Description
Is there an already existing issue for this?
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Expected behavior
每次调用接口都会将5.5MB的数据发送给订阅者，发送不应该有延迟，接收端能流畅播放数据
Current behavior
每次调用接口都能发送5.5MB的数据，但一次write函数执行完成需要大约0.6s，（已经确定接收端对于到达的数据能够快速接收）
Steps to reproduce
1.一台电脑扮演订阅者，另一台电脑扮演发布者,都是windows平台
2.发布者频繁调用write函数将数据发送给fastdds
3.接收端频繁调用take_next_example读取数据
Fast DDS version/commit
不太清除具体版本，但使用的lib库是 fastcdr-2.2.lib， fastrtps-2.14.lib
Platform/Architecture
Other. Please specify in Additional context section.
Transport layer
Default configuration, UDPv4 & SHM
Additional context
电脑配置：两台windows11，3060显卡 vs2019
以下是接收方的设置：
DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
pqos.name("spos_participant");
pqos.properties().properties().emplace_back("fastdds.type_propagation", "enabled"); /* 开启类型传播 */
pqos.wire_protocol().builtin.typelookup_config.use_client = false;
pqos.wire_protocol().builtin.typelookup_config.use_server = true;
eprosima::fastdds::dds::DomainParticipant* ddsparticipant = DomainParticipantFactory::get_instance()->create_participant(1, pqos);
virtual bool CreateDataReader(void* participant)
{
bool res = false;
if(!m_isDataReaderRegistered)
{
GetStructSize(m_datasize);
eprosima::fastdds::dds::DomainParticipant* participant_ = static_casteprosima::fastdds::dds::DomainParticipant*(participant);
if (m_fixedDataType)
{
m_fixedDataType.register_type(participant_);
m_fixedDataType->auto_fill_type_object(true);
m_fixedDataType->auto_fill_type_information(true);
m_ddssubscriber = participant_->create_subscriber(eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT, nullptr);
topic_ = participant_->create_topic(m_topicname, m_fixedDataType.get_type_name(), eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
eprosima::fastdds::dds::DataReaderQos rqos= eprosima::fastdds::dds::DATAREADER_QOS_DEFAULT;
rqos.reliability().kind = eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;
rqos.history().kind = eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
m_ddsreader = m_ddssubscriber->create_datareader(topic_, rqos, &m_Sublistener);
m_isDataReaderRegistered = true;
以下是发送者的配置：
DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
pqos.name("spos_participant");
pqos.properties().properties().emplace_back("fastdds.type_propagation", "enabled"); /* 开启类型传播 /
pqos.wire_protocol().builtin.typelookup_config.use_client = false;
pqos.wire_protocol().builtin.typelookup_config.use_server = true;
eprosima::fastdds::dds::DomainParticipant ddsparticipant = DomainParticipantFactory::get_instance()->create_participant(1, pqos);
virtual bool CreateDataWriterFix(void* participant)
{
bool res = false;
if(!m_isDataWriterRegistered)
{
GetStructSize(m_datasize);
eprosima::fastdds::dds::DomainParticipant* participant_ = static_casteprosima::fastdds::dds::DomainParticipant*(participant);
if (m_fixedDataType)
{
m_fixedDataType.register_type(participant_);
m_fixedDataType->auto_fill_type_object(true);
m_fixedDataType->auto_fill_type_information(false);
publisher_ = participant_->create_publisher(eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT, nullptr);
topic_ = participant_->create_topic(m_topicname, m_fixedDataType.get_type_name(), eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
eprosima::fastdds::dds::DataWriterQos writer_qos = eprosima::fastdds::dds::DATAWRITER_QOS_DEFAULT;
writer_qos.reliability().kind = eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;
writer_qos.history().kind = eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
writer_ = publisher_->create_datawriter(topic_, writer_qos, &m_Publistener_);
m_isDataWriterRegistered = true;
XML configuration file
Relevant log output
发送端输出代码
clock_t start_time = clock();
writer_->writer(data);
clock_t end_time = clock();
double elapsed_time = double(end_time - start_time) / CLOCKS_PER_SEC;
std::cout << "Function ConvertReadData took " << elapsed_time << " seconds to run." << std::endl;
发送端打印的时间大约是0.5s;
接收端输出代码
clock_t start_time = clock();
if(m_ddsreader->take_next_sample(srtdataptr, &info) == ReturnCode_t::RETCODE_OK)
{
if (info.valid_data)
{
res = ConvertReadData(srtdataptr, dstdata);
}
}
else
{
std::cout << "can't get next_sample " << std::endl;
}
clock_t end_time = clock();
double elapsed_time = double(end_time - start_time) / CLOCKS_PER_SEC;
std::cout << "Function ConvertReadData took " << elapsed_time << " seconds to run." << std::endl;
}
接收端打印的时间约0.001sNetwork traffic capture
如图，Time表示编号2065的数据包到达抓包工具的时间戳（56.619），framentStartingNum表示当前分片的起始编号为1
如图，Time表示编号13411的数据包到达抓包工具的时间戳（57.556），framentStartingNum表示当前分片的起始编号为85，这是单次发送数据的最后一个分片，可得发送端发送一次数据（5529640字节）（5.5MB）需要分片85次，一次分片的大小是65324字节（63KB）.
以上是发送端的网络包情况
以下是接收端的网络包情况：
如图，这是发送端发送过来的第一个分片，到达接收端的抓包工具的时间戳（56.657），和到达发送端的抓包工具的时间戳（56.619）相差0.038s.
iperf工具测试网络带宽：
