adjusted queue sizes, uniform TCPnodelay

Author: neocoretechs

src/main/java/org/ros/internal/node/server/BaseServer.java

@@ -55,7 +55,7 @@ public void run() {
 				try {
 					Socket datasocket = server.accept();
                     // disable Nagles algoritm; do not combine small packets into larger ones
-                    datasocket.setTcpNoDelay(true);
+                    //datasocket.setTcpNoDelay(true);
                     // wait 1 second before close; close blocks for 1 sec. and data can be sent
                     datasocket.setSoLinger(true, 1);
 					//

src/main/java/org/ros/internal/transport/queue/IncomingMessageQueue.java

@@ -23,7 +23,7 @@ public class IncomingMessageQueue<T> {
    * {@link IncomingMessageQueue#addListener(MessageListener, int)} which are
    * consumed by user provided {@link MessageListener}s.
    */
-  private static final int DEQUE_CAPACITY = 16384;
+  private static final int DEQUE_CAPACITY = 8192;
 
   private final MessageReceiver<T> messageReceiver;
   private final MessageDispatcher<T> messageDispatcher;

src/main/java/org/ros/internal/transport/queue/MessageReceiver.java

@@ -19,7 +19,7 @@
  */
 public class MessageReceiver<T> extends AbstractNamedChannelHandler {
 
-  private static final boolean DEBUG = true;
+  private static final boolean DEBUG = false;
   private static final Log log = LogFactory.getLog(MessageReceiver.class);
 
   private final CircularBlockingDeque<T> lazyMessages;
@@ -45,7 +45,6 @@ public Object channelRead(ChannelHandlerContext ctx, Object msg) throws Exceptio
   }
 
 
-
 @Override
 public void exceptionCaught(ChannelHandlerContext arg0, Throwable arg1)
 		throws Exception {
@@ -94,8 +93,6 @@ public void channelReadComplete(ChannelHandlerContext arg0) throws Exception {
 
 }
 
-
-
 @Override
 public void userEventTriggered(ChannelHandlerContext arg0, Object arg1)
 		throws Exception {

src/main/java/org/ros/internal/transport/queue/OutgoingMessageQueue.java

@@ -30,10 +30,10 @@
  */
 public class OutgoingMessageQueue<T> {
 
-  private static final boolean DEBUG = true;
+  private static final boolean DEBUG = false;
   private static final Log log = LogFactory.getLog(OutgoingMessageQueue.class);
 
-  private static final int DEQUE_CAPACITY = 16384;
+  private static final int DEQUE_CAPACITY = 8192;
 
   private final CircularBlockingDeque<T> deque;
   private final Writer writer;

src/main/java/org/ros/internal/transport/tcp/AsynchBaseServer.java

@@ -50,7 +50,7 @@ public void run() {
 				//(/*(AsynchronousSocketChannel)*/channel/*.get()*/).setOption(StandardSocketOptions.TCP_NODELAY, true);
 				channel.setSendBufferSize(4096000);
 				channel.setReceiveBufferSize(4096000);
-				channel.setTcpNoDelay(true);
+				//channel.setTcpNoDelay(true);
 				ChannelHandlerContext ctx = new ChannelHandlerContextImpl(channelGroup, channel/*.get()*/, exc);
 				tcpserver.getSubscribers().add(ctx);
 				// inject the handlers, start handshake

src/main/java/org/ros/internal/transport/tcp/AsynchTCPWorker.java

@@ -2,13 +2,9 @@
 
 import java.io.IOException;
 
-import java.nio.ByteBuffer;
-
 import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
-import org.ros.internal.message.MessageBuffers;
-import org.ros.internal.system.Utility;
 import org.ros.internal.transport.ChannelHandlerContext;
 
 /**
@@ -19,12 +15,11 @@
  *
  */
 public class AsynchTCPWorker implements Runnable {
-	private static final boolean DEBUG = true;
+	private static final boolean DEBUG = false;
 	private static final Log log = LogFactory.getLog(AsynchTCPWorker.class);
 	public boolean shouldRun = true;
 	private ChannelHandlerContext ctx;
 	private Object waitHalt = new Object(); 
-	//private MessageBufferPool pool = new MessageBufferPool();
 
     public AsynchTCPWorker(ChannelHandlerContext ctx) throws IOException {
     	this.ctx = ctx;
@@ -37,84 +32,21 @@ public AsynchTCPWorker(ChannelHandlerContext ctx) throws IOException {
 	 */
 	@Override
 	public void run() {
-		//final Object waitFinish = ctx.getChannelCompletionMutex();
 			try {
 				while(shouldRun) {
-					//final ByteBuffer buf = MessageBuffers.dynamicBuffer();//pool.acquire();
-					// initiate asynch read
-					// If we get a read pending exception, try again
-				   	//final ByteBuffer buf = MessageBuffers.dynamicBuffer();//pool.acquire();
-					//buf.clear();
-					//final CountDownLatch cdl = new CountDownLatch(1);
-					//int res = ctx.read(buf);
-					// seems like a -1 is generated when channel breaks, so stop
-					// this worker on that case
-					//if( res == -1) {
-					//	shouldRun = false;
-					//	if( DEBUG )
-					//		log.info("ROS AsynchTCPWorker CHANNEL BREAK, TERMINATING for "+ctx);
-					//} else {
-					//	buf.flip();
-					//	Object reso = Utility.deserialize(buf);
 					Object reso = ctx.read();
-					
-						if( DEBUG )
+					if( DEBUG )
 							log.info("ROS AsynchTCPWorker COMPLETED READ for "+ctx+"  Object:"+reso);
-						try {
+					try {
 							ctx.pipeline().fireChannelRead(reso);
-						} catch (Exception e) {
-							if( DEBUG) {
+					} catch (Exception e) {
+						if( DEBUG) {
 								log.info("Exception out of fireChannelRead",e);
 								e.printStackTrace();
-							}
-							ctx.pipeline().fireExceptionCaught(e);
 						}
-					//}
-					/*
-					ctx.read(buf, new CompletionHandler<Integer, Void>() {
-								@Override
-								public void completed(Integer arg0, Void arg1) {
-									buf.flip();
-									Object res = Utility.deserialize(buf);
-									//if( res == null ) {
-									//	cdl.countDown();
-									//	return;
-									//}
-										
-									if( DEBUG )
-										log.info("ROS AsynchTCPWorker COMPLETED READ for "+ctx+" buffer:"+buf+" Object:"+res+" Result:"+arg0+","+arg1);
-									try {
-										ctx.pipeline().fireChannelRead(res);
-									} catch (Exception e) {
-										if( DEBUG) {
-											log.info("Exception out of fireChannelRead",e);
-											e.printStackTrace();
-										}
-									}
-									cdl.countDown();
-							
-								}
-								@Override
-								public void failed(Throwable arg0, Void arg1) {
-									if( DEBUG ){
-										log.info("AsynchTcpWorker read op failed:",arg0);
-										arg0.printStackTrace();
-									}
-									try {
-										ctx.pipeline().fireExceptionCaught(arg0);
-									} catch (Exception e) {
-										e.printStackTrace();
-									}
-									if( arg0 instanceof ClosedChannelException ) {
-										shouldRun = false;
-									}
-									cdl.countDown();
-								} 	
-					});
-					*/
-					//cdl.await(); // readpendingexception if we overlap operations
-				} // shouldRun
-				
+						ctx.pipeline().fireExceptionCaught(e);
+					}
+				} // shouldRun		
 			} catch(Exception se) {
 					log.error("AsynchTCPWorker terminating due to ",se);
 			} finally {

src/main/java/org/ros/internal/transport/tcp/TcpClient.java

@@ -70,7 +70,7 @@ public void addAllNamedChannelHandlers(List<NamedChannelHandler> namedChannelHan
   public Socket connect(String connectionName, SocketAddress socketAddress) throws Exception {
 	//channel = /*Asynchronous*/SocketChannel.open(/*channelGroup*/);
 	  channel = new Socket();
-	  channel.setTcpNoDelay(false);
+	  //channel.setTcpNoDelay(true);
 	  channel.setSendBufferSize(4096000);
 	  channel.setSendBufferSize(4096000);
 	//((/*Asynchronous*/SocketChannel)channel).setOption(StandardSocketOptions.SO_RCVBUF, 4096000);

src/main/java/org/ros/internal/transport/tcp/TcpServerHandshakeHandler.java

@@ -1,11 +1,6 @@
 package org.ros.internal.transport.tcp;
 
 import java.io.IOException;
-import java.io.ObjectOutputStream;
-import java.io.OutputStream;
-import java.nio.ByteBuffer;
-import java.nio.channels.CompletionHandler;
-import java.nio.channels.SocketChannel;
 
 import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
@@ -24,6 +19,8 @@
 
 /**
  * A {@link ChannelHandler} which will process the TCP server handshake.
+ * Once an incoming channel read takes place the handshake handler is removed and the traffic
+ * handler is placed in the pipeline
  * 
  * @author jg
  */
@@ -43,10 +40,13 @@ public TcpServerHandshakeHandler(TopicParticipantManager topicParticipantManager
 
   @Override
   public void channelActive(ChannelHandlerContext ctx) {
-	  log.info("Channel active");
+	  if(DEBUG)
+		  log.info("Channel active");
   }
   /**
    * Channel read initiated by pipeline generated message
+   * We make the assumption that the inbound object is of type ConnectionHeader
+   * when talking to this handler
    */
   @Override
   public Object channelRead(ChannelHandlerContext ctx, Object e) throws Exception {
@@ -63,7 +63,7 @@ public Object channelRead(ChannelHandlerContext ctx, Object e) throws Exception
     return e;
   }
   /**
-   * Handle the handshake for a service
+   * Handle the handshake for a service in response to channel read
    * @param ctx
    * @param incomingHeader
    * @throws IOException
@@ -87,7 +87,7 @@ private void handleServiceHandshake(ChannelHandlerContext ctx, ConnectionHeader
     }
   }
   /**
-   * Handle the handshake for a typical (not a service) subscriber.
+   * Handle the handshake for a typical (not a service) subscriber in response to a channel read.
    * @param ctx
    * @param incomingConnectionHeader
    * @throws InterruptedException
@@ -112,61 +112,51 @@ private void handleSubscriberHandshake(final ChannelHandlerContext ctx, final Co
 
     ctx.write(outgoingBuffer);
 
-    /*
-    ctx.write(outgoingBuffer, new CompletionHandler<Integer, Void>() {
-		@Override
-		public void completed(Integer arg0, Void arg1) {
-		*/
-			   String nodeName = incomingConnectionHeader.getField(ConnectionHeaderFields.CALLER_ID);
-			   publisher.addSubscriber(new SubscriberIdentifier(NodeIdentifier.forName(nodeName), new TopicIdentifier(topicName)), ctx);
-			    // Once the handshake is complete, there will be nothing incoming on the
-			    // channel as we are only queueing outbound traffic to the subscriber, which is done by the OutgoingMessgequeue.
-			    // So, we remove the handler
-			    ctx.pipeline().remove(TcpServerPipelineFactory.HANDSHAKE_HANDLER);
-			    // Set this context ready to receive the message type specified
-			    synchronized(ctx.getMessageTypes()) {
+	String nodeName = incomingConnectionHeader.getField(ConnectionHeaderFields.CALLER_ID);
+	publisher.addSubscriber(new SubscriberIdentifier(NodeIdentifier.forName(nodeName), new TopicIdentifier(topicName)), ctx);
+	// Once the handshake is complete, there will be nothing incoming on the
+	// channel as we are only queueing outbound traffic to the subscriber, which is done by the OutgoingMessgequeue.
+	// So, we remove the handler
+	ctx.pipeline().remove(TcpServerPipelineFactory.HANDSHAKE_HANDLER);
+	// Set this context ready to receive the message type specified
+	synchronized(ctx.getMessageTypes()) {
 			    	ctx.getMessageTypes().add(incomingConnectionHeader.getField(ConnectionHeaderFields.TYPE));
-			    }
-			    // The handshake is complete and the only task is to set the context ready, which will allow
-			    // the outbound queue to start sending messages.
-			    ctx.setReady(true);
+	}
+	// The handshake is complete and the only task is to set the context ready, which will allow
+	// the outbound queue to start sending messages.
+	ctx.setReady(true);
 
-				if( DEBUG ) {
-					  log.info("subscriber complete:"+outgoingBuffer);
-				}
-				/*
-		}
-		@Override
-		public void failed(Throwable arg0, Void arg1) {
-			log.info("Failed to perform handshake for:"+ctx);
-		} 
-		*/
-    //});
-
- 
+	if( DEBUG ) {
+			log.info("subscriber complete:"+outgoingBuffer);
+	}
+	
   }
 
 @Override
 public void handlerAdded(ChannelHandlerContext ctx) throws Exception {
+	if( DEBUG )
 	log.info(this+" Handler added "+ctx);
 
 }
 
 @Override
 public void handlerRemoved(ChannelHandlerContext ctx) throws Exception {
+	if(DEBUG)
 	log.info("Handler removed "+ctx);
 
 }
 
 @Override
 public void channelInactive(ChannelHandlerContext ctx) throws Exception {
+	if(DEBUG)
 	log.info("Channel inactive "+ctx);
 
 }
 
 
 @Override
 public void channelReadComplete(ChannelHandlerContext ctx) throws Exception {
+	if(DEBUG)
 	log.info("channel read complete "+ctx);
 
 }
@@ -180,6 +170,7 @@ public void exceptionCaught(ChannelHandlerContext ctx, Throwable msg)throws Exce
 @Override
 public void userEventTriggered(ChannelHandlerContext ctx, Object event)
 		throws Exception {
+	if(DEBUG)
 	log.info("User event triggered "+ctx+" "+event);
 
 }