Shared Memory on C++ API

.github/workflows/build.yaml

@@ -25,7 +25,10 @@ jobs:
             BUILD_TYPE: binary
     env:
       ROS2_REPOS_FILE_URL: 'https://raw.githubusercontent.com/ros2/ros2/${{ matrix.ROS_DISTRO }}/ros2.repos'
-    runs-on: ubuntu-latest
+    runs-on:
+      - self-hosted
+      - X64
+      - ubuntu-latest
     container:
       image: ${{ matrix.BUILD_TYPE == 'binary' && format('ros:{0}-ros-base', matrix.ROS_DISTRO) || 'ubuntu:noble' }}
     steps:

.github/workflows/check_logging.yaml

@@ -4,7 +4,10 @@ name: "Check logging macros"
 on: [pull_request]
 jobs:
   check_logging:
-    runs-on: ubuntu-latest
+    runs-on:
+      - self-hosted
+      - X64
+      - ubuntu-latest
     steps:
     - name: Check logging macros
       uses: JJ/github-pr-contains-action@releases/v14.1

.github/workflows/style.yaml

@@ -8,7 +8,10 @@ defaults:
     shell: bash
 jobs:
   test:
-    runs-on: ubuntu-latest
+    runs-on:
+      - self-hosted
+      - X64
+      - ubuntu-latest
     strategy:
       fail-fast: false
       matrix:

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 TRUE CACHE BOOL "Compile Zenoh RMW with Shared Memory support")
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 
@@ -43,6 +45,7 @@ add_library(rmw_zenoh_cpp SHARED
   src/detail/rmw_subscription_data.cpp
   src/detail/service_type_support.cpp
   src/detail/simplified_xxhash3.cpp
+  src/detail/shm_context.cpp
   src/detail/type_support.cpp
   src/detail/type_support_common.cpp
   src/detail/zenoh_config.cpp
@@ -81,6 +84,13 @@ 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
+    PUBLIC
+      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

@@ -461,7 +461,7 @@
       /// 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,
+      enabled: true,
     },
     auth: {
       /// The configuration of authentication.

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -464,7 +464,7 @@
       /// 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,
+      enabled: true,
     },
     auth: {
       /// The configuration of authentication.

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -165,21 +165,21 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this<Data>
           "rmw_zenoh_cpp", "[rmw_context_impl_s] z_call received an invalid reply.\n");
       }
     }
-
-    // Initialize the shm manager if shared_memory is enabled in the config.
-    shm_provider_ = std::nullopt;
-#ifndef _MSC_VER
-    if (shm_enabled == "true") {
-      auto layout = zenoh::MemoryLayout(
-        SHM_BUFFER_SIZE_MB * 1024 * 1024,
-        zenoh::AllocAlignment({5}));
-      zenoh::PosixShmProvider provider(layout, &result);
-      if (result != Z_OK) {
-        throw std::runtime_error("Unable to create shm provider.");
-      }
-      shm_provider_ = std::move(provider);
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+    // Initialize the shm subsystem if shared_memory is enabled in the config
+    if (rmw_zenoh_cpp::zenoh_shm_enabled()) {
+      RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is enabled");
+
+      shm_ = std::make_optional(
+        rmw_zenoh_cpp::ShmContext(
+          rmw_zenoh_cpp::zenoh_shm_alloc_size(),
+          rmw_zenoh_cpp::zenoh_shm_message_size_threshold()
+      ));
+    } else {
+      RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is disabled");
     }
 #endif
+
     graph_guard_condition_ = std::make_unique<rmw_guard_condition_t>();
     graph_guard_condition_->implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
     graph_guard_condition_->data = &guard_condition_data_;
@@ -262,11 +262,13 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this<Data>
     return session_;
   }
 
-  std::optional<zenoh::ShmProvider> & shm_provider()
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  std::optional<rmw_zenoh_cpp::ShmContext> & shm()
   {
     std::lock_guard<std::recursive_mutex> lock(mutex_);
-    return shm_provider_;
+    return shm_;
   }
+#endif
 
   rmw_guard_condition_t * graph_guard_condition()
   {
@@ -398,9 +400,11 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this<Data>
   std::string enclave_;
   // An owned session.
   std::shared_ptr<zenoh::Session> session_;
-  // An optional SHM manager that is initialized of SHM is enabled in the
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  // An optional SHM context that is initialized of SHM is enabled in the
   // zenoh session config.
-  std::optional<zenoh::ShmProvider> shm_provider_;
+  std::optional<rmw_zenoh_cpp::ShmContext> shm_;
+#endif
   // Graph cache.
   std::shared_ptr<rmw_zenoh_cpp::GraphCache> graph_cache_;
   // ROS graph liveliness subscriber.
@@ -456,11 +460,13 @@ const std::shared_ptr<zenoh::Session> rmw_context_impl_s::session() const
   return data_->session();
 }
 
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
 ///=============================================================================
-std::optional<zenoh::ShmProvider> & rmw_context_impl_s::shm_provider()
+std::optional<rmw_zenoh_cpp::ShmContext> & rmw_context_impl_s::shm()
 {
-  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 @@ struct rmw_context_impl_s final
   // Loan the Zenoh session.
   const std::shared_ptr<zenoh::Session> 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<zenoh::ShmProvider> & shm_provider();
+  std::optional<rmw_zenoh_cpp::ShmContext> & shm();
+#endif
 
   // Get the graph guard condition.
   rmw_guard_condition_t * graph_guard_condition();

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

@@ -201,8 +201,11 @@ PublisherData::PublisherData(
 
 ///=============================================================================
 rmw_ret_t PublisherData::publish(
-  const void * ros_message,
-  std::optional<zenoh::ShmProvider> & /*shm_provider*/)
+  const void * ros_message
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  , const std::optional<ShmContext> & shm
+#endif
+)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   if (is_shutdown_) {
@@ -218,19 +221,59 @@ rmw_ret_t PublisherData::publish(
   // To store serialized message byte array.
   char * msg_bytes = nullptr;
 
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  std::optional<zenoh::ZShmMut> shmbuf = std::nullopt;
+#endif
+
   rcutils_allocator_t * allocator = &rmw_node_->context->options.allocator;
 
   auto always_free_msg_bytes = rcpputils::make_scope_exit(
-    [&msg_bytes, allocator]() {
-      if (msg_bytes) {
+    [&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.has_value() && max_data_length >= shm.value().msgsize_threshold) {
+    RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is enabled.");
+
+    auto & provider = shm.value().shm_provider;
+
+    // TODO(yellowhatter): SHM, use alignment based on msgsize_threshold
+    auto alloc_result = provider.alloc_gc_defrag_blocking(
+      max_data_length,
+      zenoh::AllocAlignment({0}));
+
+    if (std::holds_alternative<zenoh::ZShmMut>(alloc_result)) {
+      auto && buf = std::get<zenoh::ZShmMut>(std::move(alloc_result));
+      msg_bytes = reinterpret_cast<char *>(buf.data());
+      shmbuf = std::make_optional(std::move(buf));
+    } else {
+      // 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.");
+      return RMW_RET_ERROR;
+    }
+  } else {
+#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);
@@ -257,11 +300,14 @@ rmw_ret_t PublisherData::publish(
   options.attachment = rmw_zenoh_cpp::AttachmentData(
     sequence_number_++, source_timestamp, entity_->copy_gid()).serialize_to_zbytes();
 
-  // TODO(ahcorde): shmbuf
-  std::vector<uint8_t> raw_data(
-    reinterpret_cast<const uint8_t *>(msg_bytes),
-    reinterpret_cast<const uint8_t *>(msg_bytes) + data_length);
-  zenoh::Bytes payload(std::move(raw_data));
+  auto payload =
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+    shmbuf.has_value() ? zenoh::Bytes(std::move(*shmbuf)) :
+#endif
+    zenoh::Bytes(
+    std::vector<uint8_t>(
+      reinterpret_cast<const uint8_t *>(msg_bytes),
+      reinterpret_cast<const uint8_t *>(msg_bytes) + data_length));
 
   TRACETOOLS_TRACEPOINT(
     rmw_publish, static_cast<const void *>(rmw_publisher_), ros_message, source_timestamp);
@@ -282,8 +328,11 @@ rmw_ret_t PublisherData::publish(
 
 ///=============================================================================
 rmw_ret_t PublisherData::publish_serialized_message(
-  const rmw_serialized_message_t * serialized_message,
-  std::optional<zenoh::ShmProvider> & /*shm_provider*/)
+  const rmw_serialized_message_t * serialized_message
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  , const std::optional<ShmContext> & shm
+#endif
+)
 {
   eprosima::fastcdr::FastBuffer buffer(
     reinterpret_cast<char *>(serialized_message->buffer), serialized_message->buffer_length);
@@ -305,14 +354,48 @@ rmw_ret_t PublisherData::publish_serialized_message(
   options.attachment = rmw_zenoh_cpp::AttachmentData(
     sequence_number_++, source_timestamp, entity_->copy_gid()).serialize_to_zbytes();
 
-  std::vector<uint8_t> raw_data(
+
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  // Get memory from SHM buffer if available.
+  if (shm.has_value() && data_length >= shm.value().msgsize_threshold) {
+    RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is enabled.");
+
+    auto & provider = shm.value().shm_provider;
+
+    // TODO(yellowhatter): SHM, use alignment based on msgsize_threshold
+    auto alloc_result = provider.alloc_gc_defrag_blocking(data_length, zenoh::AllocAlignment({0}));
+
+    if (std::holds_alternative<zenoh::ZShmMut>(alloc_result)) {
+      auto && buf = std::get<zenoh::ZShmMut>(std::move(alloc_result));
+      auto msg_bytes = reinterpret_cast<char *>(buf.data());
+      memcpy(msg_bytes, serialized_message->buffer, data_length);
+      zenoh::Bytes payload(std::move(buf));
+
+      TRACETOOLS_TRACEPOINT(
+        rmw_publish, static_cast<const void *>(rmw_publisher_), serialized_message,
+        source_timestamp);
+
+      pub_.put(std::move(payload), std::move(options), &result);
+    } else {
+      // 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.");
+      return RMW_RET_ERROR;
+    }
+  } else {
+#endif
+  std::vector<uint8_t> raw_image(
     serialized_message->buffer,
     serialized_message->buffer + data_length);
-  zenoh::Bytes payload(std::move(raw_data));
+  zenoh::Bytes payload(raw_image);
 
   TRACETOOLS_TRACEPOINT(
     rmw_publish, static_cast<const void *>(rmw_publisher_), serialized_message, source_timestamp);
+
   pub_.put(std::move(payload), std::move(options), &result);
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+}
+#endif
+
   if (result != Z_OK) {
     if (result == Z_ESESSION_CLOSED) {
       RMW_ZENOH_LOG_WARN_NAMED(

rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp

@@ -28,6 +28,7 @@
 #include "event.hpp"
 #include "liveliness_utils.hpp"
 #include "message_type_support.hpp"
+#include "shm_context.hpp"
 #include "type_support_common.hpp"
 #include "zenoh_utils.hpp"
 
@@ -56,13 +57,19 @@ class PublisherData final
 
   // Publish a ROS message.
   rmw_ret_t publish(
-    const void * ros_message,
-    std::optional<zenoh::ShmProvider> & shm_provider);
+    const void * ros_message
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+    , const std::optional<ShmContext> & shm
+#endif
+  );
 
   // Publish a serialized ROS message.
   rmw_ret_t publish_serialized_message(
-    const rmw_serialized_message_t * serialized_message,
-    std::optional<zenoh::ShmProvider> & shm_provider);
+    const rmw_serialized_message_t * serialized_message
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+    , const std::optional<ShmContext> & shm
+#endif
+  );
 
   // Get a copy of the keyexpr_hash of this PublisherData's liveliness::Entity.
   std::size_t keyexpr_hash() const;

rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp

@@ -33,6 +33,7 @@
 #include "liveliness_utils.hpp"
 #include "message_type_support.hpp"
 #include "attachment_helpers.hpp"
+#include "shm_context.hpp"
 #include "type_support_common.hpp"
 #include "zenoh_utils.hpp"
 
@@ -75,8 +76,11 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
 
   // Publish a ROS message.
   rmw_ret_t 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
+    , const std::optional<ShmContext> & shm
+#endif
+  );
 
   // Get a copy of the keyexpr_hash of this SubscriptionData's liveliness::Entity.
   std::size_t keyexpr_hash() const;