From b668ee95482fde9766d9b307467b20e22ec171b7 Mon Sep 17 00:00:00 2001
From: Damon Kohler <damonkohler@google.com>
Date: Mon, 23 Jul 2012 13:44:25 +0200
Subject: [PATCH] Removes unnecessary buffer copy operation and decreases the
size of the incomming message buffer. Previously the size was in excess of
what could easily be handled by Android.
---
.../ros/internal/transport/queue/IncomingMessageQueue.java | 6 +++---
.../org/ros/internal/transport/queue/MessageReceiver.java | 1 -
.../ros/internal/transport/queue/OutgoingMessageQueue.java | 2 +-
.../org/ros/internal/message/field/ChannelBufferField.java | 4 +---
4 files changed, 5 insertions(+), 8 deletions(-)
diff --git a/rosjava/src/main/java/org/ros/internal/transport/queue/IncomingMessageQueue.java b/rosjava/src/main/java/org/ros/internal/transport/queue/IncomingMessageQueue.java
index e53ae673..95bdb303 100644
--- a/rosjava/src/main/java/org/ros/internal/transport/queue/IncomingMessageQueue.java
+++ b/rosjava/src/main/java/org/ros/internal/transport/queue/IncomingMessageQueue.java
@@ -37,14 +37,14 @@ public class IncomingMessageQueue<T> {
* {@link IncomingMessageQueue#addListener(MessageListener, int)} which are
* consumed by user provided {@link MessageListener}s.
*/
- private static final int QUEUE_CAPACITY = 128;
+ private static final int QUEUE_CAPACITY = 16;
- private final CircularBlockingQueue<LazyMessage<T>> lazyMessages;
private final MessageReceiver<T> messageReceiver;
private final MessageDispatcher<T> messageDispatcher;
public IncomingMessageQueue(MessageDeserializer<T> deserializer, ExecutorService executorService) {
- lazyMessages = new CircularBlockingQueue<LazyMessage<T>>(QUEUE_CAPACITY);
+ CircularBlockingQueue<LazyMessage<T>> lazyMessages =
+ new CircularBlockingQueue<LazyMessage<T>>(QUEUE_CAPACITY);
messageReceiver = new MessageReceiver<T>(lazyMessages, deserializer);
messageDispatcher = new MessageDispatcher<T>(lazyMessages, executorService);
executorService.execute(messageDispatcher);
diff --git a/rosjava/src/main/java/org/ros/internal/transport/queue/MessageReceiver.java b/rosjava/src/main/java/org/ros/internal/transport/queue/MessageReceiver.java
index 916469ab..2cd4f762 100644
--- a/rosjava/src/main/java/org/ros/internal/transport/queue/MessageReceiver.java
+++ b/rosjava/src/main/java/org/ros/internal/transport/queue/MessageReceiver.java
@@ -57,7 +57,6 @@ public class MessageReceiver<T> extends AbstractNamedChannelHandler {
if (DEBUG) {
log.info(String.format("Received %d byte message.", buffer.readableBytes()));
}
- // TODO(damonkohler): Use MessageBuffers pool.
// We have to make a defensive copy of the buffer here because Netty does
// not guarantee that the returned ChannelBuffer will not be reused.
lazyMessages.add(new LazyMessage<T>(buffer.copy(), deserializer));
diff --git a/rosjava/src/main/java/org/ros/internal/transport/queue/OutgoingMessageQueue.java b/rosjava/src/main/java/org/ros/internal/transport/queue/OutgoingMessageQueue.java
index 46e03574..c7ebe441 100644
--- a/rosjava/src/main/java/org/ros/internal/transport/queue/OutgoingMessageQueue.java
+++ b/rosjava/src/main/java/org/ros/internal/transport/queue/OutgoingMessageQueue.java
@@ -42,7 +42,7 @@ public class OutgoingMessageQueue<T> {
private static final boolean DEBUG = false;
private static final Log log = LogFactory.getLog(OutgoingMessageQueue.class);
- private static final int QUEUE_CAPACITY = 128;
+ private static final int QUEUE_CAPACITY = 16;
private final MessageSerializer<T> serializer;
private final CircularBlockingQueue<T> queue;
diff --git a/rosjava_bootstrap/src/main/java/org/ros/internal/message/field/ChannelBufferField.java b/rosjava_bootstrap/src/main/java/org/ros/internal/message/field/ChannelBufferField.java
index 463bba17..a13f5425 100644
--- a/rosjava_bootstrap/src/main/java/org/ros/internal/message/field/ChannelBufferField.java
+++ b/rosjava_bootstrap/src/main/java/org/ros/internal/message/field/ChannelBufferField.java
@@ -73,9 +73,7 @@ public class ChannelBufferField extends Field {
if (currentSize < 0) {
currentSize = buffer.readInt();
}
- // There are no guarantees this buffer won't be reused so we create a
- // defensive copy.
- value = buffer.readSlice(currentSize).copy();
+ value = buffer.readSlice(currentSize);
}
@Override
--
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