Add loaned message support to R2R#42
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m-dahl merged 1 commit intosequenceplanner:masterfrom Mar 21, 2023
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Add loaned message support in R2R's subscriber to take advantage of the shared memory backend of the middleware. - Add new constructor to `WrappedNativeMsg` which takes a already allocated pointer, and a deallocator. - If the subscription can loan messages, construct `WrappedNativeMsg` with the loaned message pointer. - Pass in also a closure as the deallocator that calls the right APIs to return the loaned message to the middleware layer. - The deallocator is called in the destructor of `WrappedNativeMsg` - Add borrow_loaned_message API to publisher - Add release() api to WrappedNativeMsg so a loaded message could be manually released if not published.
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Wow new feature :) That's cool. I think the patch looks good. Nice that you are finding use for the "native" messages. |
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Add loaned message support in R2R's subscriber to
take advantage of the shared memory backend of the middleware.
WrappedNativeMsgwhich takes a already allocated pointer, and a deallocator.WrappedNativeMsgwith the loaned message pointer.WrappedNativeMsg