Zenoh 1.0.0 Porting

.gitignore

@@ -0,0 +1 @@
+.vscode

rmw_zenoh_cpp/CMakeLists.txt

@@ -11,6 +11,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+set(RMW_ZENOH_BUILD_WITH_SHARED_MEMORY ON CACHE BOOL "Compile Zenoh RMW with Shared Memory support")
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 
@@ -80,6 +82,13 @@ target_compile_definitions(rmw_zenoh_cpp
     RMW_VERSION_PATCH=${rmw_VERSION_PATCH}
 )
 
+if(${RMW_ZENOH_BUILD_WITH_SHARED_MEMORY})
+  target_compile_definitions(rmw_zenoh_cpp
+    PRIVATE
+      RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  )
+endif()
+
 ament_export_targets(export_rmw_zenoh_cpp)
 
 register_rmw_implementation(

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -457,8 +457,6 @@
       /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate
       /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the
       /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected.
-      ///
-      /// ROS setting: disabled by default until fully tested
       enabled: false,
     },
     auth: {

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -462,8 +462,6 @@
       /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate
       /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the
       /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected.
-      ///
-      /// ROS setting: disabled by default until fully tested
       enabled: false,
     },
     auth: {

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -90,19 +90,24 @@ rmw_context_impl_s::Data::Data(
   std::size_t domain_id,
   const std::string & enclave,
   z_owned_session_t session,
-  std::optional<z_owned_shm_provider_t> shm_provider,
   const std::string & liveliness_str,
-  std::shared_ptr<rmw_zenoh_cpp::GraphCache> graph_cache)
+  std::shared_ptr<rmw_zenoh_cpp::GraphCache> graph_cache
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  , std::optional<rmw_zenoh_cpp::ShmContext> shm
+#endif
+)
 : enclave_(std::move(enclave)),
   domain_id_(std::move(domain_id)),
   session_(std::move(session)),
-  shm_provider_(std::move(shm_provider)),
   liveliness_str_(std::move(liveliness_str)),
   graph_cache_(std::move(graph_cache)),
   is_shutdown_(false),
   next_entity_id_(0),
   is_initialized_(false),
   nodes_({})
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  , shm_(shm)
+#endif
 {
   graph_guard_condition_ = std::make_unique<rmw_guard_condition_t>();
   graph_guard_condition_->implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
@@ -178,14 +183,18 @@ rmw_ret_t rmw_context_impl_s::Data::shutdown()
   }
 
   z_undeclare_subscriber(z_move(graph_subscriber_));
-  if (shm_provider_.has_value()) {
-    z_drop(z_move(shm_provider_.value()));
-  }
+
   // Don't touch Zenoh Session if the ROS process is exiting,
   // it will cause panic.
   if (!is_exiting) {
     z_close(z_loan_mut(session_), NULL);
   }
+
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  // drop SHM subsystem if used
+  shm_ = std::nullopt;
+#endif
+
   is_shutdown_ = true;
   return RMW_RET_OK;
 }
@@ -214,14 +223,6 @@ rmw_context_impl_s::rmw_context_impl_s(
     throw std::runtime_error("Error configuring Zenoh session.");
   }
 
-  // Check if shm is enabled.
-  z_owned_string_t shm_enabled;
-  zc_config_get_from_str(z_loan(config), Z_CONFIG_SHARED_MEMORY_KEY, &shm_enabled);
-  auto always_free_shm_enabled = rcpputils::make_scope_exit(
-    [&shm_enabled]() {
-      z_drop(z_move(shm_enabled));
-    });
-
   // Initialize the zenoh session.
   z_owned_session_t session;
   if (z_open(&session, z_move(config), NULL) != Z_OK) {
@@ -309,40 +310,51 @@ rmw_context_impl_s::rmw_context_impl_s(
   }
   z_drop(z_move(handler));
 
-  // Initialize the shm manager if shared_memory is enabled in the config.
-  std::optional<z_owned_shm_provider_t> shm_provider = std::nullopt;
-  if (strncmp(z_string_data(z_loan(shm_enabled)), "true", z_string_len(z_loan(shm_enabled))) == 0) {
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  // Initialize the shm subsystem if shared_memory is enabled in the config
+  std::optional<rmw_zenoh_cpp::ShmContext> shm;
+  if (rmw_zenoh_cpp::zenoh_shm_enabled()) {
     RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is enabled");
 
-    // TODO(yuyuan): determine the default alignment of SHM
-    z_alloc_alignment_t alignment = {5};
-    z_owned_memory_layout_t layout;
-    z_memory_layout_new(&layout, SHM_BUFFER_SIZE_MB * 1024 * 1024, alignment);
+    rmw_zenoh_cpp::ShmContext shm_context;
+
+    // Read msg size treshold from config
+    shm_context.msgsize_threshold = rmw_zenoh_cpp::zenoh_shm_message_size_threshold();
 
-    z_owned_shm_provider_t provider;
-    if (z_posix_shm_provider_new(&provider, z_loan(layout)) != Z_OK) {
-      RMW_ZENOH_LOG_ERROR_NAMED("rmw_zenoh_cpp", "Unable to create a SHM provider.");
-      throw std::runtime_error("Unable to create shm manager.");
+    // Create Layout for provider's memory
+    // Provider's alignment will be 1 byte as we are going to make only 1-byte aligned allocations
+    // TODO(yellowhatter): use zenoh_shm_message_size_threshold as base for alignment
+    z_alloc_alignment_t alignment = {0};
+    z_owned_memory_layout_t layout;
+    if (z_memory_layout_new(&layout, rmw_zenoh_cpp::zenoh_shm_alloc_size(), alignment) != Z_OK) {
+      throw std::runtime_error("Unable to create a Layout for SHM provider.");
     }
-    shm_provider = provider;
+    // Create SHM provider
+    const auto provider_creation_result =
+      z_posix_shm_provider_new(&shm_context.shm_provider, z_loan(layout));
+    z_drop(z_move(layout));
+    if (provider_creation_result != Z_OK) {
+      throw std::runtime_error("Unable to create an SHM provider.");
+    }
+    // Upon successful provider creation, store it in the context
+    shm = std::make_optional(std::move(shm_context));
+  } else {
+    RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is disabled");
   }
-  auto free_shm_provider = rcpputils::make_scope_exit(
-    [&shm_provider]() {
-      if (shm_provider.has_value()) {
-        z_drop(z_move(shm_provider.value()));
-      }
-    });
+#endif
 
   close_session.cancel();
-  free_shm_provider.cancel();
 
   data_ = std::make_shared<Data>(
     domain_id,
     std::move(enclave),
     std::move(session),
-    std::move(shm_provider),
     std::move(liveliness_str),
-    std::move(graph_cache));
+    std::move(graph_cache)
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+    , std::move(shm)
+#endif
+  );
 
   ret = data_->subscribe_to_ros_graph();
   if (ret != RMW_RET_OK) {
@@ -376,11 +388,13 @@ const z_loaned_session_t * rmw_context_impl_s::session() const
 }
 
 ///=============================================================================
-std::optional<z_owned_shm_provider_t> & rmw_context_impl_s::shm_provider()
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+std::optional<rmw_zenoh_cpp::ShmContext> & rmw_context_impl_s::shm()
 {
   std::lock_guard<std::recursive_mutex> lock(data_->mutex_);
-  return data_->shm_provider_;
+  return data_->shm_;
 }
+#endif
 
 ///=============================================================================
 rmw_guard_condition_t * rmw_context_impl_s::graph_guard_condition()

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp

@@ -50,11 +50,13 @@ class rmw_context_impl_s final
   // create other Zenoh objects.
   const z_loaned_session_t * session() const;
 
-  // Get a reference to the shm_provider.
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  // Get a reference to the shm subsystem.
   // Note: This is not thread-safe.
   // TODO(Yadunund): Remove this API and instead include a publish() API
   // that handles the shm_provider once the context manages publishers.
-  std::optional<z_owned_shm_provider_t> & shm_provider();
+  std::optional<rmw_zenoh_cpp::ShmContext> & shm();
+#endif
 
   // Get the graph guard condition.
   rmw_guard_condition_t * graph_guard_condition();
@@ -103,9 +105,12 @@ class rmw_context_impl_s final
       std::size_t domain_id,
       const std::string & enclave,
       z_owned_session_t session,
-      std::optional<z_owned_shm_provider_t> shm_provider,
       const std::string & liveliness_str,
-      std::shared_ptr<rmw_zenoh_cpp::GraphCache> graph_cache);
+      std::shared_ptr<rmw_zenoh_cpp::GraphCache> graph_cache
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+      , std::optional<rmw_zenoh_cpp::ShmContext> shm
+#endif
+    );
 
     // Subscribe to the ROS graph.
     rmw_ret_t subscribe_to_ros_graph();
@@ -126,9 +131,6 @@ class rmw_context_impl_s final
     std::size_t domain_id_;
     // An owned session.
     z_owned_session_t session_;
-    // An optional SHM manager that is initialized of SHM is enabled in the
-    // zenoh session config.
-    std::optional<z_owned_shm_provider_t> shm_provider_;
     // Liveliness keyexpr string to subscribe to for ROS graph changes.
     std::string liveliness_str_;
     // Graph cache.
@@ -148,6 +150,11 @@ class rmw_context_impl_s final
     bool is_initialized_;
     // Nodes created from this context.
     std::unordered_map<const rmw_node_t *, std::shared_ptr<rmw_zenoh_cpp::NodeData>> nodes_;
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+    // An optional SHM context that is initialized if SHM is enabled in the
+    // zenoh session config.
+    std::optional<rmw_zenoh_cpp::ShmContext> shm_;
+#endif
   };
 
   std::shared_ptr<Data> data_{nullptr};

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

@@ -223,8 +223,11 @@ PublisherData::PublisherData(
 
 ///=============================================================================
 rmw_ret_t PublisherData::publish(
-  const void * ros_message,
-  std::optional<z_owned_shm_provider_t> & shm_provider)
+  const void * ros_message
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  , std::optional<ShmContext> & shm
+#endif
+)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   if (is_shutdown_) {
@@ -233,37 +236,51 @@ rmw_ret_t PublisherData::publish(
   }
 
   // Serialize data.
-  size_t max_data_length = type_support_->get_estimated_serialized_size(
+  const size_t max_data_length = type_support_->get_estimated_serialized_size(
     ros_message,
     type_support_impl_);
 
   // To store serialized message byte array.
   char * msg_bytes = nullptr;
+
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   std::optional<z_owned_shm_mut_t> shmbuf = std::nullopt;
   auto always_free_shmbuf = rcpputils::make_scope_exit(
     [&shmbuf]() {
       if (shmbuf.has_value()) {
         z_drop(z_move(shmbuf.value()));
       }
     });
+#endif
 
   rcutils_allocator_t * allocator = &rmw_node_->context->options.allocator;
 
   auto always_free_msg_bytes = rcpputils::make_scope_exit(
-    [&msg_bytes, allocator, &shmbuf]() {
-      if (msg_bytes && !shmbuf.has_value()) {
+    [&msg_bytes, allocator
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+    , &shmbuf
+#endif
+    ]() {
+      if (msg_bytes
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+      && !shmbuf.has_value()
+#endif
+      )
+      {
         allocator->deallocate(msg_bytes, allocator->state);
       }
     });
 
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   // Get memory from SHM buffer if available.
-  if (shm_provider.has_value()) {
+  if (shm.has_value() && max_data_length >= shm.value().msgsize_threshold) {
     RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is enabled.");
 
-    auto provider = shm_provider.value();
+    auto & provider = shm.value().shm_provider;
+
+    // TODO(yellowhatter): SHM, use alignment based on msgsize_threshold
+    z_alloc_alignment_t alignment = {0};
     z_buf_layout_alloc_result_t alloc;
-    // TODO(yuyuan): SHM, configure this
-    z_alloc_alignment_t alignment = {5};
     z_shm_provider_alloc_gc_defrag_blocking(&alloc, z_loan(provider), SHM_BUF_OK_SIZE, alignment);
 
     if (alloc.status == ZC_BUF_LAYOUT_ALLOC_STATUS_OK) {
@@ -275,11 +292,14 @@ rmw_ret_t PublisherData::publish(
       return RMW_RET_ERROR;
     }
   } else {
-    // Get memory from the allocator.
-    msg_bytes = static_cast<char *>(allocator->allocate(max_data_length, allocator->state));
-    RMW_CHECK_FOR_NULL_WITH_MSG(
-      msg_bytes, "bytes for message is null", return RMW_RET_BAD_ALLOC);
-  }
+#endif
+  // Get memory from the allocator.
+  msg_bytes = static_cast<char *>(allocator->allocate(max_data_length, allocator->state));
+  RMW_CHECK_FOR_NULL_WITH_MSG(
+    msg_bytes, "bytes for message is null", return RMW_RET_BAD_ALLOC);
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+}
+#endif
 
   // Object that manages the raw buffer
   eprosima::fastcdr::FastBuffer fastbuffer(msg_bytes, max_data_length);
@@ -309,11 +329,15 @@ rmw_ret_t PublisherData::publish(
   options.attachment = z_move(attachment);
 
   z_owned_bytes_t payload;
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   if (shmbuf.has_value()) {
     z_bytes_from_shm_mut(&payload, z_move(shmbuf.value()));
   } else {
-    z_bytes_copy_from_buf(&payload, reinterpret_cast<const uint8_t *>(msg_bytes), data_length);
-  }
+#endif
+  z_bytes_copy_from_buf(&payload, reinterpret_cast<const uint8_t *>(msg_bytes), data_length);
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+}
+#endif
 
   z_result_t res = z_publisher_put(z_loan(pub_), z_move(payload), &options);
   if (res != Z_OK) {
@@ -332,8 +356,11 @@ rmw_ret_t PublisherData::publish(
 
 ///=============================================================================
 rmw_ret_t PublisherData::publish_serialized_message(
-  const rmw_serialized_message_t * serialized_message,
-  std::optional<z_owned_shm_provider_t> & /*shm_provider*/)
+  const rmw_serialized_message_t * serialized_message
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  , std::optional<ShmContext> & /*shm_provider*/
+#endif
+)
 {
   eprosima::fastcdr::FastBuffer buffer(
     reinterpret_cast<char *>(serialized_message->buffer), serialized_message->buffer_length);