edit: |
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@nuclearsandwich Thanks, but I was trying to perform the tests with the commits before merging expose_cdr. Edit: no need of custom repos file |
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@@ -20,15 +20,20 @@ | |||
bool | |||
_serialize_ros_message( | |||
const void * ros_message, | |||
eprosima::fastcdr::FastBuffer & buffer, |
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can you call reserve
on the internal buffer of eprosima::fastcdr::Cdr
?
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Yes. Only when FastBuffer is created with it's default constructor and before serialization has started (i.e. internal buffer has not been allocated yet).
eprosima::fastcdr::Cdr & ser, | ||
void * untyped_typesupport, | ||
const char * typesupport_identifier) | ||
{ | ||
if (using_introspection_c_typesupport(typesupport_identifier)) { | ||
auto typed_typesupport = static_cast<MessageTypeSupport_c *>(untyped_typesupport); | ||
size_t estimated_size = typed_typesupport->getEstimatedSerializedSize(ros_message); |
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what is the difference between getEstimatedSerializedSize
and ser.getSerializedDataLength
?
I mean, the latter returns the exact size of all the serialized payload.
Is the estimated one supposed to be faster?
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The main point is knowing the size before serializing the data, so we can allocate the correct buffer size. For full bounded messages, the size is precalculated when creating the TypeSupport structure.
} | ||
|
||
template<typename MembersType> | ||
size_t TypeSupport<MembersType>::getEstimatedSerializedSize( |
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Can you elaborate why you want to iterate over the complete message to get its size without serializing it?
Not criticizing, just wondering what's the use case.
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To avoid reallocations. If we know in advance the serialization size, internal buffer can be directly allocated to the correct size (with a call to reserve), and no reallocations will occur. This is specially important on messages like this one, where a reallocation occurs after serializing the 8M static array
Thank you for implementing this performance improvement. |
ros-rolling-rmw-fastrtps-cpp (6.2.1-1jammy) jammy; urgency=high . * Add pub/sub init, publish and take instrumentation using tracetools (#591 <ros2/rmw_fastrtps#591>) * Add content filter topic feature (#513 <ros2/rmw_fastrtps#513>) * Add sequence numbers to message info structure (#587 <ros2/rmw_fastrtps#587>) * Removed some heap interactions in rmw_serialize.cpp (#590 <ros2/rmw_fastrtps#590>) * Contributors: Chen Lihui, Christophe Bedard, Ivan Santiago Paunovic, WideAwakeTN . ros-rolling-rmw-fastrtps-cpp (6.2.0-1jammy) jammy; urgency=high . * Add EventsExecutor (#468 <ros2/rmw_fastrtps#468>) * Install headers to include/${PROJECT_NAME} (#578 <ros2/rmw_fastrtps#578>) * Contributors: Shane Loretz, iRobot ROS . ros-rolling-rmw-fastrtps-cpp (6.1.2-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (6.1.1-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (6.1.0-1jammy) jammy; urgency=high . * Add client/service QoS getters. (#560 <ros2/rmw_fastrtps#560>) * Contributors: mauropasse . ros-rolling-rmw-fastrtps-cpp (6.0.0-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (5.2.2-1jammy) jammy; urgency=high . * Correctly recalculate serialized size on bounded sequences. (#540 <ros2/rmw_fastrtps#540>) * Fix type size alignment. (#550 <ros2/rmw_fastrtps#550>) * Contributors: Miguel Company . ros-rolling-rmw-fastrtps-cpp (5.2.1-1jammy) jammy; urgency=high . * Change links from index.ros.org -> docs.ros.org (#539 <ros2/rmw_fastrtps#539>) * Contributors: Chris Lalancette . ros-rolling-rmw-fastrtps-cpp (5.2.0-1jammy) jammy; urgency=high . * Add rmw_publisher_wait_for_all_acked support. (#519 <ros2/rmw_fastrtps#519>) * Contributors: Barry Xu . ros-rolling-rmw-fastrtps-cpp (5.1.0-1jammy) jammy; urgency=high . * Loan messages implementation (#523 <ros2/rmw_fastrtps#523>) * Added is_plain_ attribute to base TypeSupport. * Added new methods to base TypeSupport. * Implementation of rmw_borrow_loaned_message. * Implementation of rmw_return_loaned_message_from_publisher. * Enable loan messages on publishers of plain types. * Implementation for taking loaned messages. * Enable loan messages on subscriptions of plain types. * Contributors: Miguel Company . ros-rolling-rmw-fastrtps-cpp (5.0.0-1jammy) jammy; urgency=high . * Refactor to use DDS standard API (#518 <ros2/rmw_fastrtps#518>) * Unique network flows (#502 <ros2/rmw_fastrtps#502>) * updating quality declaration links (re: ros2/docs.ros2.org#52 <ros2/docs.ros2.org#52>) (#520 <ros2/rmw_fastrtps#520>) * Contributors: Miguel Company, shonigmann . ros-rolling-rmw-fastrtps-cpp (4.5.0-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (4.4.0-1jammy) jammy; urgency=high . * Add RMW function to check QoS compatibility (#511 <ros2/rmw_fastrtps#511>) * Capture cdr exceptions (#505 <ros2/rmw_fastrtps#505>) * Contributors: Jacob Perron, Miguel Company . ros-rolling-rmw-fastrtps-cpp (4.3.0-1jammy) jammy; urgency=high . * Load profiles based on topic names (#335 <ros2/rmw_fastrtps#335>) * Set rmw_dds_common::GraphCache callback after init succeeds. (#496 <ros2/rmw_fastrtps#496>) * Handle typesupport errors on fetch. (#495 <ros2/rmw_fastrtps#495>) * Contributors: Eduardo Ponz Segrelles, Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (4.2.0-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (4.1.0-1jammy) jammy; urgency=high . * Check for correct context shutdown (#486 <ros2/rmw_fastrtps#486>) * New environment variable to change easily the publication mode (#470 <ros2/rmw_fastrtps#470>) * Contributors: Ignacio Montesino Valle, José Luis Bueno López . ros-rolling-rmw-fastrtps-cpp (4.0.0-1jammy) jammy; urgency=high . * Discriminate when the Client has gone from when the Client has not completely matched (#467 <ros2/rmw_fastrtps#467>) * Workaround when the client is gone before server sends response * Change add to the map to listener callback * Update the package.xml files with the latest Open Robotics maintainers (#459 <ros2/rmw_fastrtps#459>) * Update Quality Declarations and READMEs (#455 <ros2/rmw_fastrtps#455>) * Add QD links for dependencies to rmw_fastrtps_cpp QD * Provide external dependencies QD links * Update rmw_fastrtps README to use Fast DDS * Update rmw_fastrtps_cpp QD: Fast DDS & unit test * Update README rmw_fastrtps_cpp to QL2 * Contributors: JLBuenoLopez-eProsima, Jaime Martin Losa, José Luis Bueno López, Michael Jeronimo . ros-rolling-rmw-fastrtps-cpp (3.1.4-1jammy) jammy; urgency=high . * Perform fault injection in all creation/destruction APIs. (#453 <ros2/rmw_fastrtps#453>) * Ensure rmw_destroy_node() completes despite run-time errors. (#458 <ros2/rmw_fastrtps#458>) * Update rmw_fastrtps_cpp and rmw_fastrtps_shared_cpp QDs to QL2. (#456 <ros2/rmw_fastrtps#456>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (3.1.3-1jammy) jammy; urgency=high . * Return RMW_RET_UNSUPPORTED in rmw_get_serialized_message_size (#452 <ros2/rmw_fastrtps#452>) * Contributors: Alejandro Hernández Cordero . ros-rolling-rmw-fastrtps-cpp (3.1.2-1jammy) jammy; urgency=high . * Updated publisher/subscription allocation and wait set API return codes (#443 <ros2/rmw_fastrtps#443>) * Added rmw_logging tests (#442 <ros2/rmw_fastrtps#442>) * Contributors: Alejandro Hernández Cordero . ros-rolling-rmw-fastrtps-cpp (3.1.1-1jammy) jammy; urgency=high . * Make service/client construction/destruction implementation compliant (#445 <ros2/rmw_fastrtps#445>) * Make sure type can be unregistered successfully (#437 <ros2/rmw_fastrtps#437>) * Contributors: Barry Xu, Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (3.1.0-1jammy) jammy; urgency=high . * Add tests for native entity getters. (#439 <ros2/rmw_fastrtps#439>) * Avoid deadlock if graph update fails. (#438 <ros2/rmw_fastrtps#438>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (3.0.0-1jammy) jammy; urgency=high . * Call Domain::removePublisher while failure occurs in create_publisher (#434 <ros2/rmw_fastrtps#434>) * Contributors: Barry Xu . ros-rolling-rmw-fastrtps-cpp (2.6.0-1jammy) jammy; urgency=high . * Ensure compliant matched pub/sub count API. (#424 <ros2/rmw_fastrtps#424>) * Ensure compliant publisher QoS queries. (#425 <ros2/rmw_fastrtps#425>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (2.5.0-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (2.4.0-1jammy) jammy; urgency=high . * Ensure compliant subscription API. (#419 <ros2/rmw_fastrtps#419>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (2.3.0-1jammy) jammy; urgency=high . * Ensure compliant publisher API. (#414 <ros2/rmw_fastrtps#414>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (2.2.0-1jammy) jammy; urgency=high . * Set context actual domain id (#410 <ros2/rmw_fastrtps#410>) * Contributors: Ivan Santiago Paunovic . ros-rolling-rmw-fastrtps-cpp (2.1.0-1jammy) jammy; urgency=high . * Ensure compliant node construction/destruction API. (#408 <ros2/rmw_fastrtps#408>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (2.0.0-1jammy) jammy; urgency=high . * Remove domain_id and localhost_only from node API (#407 <ros2/rmw_fastrtps#407>) * Amend rmw_init() implementation: require enclave. (#406 <ros2/rmw_fastrtps#406>) * Update Quality Declarations to QL3. (#404 <ros2/rmw_fastrtps#404>) * Contributors: Ivan Santiago Paunovic, Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (1.1.0-1jammy) jammy; urgency=high . * Ensure compliant init/shutdown API implementation. (#401 <ros2/rmw_fastrtps#401>) * Update Quality Declaration to QL3. (#403 <ros2/rmw_fastrtps#403>) * Finalize context iff shutdown. (#396 <ros2/rmw_fastrtps#396>) * Make service wait for response reader (#390 <ros2/rmw_fastrtps#390>) * Contributors: Michel Hidalgo, Miguel Company . ros-rolling-rmw-fastrtps-cpp (1.0.1-1jammy) jammy; urgency=high . * Add Security Vulnerability Policy pointing to REP-2006 (#389 <ros2/rmw_fastrtps#389>) * Update QDs for 1.0 (#383 <ros2/rmw_fastrtps#383>) * Contributors: Chris Lalancette, Stephen Brawner . ros-rolling-rmw-fastrtps-cpp (1.0.0-1jammy) jammy; urgency=high . * Remove API related to manual by node liveliness. (#379 <ros2/rmw_fastrtps#379>) * Update quality declarations on feature testing. (#380 <ros2/rmw_fastrtps#380>) * Contributors: Ivan Santiago Paunovic, Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (0.9.1-1jammy) jammy; urgency=high . * Add package READMEs and QUALITY_DECLARATION files (#375 <ros2/rmw_fastrtps#375>) * Added doxyfiles (#372 <ros2/rmw_fastrtps#372>) * Contributors: Alejandro Hernández Cordero, brawner . ros-rolling-rmw-fastrtps-cpp (0.9.0-1jammy) jammy; urgency=high . * Add missing export of rmw_dds_common. (#374 <ros2/rmw_fastrtps#374>) * Rename rosidl_message_bounds_t. (#373 <ros2/rmw_fastrtps#373>) * Feature/services timestamps. (#369 <ros2/rmw_fastrtps#369>) * Add support for taking a sequence of messages. (#366 <ros2/rmw_fastrtps#366>) * security-context -> enclave. (#365 <ros2/rmw_fastrtps#365>) * Rename rosidl_generator_c namespace to rosidl_runtime_c. (#367 <ros2/rmw_fastrtps#367>) * Remove custom typesupport for rmw_dds_common interfaces. (#364 <ros2/rmw_fastrtps#364>) * Added rosidl_runtime c and cpp depencencies. (#351 <ros2/rmw_fastrtps#351>) * Switch to one Participant per Context. (#312 <ros2/rmw_fastrtps#312>) * Add rmw_*_event_init() functions. (#354 <ros2/rmw_fastrtps#354>) * Fixing type support C/CPP mix on rmw_fastrtps_dynamic_cpp. (#350 <ros2/rmw_fastrtps#350>) * Fix build warning in Ubuntu Focal. (#346 <ros2/rmw_fastrtps#346>) * Code style only: wrap after open parenthesis if not in one line. (#347 <ros2/rmw_fastrtps#347>) * Passing down type support information (#342 <ros2/rmw_fastrtps#342>) * Implement functions to get publisher and subcription informations like QoS policies from topic name. (#336 <ros2/rmw_fastrtps#336>) * Contributors: Alejandro Hernández Cordero, Dirk Thomas, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Miaofei Mei, Michael Carroll, Miguel Company, Mikael Arguedas . ros-rolling-rmw-fastrtps-cpp (0.8.1-1jammy) jammy; urgency=high . * use return_loaned_message_from (#334 <ros2/rmw_fastrtps#334>) * Restrict traffic to localhost only if env var is provided (#331 <ros2/rmw_fastrtps#331>) * Zero copy api (#322 <ros2/rmw_fastrtps#322>) * update signature for added pub/sub options (#329 <ros2/rmw_fastrtps#329>) * Contributors: Brian Marchi, Karsten Knese, William Woodall . ros-rolling-rmw-fastrtps-cpp (0.8.0-1jammy) jammy; urgency=high . * Add function for getting clients by node (#293 <ros2/rmw_fastrtps#293>) * Implement get_actual_qos() for subscriptions (#287 <ros2/rmw_fastrtps#287>) * Fix error message (#290 <ros2/rmw_fastrtps#290>) * Contributors: Jacob Perron, M. M . ros-rolling-rmw-fastrtps-cpp (0.7.3-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (0.7.2-1jammy) jammy; urgency=high . * Centralize topic name creation logic and update to match FastRTPS 1.8 API (#272 <ros2/rmw_fastrtps#272>) * Contributors: Nick Burek . ros-rolling-rmw-fastrtps-cpp (0.7.1-1jammy) jammy; urgency=high . * Support arbitrary message namespaces (#266 <ros2/rmw_fastrtps#266>) * Add qos interfaces with no-op (#271 <ros2/rmw_fastrtps#271>) * Updates for preallocation API. (#274 <ros2/rmw_fastrtps#274>) * Contributors: Jacob Perron, Michael Carroll, Ross Desmond . ros-rolling-rmw-fastrtps-cpp (0.7.0-1jammy) jammy; urgency=high . * Add function to get publisher actual qos settings (#267 <ros2/rmw_fastrtps#267>) * pass context to wait set and fini context (#252 <ros2/rmw_fastrtps#252>) * Improve service_is_available logic to protect that client is waiting forever (#238 <ros2/rmw_fastrtps#238>) * Merge pull request #250 <ros2/rmw_fastrtps#250> from ros2/support_static_lib * use namespace_prefix from shared package * Contributors: Dirk Thomas, DongheeYe, William Woodall, ivanpauno . ros-rolling-rmw-fastrtps-cpp (0.6.1-1jammy) jammy; urgency=high . * Add topic cache object for managing topic relations (#236 <ros2/rmw_fastrtps#236>) * Fastrtps 1.7.0 (#233 <ros2/rmw_fastrtps#233>) * RMW_FastRTPS configuration from XML only (#243 <ros2/rmw_fastrtps#243>) * refactor to support init options and context (#237 <ros2/rmw_fastrtps#237>) * Methods to retrieve matched counts on pub/sub (#234 <ros2/rmw_fastrtps#234>) * use uint8_array (#240 <ros2/rmw_fastrtps#240>) * Contributors: Juan Carlos, Karsten Knese, Michael Carroll, MiguelCompany, Ross Desmond, William Woodall . ros-rolling-rmw-fastrtps-cpp (0.6.0-1jammy) jammy; urgency=high . * Add semicolons to all RCLCPP and RCUTILS macros. (#229 <ros2/rmw_fastrtps#229>) * Include node namespaces in get_node_names (#224 <ros2/rmw_fastrtps#224>) * add rmw_get_serialization_format (#215 <ros2/rmw_fastrtps#215>) * Merge pull request #218 <ros2/rmw_fastrtps#218> from ros2/pr203 * Revert "fix template closing indentation (#214 <ros2/rmw_fastrtps#214>)" * fix template closing indentation (#214 <ros2/rmw_fastrtps#214>) * Contributors: Chris Lalancette, Dirk Thomas, Karsten Knese, Michael Carroll, Miguel Company, Mikael Arguedas . ros-rolling-rmw-fastrtps-cpp (0.5.1-1jammy) jammy; urgency=high . * update maintainer * Contributors: Dirk Thomas . ros-rolling-rmw-fastrtps-cpp (0.5.0-1jammy) jammy; urgency=high . * Avoid allocations (#211 <ros2/rmw_fastrtps#211>) * Temporary buffer remove (#207 <ros2/rmw_fastrtps#207>) * Validate the buffer_ of CustomServiceRequest object before using it to (#210 <ros2/rmw_fastrtps#210>) * update usage of rcutils_join_path() (#208 <ros2/rmw_fastrtps#208>) * Expose raw CDR stream for publish and subscribe (#186 <ros2/rmw_fastrtps#186>) * Remove topic partitions (#192 <ros2/rmw_fastrtps#192>) * Fix leak if client reponse is never taken (#201 <ros2/rmw_fastrtps#201>) * Revert "Export rmw_fastrtps_cpp target" (#200 <ros2/rmw_fastrtps#200>) * Support access control (#197 <ros2/rmw_fastrtps#197>) * Export rmw_fastrtps_cpp target (#198 <ros2/rmw_fastrtps#198>) * Fix deserialization segfault in bionic. (#199 <ros2/rmw_fastrtps#199>) * Fix namespaces (#196 <ros2/rmw_fastrtps#196>) * Merge pull request #182 <ros2/rmw_fastrtps#182> from ros2/node_name_in_user_data * add participant listener * add node name to user data * change export order for static linking (#190 <ros2/rmw_fastrtps#190>) * update style (#189 <ros2/rmw_fastrtps#189>) * optimize timeout judgement according to different condition (#187 <ros2/rmw_fastrtps#187>) * use existing check_wait_set_for_data to avoid duplicated code (#185 <ros2/rmw_fastrtps#185>) * Enable logging level manipulation from rmw_fastrtps (#156 <ros2/rmw_fastrtps#156>) * Small performance improvements (#183 <ros2/rmw_fastrtps#183>) * Segmentation error to dereference nullptr (#180 <ros2/rmw_fastrtps#180>) * Contributors: Dirk Thomas, Ethan Gao, Guillaume Autran, Karsten Knese, Michael Carroll, MiguelCompany, Mikael Arguedas, Minggang Wang, Rohit Salem, Shane Loretz, Sriram Raghunathan, William Woodall, jwang11 . ros-rolling-rmw-fastrtps-cpp (0.4.0-1jammy) jammy; urgency=high . * Merge pull request #178 <ros2/rmw_fastrtps#178> from ros2/fix_wrong_count * Merge pull request #177 <ros2/rmw_fastrtps#177> from ros2/rename_group * Wait set two words (#175 <ros2/rmw_fastrtps#175>) * not exporting pthread manually (#174 <ros2/rmw_fastrtps#174>) * Merge pull request #169 <ros2/rmw_fastrtps#169> from ros2/rep149 * Merge pull request #171 <ros2/rmw_fastrtps#171> from jwang11/master * rcutils_join_path returns a char * now. (#173 <ros2/rmw_fastrtps#173>) * memory leak issue (#172 <ros2/rmw_fastrtps#172>) * Unify and simplify de/serializeROSmessage processing * Avoid duplicated code in calculateMaxSerializedSize for array and normal member (#168 <ros2/rmw_fastrtps#168>) * Fix the issues to dereference to nullptr (#165 <ros2/rmw_fastrtps#165>) * Fix rmw_fastrtps dead code (#163 <ros2/rmw_fastrtps#163>) * Merge pull request #167 <ros2/rmw_fastrtps#167> from deng02/tune-count-pub-sub * Remove string allocation in the count of subscribers and publishers * use auto deduction and nullptr to keep coding style consistent (#162 <ros2/rmw_fastrtps#162>) * Merge pull request #164 <ros2/rmw_fastrtps#164> from dejanpan/master * Fix several parameter check issues in rmw_fastrtps_cpp apis * Remove unnecessary dependency on rosidl_generator_cpp (#161 <ros2/rmw_fastrtps#161>) * Move the hasData checks for non-blocking wait 'timeout' higher (#158 <ros2/rmw_fastrtps#158>) * Support loading default XML profile file (#153 <ros2/rmw_fastrtps#153>) * Drop duplicated rmw_init.cpp in rmw_fastrtps_cpp/CMakeLists.txt (#155 <ros2/rmw_fastrtps#155>) * Merge pull request #154 <ros2/rmw_fastrtps#154> from ros2/uncrustify_master * Removing magic numbers: old maximun lengths (#152 <ros2/rmw_fastrtps#152>)
This PR includes the necessary changes to remove the temporary buffer used on (de)serialization of messages, but keeping only the introspection typesupport.
I am still performing tests locally, but I have started the PR so others can perform their own tests, and check how it compares to #203