fix(agnocastlib): close mqs that are no longer needed #476
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atsushi421
reviewed
Mar 5, 2025
| @@ -202,6 +200,25 @@ class Publisher | |||
| const union ioctl_publish_args publish_args = | |||
| publish_core(this, topic_name_, id_, reinterpret_cast<uint64_t>(message.get()), opened_mqs_); | |||
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| if (opened_mqs_.size() != publish_args.ret_subscriber_num) { | |||
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opened_mqs_の管理はpublish_core内に入れてしまって良いと思います！
Koichi98
reviewed
Mar 5, 2025
| @@ -202,6 +200,25 @@ class Publisher | |||
| const union ioctl_publish_args publish_args = | |||
| publish_core(this, topic_name_, id_, reinterpret_cast<uint64_t>(message.get()), opened_mqs_); | |||
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| if (opened_mqs_.size() != publish_args.ret_subscriber_num) { | |||
| // Close mqs that are no longer needed and update `opened_mqs_` | |||
| std::unordered_map<std::string, mqd_t> new_opened_mqs; | |||
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個人的にはあんまりランタイムの操作にunordered_mapのようにmallocを呼ぶ操作は入ってほしくないというのがあります。補集合を求める操作は確かにめんどくさいので今のアプローチはありだと思いますが、この点は修正いただけると嬉しいです。
例えばopend_mqs, new_opend_mqsのどちらもClassのメンバ変数として持ち、この２つを使いまわす方針とかが考えられると思います。(コード的にきれいかは微妙なので他にいい案があればお願いします。)
他にもkernel moduleから毎回全てのsubscriberの情報を渡す必要はなく、例えば新規subscriber, exitしたsubscriberの情報だけをkmodから渡すというアプローチも考えられます。(これは「kernel moduleになるべく多くの情報を集約する、信頼するのはkmodからの情報のみ」という設計思想的には実は微妙)
このあたり含めてもう一度最適な設計を考えていただき、どうしてその設計を選んだかをDescription等に書いてくださるととても嬉しいです！
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closes #463
Description
This PR enables closing message queues (mqs) that are no longer needed.
A publisher no longer need an mq when the corresponding subscriber has exited. In this case, we close that mq.
How was this PR tested?
bash scripts/e2e_test_1to1_with_ros2sub(required)bash scripts/e2e_test_2to2(required)I confirmed that the sample talker closes the message queue when the sample listener is terminated first.
Notes for reviewers
Since I am a beginner in C++, I might be making mistakes regarding resource management.