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Communication improvement sending only one GAP for all readers [12576] #2227

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Sep 28, 2021
Merged

Communication improvement sending only one GAP for all readers [12576] #2227

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36 changes: 32 additions & 4 deletions src/cpp/rtps/writer/StatefulWriter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -704,6 +704,7 @@ DeliveryRetCode StatefulWriter::deliver_sample_to_network(
while (DeliveryRetCode::DELIVERED == ret_code &&
min_unsent_fragment != n_fragments + 1)
{
SequenceNumber_t gap_seq_for_all = SequenceNumber_t::unknown();
locator_selector.locator_selector.reset(false);
auto first_relevant_reader = matched_remote_readers_.begin();
bool inline_qos = false;
Expand Down Expand Up @@ -735,10 +736,32 @@ DeliveryRetCode StatefulWriter::deliver_sample_to_network(
// send it a personal GAP.
if (SequenceNumber_t::unknown() != gap_seq)
{
group.sender(this, (*remote_reader)->message_sender());
group.add_gap(gap_seq, SequenceNumberSet_t(change->sequenceNumber), (*remote_reader)->guid());
send_heartbeat_nts_(1u, group, disable_positive_acks_);
group.sender(this, &locator_selector); // This makes the flush_and_reset().
if (SequenceNumber_t::unknown() == gap_seq_for_all) // Calculate if the hole is for all readers
{
History::const_iterator chit = mp_history->find_change_nts(change);

if (chit == mp_history->changesBegin())
{
gap_seq_for_all = gap_seq;
}
else
{
SequenceNumber_t prev = (*std::prev(chit))->sequenceNumber + 1;

if (prev == gap_seq)
{
gap_seq_for_all = gap_seq;
}
}
}

if (gap_seq_for_all != gap_seq) // If it is an individual GAP, sent it to repective reader.
{
group.sender(this, (*remote_reader)->message_sender());
group.add_gap(gap_seq, SequenceNumberSet_t(change->sequenceNumber), (*remote_reader)->guid());
send_heartbeat_nts_(1u, group, disable_positive_acks_);
group.sender(this, &locator_selector); // This makes the flush_and_reset().
}
}
}
else
Expand All @@ -747,6 +770,11 @@ DeliveryRetCode StatefulWriter::deliver_sample_to_network(
}
}

if (SequenceNumber_t::unknown() != gap_seq_for_all) // Send GAP for all readers
{
group.add_gap(gap_seq_for_all, SequenceNumberSet_t(change->sequenceNumber));
}

try
{
if (should_be_sent)
Expand Down