Free the changes that have been acknowledged by all readers (on volatile topics) [19800] #71
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Tempate
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juanlofer-eprosima
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Nov 6, 2023
ddspipe_participants/include/ddspipe_participants/writer/rtps/CommonWriter.hpp
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Signed-off-by: tempate <[email protected]>
Signed-off-by: tempate <[email protected]>
Signed-off-by: tempate <[email protected]>
Signed-off-by: tempate <[email protected]>
Signed-off-by: tempate <[email protected]>
Signed-off-by: tempate <[email protected]>
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In the previous version, the changes on reliable-volatile topics were never removed from the RTPS writers' histories. This lead to the congestion of RTPS writers' histories and, at times, to memory exhaustion issues. In this version, RTPS writers free changes (on reliable-volatile topics) once they have been acknowledged by all readers.
In the following example, we launch a DDS Router with two RTPS participants, and publish a hundred 1MB messages on a reliable-volatile topic. Here's the heap memory consumption of the DDS Router before and after this update.
Before (Peak Heap Memory 99.5 MiB):
After (Peak Heap Memory 5.9 MiB):
This version also includes a bugfix. In the previous version, RTPS CommonWriters would free space in their full-histories after adding a change. This meant that when the depth of the history was set to 1, for example, TRANSIENT-LOCAL wouldn't work, since, after adding the change, the writer would identify its history as full and free space for another change (deleting the previous one). Now, however, freeing space in full histories is done before adding a change, which fixes the problem.