Avoid extra copy for serialized SHM chunks#551
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StanByriukov02 wants to merge 1 commit intoros2:rollingfrom
Open
Avoid extra copy for serialized SHM chunks#551StanByriukov02 wants to merge 1 commit intoros2:rollingfrom
StanByriukov02 wants to merge 1 commit intoros2:rollingfrom
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When running with iceoryx shared memory enabled, we can receive a chunk that already contains serialized bytes, but we still copy that chunk into a heap buffer before deserializing/forwarding it.
This change avoids that extra copy by keeping a read-only view into the received SHM chunk (only when size is 4-byte aligned, otherwise it falls back to the existing padded-copy path). The rest of the serdata ops are switched to read from a generic read-only pointer so both owned buffers and external views work.
If you want a quick sanity check without profiling tools, set RMW_CYCLONEDDS_SHM_RECEIPTS=1 and the process will print one line at exit showing how many serialized SHM bytes were handled via view vs copied.