Update topic memory approach

rmw_microxrcedds_c/CMakeLists.txt

@@ -49,6 +49,7 @@ set(RMW_UXRCE_MAX_PUBLISHERS "4" CACHE STRING "This value sets the maximum numbe
 set(RMW_UXRCE_MAX_SUBSCRIPTIONS "4" CACHE STRING "This value sets the maximum number of subscriptions for an application.")
 set(RMW_UXRCE_MAX_SERVICES "4" CACHE STRING "This value sets the maximum number of services for an application.")
 set(RMW_UXRCE_MAX_CLIENTS "4" CACHE STRING "This value sets the maximum number of clients for an application.")
+set(RMW_UXRCE_MAX_TOPICS "-1" CACHE STRING "This value sets the maximum number of topics for an application. If set to -1 RMW_UXRCE_MAX_TOPICS = RMW_UXRCE_MAX_PUBLISHERS + RMW_UXRCE_MAX_SUBSCRIPTIONS + RMW_UXRCE_MAX_NODES.")
 set(RMW_UXRCE_NODE_NAME_MAX_LENGTH "128" CACHE STRING "This value sets the maximum number of characters for a node name.")
 set(RMW_UXRCE_TOPIC_NAME_MAX_LENGTH "100" CACHE STRING "This value sets the maximum number of characters for a topic name.")
 set(RMW_UXRCE_TYPE_NAME_MAX_LENGTH "128" CACHE STRING "This value sets the maximum number of characters for a type name.")

rmw_microxrcedds_c/src/config.h.in

@@ -31,6 +31,11 @@
 #define RMW_UXRCE_MAX_SUBSCRIPTIONS @RMW_UXRCE_MAX_SUBSCRIPTIONS@
 #define RMW_UXRCE_MAX_SERVICES @RMW_UXRCE_MAX_SERVICES@
 #define RMW_UXRCE_MAX_CLIENTS @RMW_UXRCE_MAX_CLIENTS@
+#define RMW_UXRCE_MAX_TOPICS @RMW_UXRCE_MAX_TOPICS@
+
+#if RMW_UXRCE_MAX_TOPICS == -1
+#define RMW_UXRCE_MAX_TOPICS RMW_UXRCE_MAX_PUBLISHERS + RMW_UXRCE_MAX_SUBSCRIPTIONS
+#endif
 
 #define RMW_UXRCE_NODE_NAME_MAX_LENGTH @RMW_UXRCE_NODE_NAME_MAX_LENGTH@
 #define RMW_UXRCE_TOPIC_NAME_MAX_LENGTH @RMW_UXRCE_TOPIC_NAME_MAX_LENGTH@

rmw_microxrcedds_c/src/rmw_init.c

@@ -173,6 +173,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   rmw_uxrce_init_publisher_memory(&publisher_memory, custom_publishers, RMW_UXRCE_MAX_PUBLISHERS);
   rmw_uxrce_init_service_memory(&service_memory, custom_services, RMW_UXRCE_MAX_SERVICES);
   rmw_uxrce_init_client_memory(&client_memory, custom_clients, RMW_UXRCE_MAX_CLIENTS);
+  rmw_uxrce_init_topics_memory(&topics_memory, custom_topics, RMW_UXRCE_MAX_TOPICS);
 
   // Micro-XRCE-DDS Client initialization
 

rmw_microxrcedds_c/src/rmw_microxrcedds_topic.c

@@ -29,39 +29,25 @@ create_topic(
   const message_type_support_callbacks_t * message_type_support_callbacks,
   const rmw_qos_profile_t * qos_policies)
 {
-  // TODO (pablogs9): Refactor topic memory and reutilization
-  rmw_uxrce_topic_t * custom_topic_ptr = custom_node->custom_topic_sp;
-  while (custom_topic_ptr != NULL) {
-    custom_topic_ptr = custom_topic_ptr->next_custom_topic;
+  struct rmw_uxrce_mempool_item_t * memory_node = get_memory(&topics_memory);
+  if (!memory_node) {
+    RMW_SET_ERROR_MSG("Not available memory node");
+    goto fail;
   }
 
-  // Generate new memory
-  custom_topic_ptr = (rmw_uxrce_topic_t *)rmw_allocate(sizeof(rmw_uxrce_topic_t));
-  if (custom_topic_ptr == NULL) {
-    RMW_SET_ERROR_MSG("failed to allocate topic interna mem");
-    goto create_topic_end;
-  }
+  rmw_uxrce_topic_t * custom_topic = (rmw_uxrce_topic_t *)memory_node->data;
 
 
   // Init
-  custom_topic_ptr->sync_with_agent = false;
-  custom_topic_ptr->usage_account = 1;
-  custom_topic_ptr->owner_node = custom_node;
-
-  // Add to top of the node stack
-  custom_topic_ptr->next_custom_topic = custom_node->custom_topic_sp;
-  if (custom_node->custom_topic_sp != NULL) {
-    custom_node->custom_topic_sp->prev_custom_topic = custom_topic_ptr;
-  }
-  custom_node->custom_topic_sp = custom_topic_ptr;
-
+  custom_topic->sync_with_agent = false;
+  custom_topic->usage_account = 1;
+  custom_topic->owner_node = custom_node;
 
   // Asociate to typesupport
-  custom_topic_ptr->message_type_support_callbacks = message_type_support_callbacks;
-
+  custom_topic->message_type_support_callbacks = message_type_support_callbacks;
 
   // Generate topic id
-  custom_topic_ptr->topic_id = uxr_object_id(custom_node->context->id_topic++, UXR_TOPIC_ID);
+  custom_topic->topic_id = uxr_object_id(custom_node->context->id_topic++, UXR_TOPIC_ID);
 
 #ifdef MICRO_XRCEDDS_USE_XML
   char xml_buffer[RMW_UXRCE_XML_BUFFER_LENGTH];
@@ -76,99 +62,40 @@ create_topic(
     qos_policies, xml_buffer, sizeof(xml_buffer)))
   {
     RMW_SET_ERROR_MSG("failed to generate xml request for subscriber creation");
-    (void)destroy_topic(custom_topic_ptr);
-    custom_topic_ptr = NULL;
-    goto create_topic_end;
+    rmw_uxrce_fini_topic_memory(custom_topic);
+    custom_topic = NULL;
+    goto fail;
   }
 
   topic_req = uxr_buffer_create_topic_xml(&custom_node->context->session,
-      custom_node->context->reliable_output, custom_topic_ptr->topic_id,
+      custom_node->context->reliable_output, custom_topic->topic_id,
       custom_node->participant_id, xml_buffer, UXR_REPLACE);
 #elif defined(MICRO_XRCEDDS_USE_REFS)
   (void)qos_policies;
   if (!build_topic_profile(topic_name, profile_name, sizeof(profile_name))) {
     RMW_SET_ERROR_MSG("failed to generate xml request for node creation");
-    (void)destroy_topic(custom_topic_ptr);
-    custom_topic_ptr = NULL;
-    goto create_topic_end;
+    rmw_uxrce_fini_topic_memory(custom_topic);
+    custom_topic = NULL;
+    goto fail;
   }
 
   topic_req = uxr_buffer_create_topic_ref(&custom_node->context->session,
-      custom_node->context->reliable_output, custom_topic_ptr->topic_id,
+      custom_node->context->reliable_output, custom_topic->topic_id,
       custom_node->participant_id, profile_name, UXR_REPLACE);
 #endif
 
   // Send the request and wait for response
   uint8_t status;
-  custom_topic_ptr->sync_with_agent =
+  custom_topic->sync_with_agent =
     uxr_run_session_until_all_status(&custom_node->context->session, 1000, &topic_req,
       &status, 1);
-  if (!custom_topic_ptr->sync_with_agent) {
+  if (!custom_topic->sync_with_agent) {
     RMW_SET_ERROR_MSG("Issues creating micro XRCE-DDS entities");
-    (void)destroy_topic(custom_topic_ptr);
-    custom_topic_ptr = NULL;
-    goto create_topic_end;
-  }
-
-
-create_topic_end:
-
-  return custom_topic_ptr;
-}
-
-bool
-destroy_topic(rmw_uxrce_topic_t * custom_topic)
-{
-  bool ok = false;
-
-  if (custom_topic != NULL) {
-    custom_topic->usage_account--;
-    if (custom_topic->usage_account <= 0) {
-      // Remove from the stack
-      if (custom_topic->next_custom_topic != NULL) {
-        custom_topic->next_custom_topic->prev_custom_topic = custom_topic->prev_custom_topic;
-      }
-      if (custom_topic->prev_custom_topic != NULL) {
-        custom_topic->prev_custom_topic->next_custom_topic = custom_topic->next_custom_topic;
-      } else {
-        custom_topic->owner_node->custom_topic_sp = NULL;
-      }
-
-      if (custom_topic->sync_with_agent) {
-        uint16_t request = uxr_buffer_delete_entity(&custom_topic->owner_node->context->session,
-            custom_topic->owner_node->context->reliable_output,
-            custom_topic->topic_id);
-        uint8_t status;
-        if (!uxr_run_session_until_all_status(&custom_topic->owner_node->context->session, 1000,
-          &request, &status, 1))
-        {
-          RMW_SET_ERROR_MSG("unable to remove publisher from the server");
-        } else {
-          ok = true;
-        }
-      } else {
-        ok = true;
-      }
-
-      rmw_free(custom_topic);
-    } else {
-      ok = true;
-    }
-  }
-
-  return ok;
-}
-
-
-size_t
-topic_count(struct rmw_uxrce_node_t * custom_node)
-{
-  size_t count = 0;
-  rmw_uxrce_topic_t * custom_topic_ptr = custom_node->custom_topic_sp;
-  while (custom_topic_ptr != NULL) {
-    count++;
-    custom_topic_ptr = custom_topic_ptr->next_custom_topic;
+    rmw_uxrce_fini_topic_memory(custom_topic);
+    custom_topic = NULL;
+    goto fail;
   }
 
-  return count;
-}
+fail:
+  return custom_topic;
+}

rmw_microxrcedds_c/src/rmw_microxrcedds_topic.h

@@ -32,13 +32,6 @@ create_topic(
   const message_type_support_callbacks_t * message_type_support_callbacks,
   const rmw_qos_profile_t * qos_policies);
 
-
-bool
-destroy_topic(rmw_uxrce_topic_t * custom_topic);
-
-size_t
-topic_count(struct rmw_uxrce_node_t * custom_node);
-
 #if defined(__cplusplus)
 }
 #endif

rmw_microxrcedds_c/src/types.c

@@ -54,6 +54,10 @@ struct rmw_uxrce_mempool_t client_memory;
 rmw_uxrce_client_t custom_clients[RMW_UXRCE_MAX_CLIENTS];
 static bool client_memory_init = false;
 
+struct rmw_uxrce_mempool_t topics_memory;
+rmw_uxrce_client_t custom_topics[RMW_UXRCE_MAX_TOPICS];
+static bool topic_memory_init = false;
+
 // Memory init functions
 
 void rmw_uxrce_init_service_memory(struct rmw_uxrce_mempool_t * memory, rmw_uxrce_service_t * services, size_t size)
@@ -146,6 +150,22 @@ void rmw_uxrce_init_sessions_memory(struct rmw_uxrce_mempool_t * memory, rmw_con
   }
 }
 
+void rmw_uxrce_init_topics_memory(struct rmw_uxrce_mempool_t * memory, rmw_uxrce_topic_t * topics, size_t size)
+{
+  if (size > 0 && !topic_memory_init) {
+    topic_memory_init = true;
+    link_prev(NULL, &topics[0].mem, NULL);
+    size > 1 ? link_next(&topics[0].mem, &topics[1].mem, &topics[0]) : link_next(&topics[0].mem, NULL,
+      &topics[0]);
+    for (unsigned int i = 1; i <= size - 1; i++) {
+      link_prev(&topics[i - 1].mem, &topics[i].mem, &topics[i]);
+    }
+    link_next(&topics[size - 1].mem, NULL, &topics[size - 1]);
+    set_mem_pool(memory, &topics[0].mem);
+  }
+}
+
+
 // Memory management functions
 
 void rmw_uxrce_fini_session_memory(rmw_context_impl_t * session)
@@ -196,7 +216,7 @@ void rmw_uxrce_fini_publisher_memory(rmw_publisher_t * publisher)
     rmw_uxrce_publisher_t * custom_publisher = (rmw_uxrce_publisher_t *)publisher->data;
 
     if (custom_publisher->topic != NULL) {
-      destroy_topic(custom_publisher->topic);
+      rmw_uxrce_fini_topic_memory(custom_publisher->topic);
     }
 
     put_memory(&publisher_memory, &custom_publisher->mem);
@@ -224,7 +244,7 @@ void rmw_uxrce_fini_subscription_memory(rmw_subscription_t * subscriber)
     rmw_uxrce_subscription_t * custom_subscription = (rmw_uxrce_subscription_t *)subscriber->data;
 
     if (custom_subscription->topic != NULL) {
-      destroy_topic(custom_subscription->topic);
+      rmw_uxrce_fini_topic_memory(custom_subscription->topic);
     }
 
     put_memory(&subscription_memory, &custom_subscription->mem);
@@ -280,3 +300,9 @@ void rmw_uxrce_fini_client_memory(rmw_client_t * client)
   }
   rmw_free(client);
 }
+
+void rmw_uxrce_fini_topic_memory(rmw_uxrce_topic_t * topic)
+{
+  put_memory(&topics_memory, &topic->mem);
+  memset(topic, 0, sizeof(rmw_uxrce_topic_t));
+}

rmw_microxrcedds_c/src/types.h

@@ -93,8 +93,7 @@ struct  rmw_init_options_impl_t
 
 typedef struct rmw_uxrce_topic_t
 {
-  struct rmw_uxrce_topic_t * next_custom_topic;
-  struct rmw_uxrce_topic_t * prev_custom_topic;
+  struct rmw_uxrce_mempool_item_t mem;
 
   uxrObjectId topic_id;
   const message_type_support_callbacks_t * message_type_support_callbacks;
@@ -202,7 +201,6 @@ typedef struct rmw_uxrce_node_t
   struct  rmw_context_impl_t * context;
 
   uxrObjectId participant_id;
-  rmw_uxrce_topic_t * custom_topic_sp;
 } rmw_uxrce_node_t;
 
 // Static memory pools
@@ -225,6 +223,9 @@ extern rmw_uxrce_service_t custom_services[RMW_UXRCE_MAX_SERVICES];
 extern struct rmw_uxrce_mempool_t client_memory;
 extern rmw_uxrce_client_t custom_clients[RMW_UXRCE_MAX_CLIENTS];
 
+extern struct rmw_uxrce_mempool_t topics_memory;
+extern rmw_uxrce_client_t custom_topics[RMW_UXRCE_MAX_TOPICS];
+
 // Memory init functions
 
 void rmw_uxrce_init_sessions_memory(struct rmw_uxrce_mempool_t * memory, rmw_context_impl_t * sessions, size_t size);
@@ -233,6 +234,7 @@ void rmw_uxrce_init_service_memory(struct rmw_uxrce_mempool_t * memory, rmw_uxrc
 void rmw_uxrce_init_client_memory(struct rmw_uxrce_mempool_t * memory, rmw_uxrce_client_t * clients, size_t size);
 void rmw_uxrce_init_publisher_memory(struct rmw_uxrce_mempool_t * memory, rmw_uxrce_publisher_t * publishers, size_t size);
 void rmw_uxrce_init_subscriber_memory(struct rmw_uxrce_mempool_t * memory, rmw_uxrce_subscription_t * subscribers, size_t size);
+void rmw_uxrce_init_topics_memory(struct rmw_uxrce_mempool_t * memory, rmw_uxrce_topic_t * topics, size_t size);
 
 // Memory management functions
 
@@ -242,5 +244,6 @@ void rmw_uxrce_fini_publisher_memory(rmw_publisher_t * publisher);
 void rmw_uxrce_fini_subscription_memory(rmw_subscription_t * subscriber);
 void rmw_uxrce_fini_client_memory(rmw_client_t * client);
 void rmw_uxrce_fini_service_memory(rmw_service_t * service);
+void rmw_uxrce_fini_topic_memory(rmw_uxrce_topic_t * topic);
 
 #endif  // RMW_MICROXRCEDDS_C__SRC__TYPES_H