zero length payload was not transferred over shm in zero copy mode

eclipse-ecal · Jul 30, 2024 · 0705eaf · 0705eaf
1 parent c9307ef
commit 0705eaf
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Showing 2 changed files with 44 additions and 17 deletions.
diff --git a/ecal/core/src/io/shm/ecal_memfile_pool.cpp b/ecal/core/src/io/shm/ecal_memfile_pool.cpp
@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  * Copyright (C) 2022 Eclipse Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -216,14 +216,26 @@ namespace eCAL
  // -------------------------------------------------------------------------
  if (zero_copy_allowed)
  {
- // acquire memory file payload pointer (no copying here)
- const void* buf(nullptr);
- if (m_memfile.GetReadAddress(buf, mfile_hdr.data_size) > 0)
+ if (m_data_callback)
  {
- // calculate data buffer offset
- const char* data_buf = static_cast<const char*>(buf) + mfile_hdr.hdr_size;
- // add sample to data reader (and call user callback function)
- if (m_data_callback) m_data_callback(topic_name_, topic_id_, data_buf, mfile_hdr.data_size, (long long)mfile_hdr.id, (long long)mfile_hdr.clock, (long long)mfile_hdr.time, (size_t)mfile_hdr.hash);
+ const char* data_buf = nullptr;
+ if (mfile_hdr.data_size > 0)
+ {
+ // acquire memory file payload pointer (no copying here)
+ const void* buf(nullptr);
+ if (m_memfile.GetReadAddress(buf, mfile_hdr.data_size) > 0)
+ {
+ // calculate user payload address
+ data_buf = static_cast<const char*>(buf) + mfile_hdr.hdr_size;
+ // call user callback function
+ m_data_callback(topic_name_, topic_id_, data_buf, mfile_hdr.data_size, (long long)mfile_hdr.id, (long long)mfile_hdr.clock, (long long)mfile_hdr.time, (size_t)mfile_hdr.hash);
+ }
+ }
+ else
+ {
+ // call user callback function
+ m_data_callback(topic_name_, topic_id_, data_buf, mfile_hdr.data_size, (long long)mfile_hdr.id, (long long)mfile_hdr.clock, (long long)mfile_hdr.time, (size_t)mfile_hdr.hash);
+ }
  }
  }
  // -------------------------------------------------------------------------

diff --git a/testing/ecal/pubsub_test/src/pubsub_test.cpp b/testing/ecal/pubsub_test/src/pubsub_test.cpp
@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -681,10 +681,16 @@ TEST(PubSub, ZeroPayloadMessageSHM)
  // create subscriber for topic "A"
  eCAL::CSubscriber sub("A");
 
- // create publisher for topic "A"
- eCAL::CPublisher pub("A");
- pub.SetLayerMode(eCAL::TLayer::tlayer_all, eCAL::TLayer::smode_off);
- pub.SetLayerMode(eCAL::TLayer::tlayer_shm, eCAL::TLayer::smode_on);
+ // create publisher for topic "A" (no zero copy)
+ eCAL::CPublisher pub1("A");
+ pub1.SetLayerMode(eCAL::TLayer::tlayer_all, eCAL::TLayer::smode_off);
+ pub1.SetLayerMode(eCAL::TLayer::tlayer_shm, eCAL::TLayer::smode_on);
+
+ // create publisher for topic "A" (zero copy)
+ eCAL::CPublisher pub2("A");
+ pub2.SetLayerMode(eCAL::TLayer::tlayer_all, eCAL::TLayer::smode_off);
+ pub2.SetLayerMode(eCAL::TLayer::tlayer_shm, eCAL::TLayer::smode_on);
+ pub2.ShmEnableZeroCopy(true);
 
  // add callback
  EXPECT_EQ(true, sub.AddReceiveCallback(std::bind(OnReceive, std::placeholders::_1, std::placeholders::_2)));
@@ -695,21 +701,30 @@ TEST(PubSub, ZeroPayloadMessageSHM)
  g_callback_received_bytes = 0;
  g_callback_received_count = 0;
 
- EXPECT_EQ(send_s.size(), pub.Send(send_s));
+ // send without zero copy
+ EXPECT_EQ(send_s.size(), pub1.Send(send_s));
  eCAL::Process::SleepMS(DATA_FLOW_TIME);
 
- EXPECT_EQ(send_s.size(), pub.Send(nullptr, 0));
+ EXPECT_EQ(send_s.size(), pub1.Send(nullptr, 0));
+ eCAL::Process::SleepMS(DATA_FLOW_TIME);
+
+ // send with zero copy
+ EXPECT_EQ(send_s.size(), pub2.Send(send_s));
+ eCAL::Process::SleepMS(DATA_FLOW_TIME);
+
+ EXPECT_EQ(send_s.size(), pub2.Send(nullptr, 0));
  eCAL::Process::SleepMS(DATA_FLOW_TIME);
 
  // check callback receive
  EXPECT_EQ(send_s.size(), g_callback_received_bytes);
- EXPECT_EQ(2, g_callback_received_count);
+ EXPECT_EQ(4, g_callback_received_count);
 
  // destroy subscriber
  sub.Destroy();
 
  // destroy publisher
- pub.Destroy();
+ pub1.Destroy();
+ pub2.Destroy();
 
  // finalize eCAL API
  eCAL::Finalize();