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Optimize away z_bytes_copy_from_buf in rmw_publish #42

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Optimize away z_bytes_copy_from_buf in rmw_publish #42

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@fuzzypixelz fuzzypixelz added the enhancement New feature or request label Nov 20, 2024
@fuzzypixelz fuzzypixelz self-assigned this Nov 20, 2024
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Hi @fuzzypixelz ,

  1. It seems that the memory allocation is infallible. We may return the error if there is not sufficient memory.
  2. It's better to attach the zenoh_rmw_eval results to ensure this PR also passes most of the tests.

@fuzzypixelz
Optimize PublisherData::publish
fc85c0e 
1. `z_bytes_copy_from_buf` is replaced by `z_bytes_from_buf`.
2. A pool of serialization buffers is introduced to reduce
   allocations and improve cache locality.
@fuzzypixelz
Use temporary zenoh-c patch
d9e53a9
@YuanYuYuan YuanYuYuan mentioned this pull request Nov 20, 2024
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@fuzzypixelz fuzzypixelz changed the title Optimize rmw_publish Optimize away z_bytes_copy_from_buf in rmw_publish Nov 21, 2024
zenoh added 3 commits November 22, 2024 17:05
Wip
284bcc4 
DONE:
- Fix std::string constructor call in rmw_subscription_data.cpp
- Move serialization buffer pool to the context

TODO:
- Remove printf calls
- Remove sanitizer usage
- Fix formatting
- Resolve FIXMEs in BufferPool impl
Wip
9ed97ff
Wip
4c34621
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@YuanYuYuan YuanYuYuan Awaiting requested review from YuanYuYuan

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@fuzzypixelz @YuanYuYuan