Merge pull request #340 from ZettaScaleLabs/fix/sub-high-latency

Fix the high latency on the subscriber due to zenoh bytes conversion

Author: YuanYuYuan

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

@@ -24,6 +24,7 @@
 #include <string>
 #include <utility>
 #include <variant>
+#include <vector>
 
 #include "attachment_helpers.hpp"
 #include "cdr.hpp"
@@ -43,7 +44,7 @@ namespace rmw_zenoh_cpp
 {
 ///=============================================================================
 SubscriptionData::Message::Message(
-  zenoh::Bytes p,
+  std::vector<uint8_t> && p,
   uint64_t recv_ts,
   AttachmentData && attachment_)
 : payload(std::move(p)), recv_timestamp(recv_ts), attachment(std::move(attachment_))
@@ -224,7 +225,7 @@ bool SubscriptionData::init()
 
         sub_data->add_new_message(
           std::make_unique<SubscriptionData::Message>(
-            sample.get_payload().clone(),
+            sample.get_payload().as_vector(),
             std::chrono::system_clock::now().time_since_epoch().count(),
             std::move(attachment_data)),
           std::string(sample.get_keyexpr().as_string_view()));
@@ -287,8 +288,6 @@ bool SubscriptionData::init()
     zenoh::Subscriber<void> sub = context_impl->session()->declare_subscriber(
       sub_ke,
       [data_wp](const zenoh::Sample & sample) {
-        zenoh::KeyExpr keystr(std::string(sample.get_keyexpr().as_string_view()));
-
         auto sub_data = data_wp.lock();
         if (sub_data == nullptr) {
           RMW_ZENOH_LOG_ERROR_NAMED(
@@ -310,10 +309,10 @@ bool SubscriptionData::init()
         AttachmentData attachment_data(attachment_value);
         sub_data->add_new_message(
           std::make_unique<SubscriptionData::Message>(
-            sample.get_payload().clone(),
+            payload.as_vector(),
             std::chrono::system_clock::now().time_since_epoch().count(),
             std::move(attachment_data)),
-          std::string(keystr.as_string_view()));
+          std::string(sample.get_keyexpr().as_string_view()));
       },
       zenoh::closures::none,
       std::move(sub_options),
@@ -491,7 +490,7 @@ rmw_ret_t SubscriptionData::take_one_message(
   std::unique_ptr<Message> msg_data = std::move(message_queue_.front());
   message_queue_.pop_front();
 
-  auto payload_data = msg_data->payload.as_vector();
+  auto & payload_data = msg_data->payload;
 
   if (payload_data.empty()) {
     RMW_ZENOH_LOG_DEBUG_NAMED(
@@ -549,7 +548,7 @@ rmw_ret_t SubscriptionData::take_serialized_message(
   std::unique_ptr<Message> msg_data = std::move(message_queue_.front());
   message_queue_.pop_front();
 
-  auto payload_data = msg_data->payload.as_vector();
+  auto & payload_data = msg_data->payload;
 
   if (payload_data.empty()) {
     RMW_ZENOH_LOG_DEBUG_NAMED(

rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp

@@ -25,6 +25,7 @@
 #include <string>
 #include <unordered_map>
 #include <variant>
+#include <vector>
 
 #include <zenoh.hxx>
 
@@ -50,13 +51,13 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
   struct Message
   {
     explicit Message(
-      zenoh::Bytes p,
+      std::vector<uint8_t> && p,
       uint64_t recv_ts,
       AttachmentData && attachment);
 
     ~Message();
 
-    zenoh::Bytes payload;
+    std::vector<uint8_t> payload;
     uint64_t recv_timestamp;
     AttachmentData attachment;
   };