Make shm manager optional

Signed-off-by: Yadunund <[email protected]>
ros2 · Jan 19, 2024 · 02fee09 · 02fee09
1 parent 804e915
commit 02fee09
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Showing 3 changed files with 18 additions and 10 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
@@ -45,8 +45,9 @@ struct rmw_context_impl_s
   // An owned session.
   z_owned_session_t session;
 
-  // The SHM manager.
-  zc_owned_shm_manager_t shm_manager;
+  // An optional SHM manager that is initialized of SHM is enabled in the
+  // zenoh session config.
+  std::optional<zc_owned_shm_manager_t> shm_manager;
 
   z_owned_subscriber_t graph_subscriber;
 

diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -195,14 +195,18 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
       z_loan(context->impl->session),
       idstr,
       SHM_BUFFER_SIZE_MB * 1024 * 1024);
-    if (!zc_shm_manager_check(&context->impl->shm_manager)) {
+    if (!context->impl->shm_manager.has_value() ||
+      !zc_shm_manager_check(&context->impl->shm_manager.value()))
+    {
       RMW_SET_ERROR_MSG("Unable to create shm manager.");
       return RMW_RET_ERROR;
     }
   }
   auto free_shm_manager = rcpputils::make_scope_exit(
     [context]() {
-      z_drop(z_move(context->impl->shm_manager));
+      if (context->impl->shm_manager.has_value()) {
+        z_drop(z_move(context->impl->shm_manager.value()));
+      }
     });
 
   // Initialize the guard condition.
@@ -341,6 +345,9 @@ rmw_shutdown(rmw_context_t * context)
     return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
 
   z_undeclare_subscriber(z_move(context->impl->graph_subscriber));
+  if (context->impl->shm_manager.has_value()) {
+    z_drop(z_move(context->impl->shm_manager.value()));
+  }
   // Close the zenoh session
   if (z_close(z_move(context->impl->session)) < 0) {
     RMW_SET_ERROR_MSG("Error while closing zenoh session");
@@ -349,8 +356,6 @@ rmw_shutdown(rmw_context_t * context)
 
   const rcutils_allocator_t * allocator = &context->options.allocator;
 
-  z_drop(z_move(context->impl->shm_manager));
-
   RMW_TRY_DESTRUCTOR(
     static_cast<GuardCondition *>(context->impl->graph_guard_condition->data)->~GuardCondition(),
     GuardCondition, );

diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -878,13 +878,15 @@ rmw_publish(
 
   zc_owned_shmbuf_t shmbuf;
   // Get memory from SHM buffer if available.
-  if (zc_shm_manager_check(&publisher_data->context->impl->shm_manager)) {
+  if (publisher_data->context->impl->shm_manager.has_value() &&
+    zc_shm_manager_check(&publisher_data->context->impl->shm_manager.value()))
+  {
     shmbuf = zc_shm_alloc(
-      &publisher_data->context->impl->shm_manager,
+      &publisher_data->context->impl->shm_manager.value(),
       max_data_length);
     if (!z_check(shmbuf)) {
-      zc_shm_gc(&publisher_data->context->impl->shm_manager);
-      shmbuf = zc_shm_alloc(&publisher_data->context->impl->shm_manager, max_data_length);
+      zc_shm_gc(&publisher_data->context->impl->shm_manager.value());
+      shmbuf = zc_shm_alloc(&publisher_data->context->impl->shm_manager.value(), max_data_length);
       if (!z_check(shmbuf)) {
         // TODO(Yadunund): Should we revert to regular allocation and not return an error?
         RMW_SET_ERROR_MSG("Failed to allocate a SHM buffer, even after GCing");