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On rolling, I'm seeing high latency when using DYNAMIC_REUSABLE as history memory policy & zero copy.
In the other hand, latency seems OK when using PREALLOCATED_WITH_REALLOC.
Also latency seems OK when the system is single-process, regardless of the policy (still using loaned msgs).
The system tested uses shared memory to pass a 4MB loaned message between processes:
Multi-process system:
- Process 1: Publisher of 4Mb Loaned messages (10Hz)
- Process 2: Subscription of 4Mb messages
- Platforms: x86 & RaspberryPi4
As reference I'm also showing latency of IPC OFF, i.e. not using Loaned messages with shared memory (normal serialized msg).
Below I provide a CPU flamegraph (from RPi) for both policies:
Left: DYNAMIC_REUSABLE
There seem to be a copy of the 4Mb message on eprosima::fastdds::rtps::UDPChannelResource::perform_listen_operation.
Right: PREALLOCATED_WITH_REALLOC
The XML config file looks like this for both reader & writer:
Since in this case we're aiming for zero-copy using shared memory with loaned messages, I'm guessing this copy is undesired, i.e. a bug? What do you think?
The text was updated successfully, but these errors were encountered:
On rolling, I'm seeing high latency when using
DYNAMIC_REUSABLE
as history memory policy & zero copy.In the other hand, latency seems OK when using
PREALLOCATED_WITH_REALLOC
.Also latency seems OK when the system is single-process, regardless of the policy (still using loaned msgs).
The system tested uses shared memory to pass a 4MB loaned message between processes:
As reference I'm also showing latency of
IPC OFF
, i.e. not using Loaned messages with shared memory (normal serialized msg).Below I provide a CPU flamegraph (from RPi) for both policies:
Left:
DYNAMIC_REUSABLE
eprosima::fastdds::rtps::UDPChannelResource::perform_listen_operation
.Right:
PREALLOCATED_WITH_REALLOC
The XML config file looks like this for both reader & writer:
Since in this case we're aiming for zero-copy using shared memory with loaned messages, I'm guessing this copy is undesired, i.e. a bug? What do you think?
The text was updated successfully, but these errors were encountered: