feat(kmod): reuse mempool #451
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Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
Koichi98
reviewed
Feb 28, 2025
| mempool_128mb_pid[i] = 0; | ||
| return 0; | ||
| } | ||
| } |
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現状のAutowareだとありえないケースだと思いますが、publisherがexitした後にsubscriberが生き残り続けた場合subscriberはまだ該当の仮想アドレス範囲を共有メモリにmapした状態で参照を続けています。その上で、新たに参加したpublisherがたまたまその仮想アドレス範囲をassignされてしまい、しかもsubscriberがそのpublisherのpublishするtopicをsubscribeしようとすると仮想アドレス範囲がかぶってmmapでエラーになってしまいます。
これを回避するにはfree_memoryを行うのを「該当プロセスがexitした」かつ「すべてのmapped_pids上のsubscriberプロセスがexitした」ことを確認の上で行う必要がありそうです。幸いこのmapped_pidsという配列がprocess_infoのstruct上に今はあるのでやろうと思えばできそうなんで、一応やっとくというのはどうでしょう？
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Description
Implemented the feature for reusing mempools to avoid the shortage of memory.
Major changes are:
memory_allocator.cto manage shared memory meta data.test_case_new_shm_too_bigtest_case_new_shm_too_manyRelated links
Memory allocation design is based on TIER IV INTERNAL.
How was this PR tested?
bash scripts/e2e_test_1to1_with_ros2sub(required)bash scripts/e2e_test_2to2(required)Notes for reviewers