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Optimize read/take path with SHM when waitset is not used for the data notification #1173

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Optimize read/take path with SHM when waitset is not used for the data notification #1173

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Commits on Mar 24, 2022

  1. Update shm_monitor_attach/detach_reader APIs 

      - Make them thread safe
  - The attach API will attach only if the reader is not already attached
  - The attach API also updates the iox_sub storage with monitor and the parent reader
  - The detach API will only attempt to detach if there is a monitor attched

Signed-off-by: Sumanth Nirmal <sumanth.724@gmail.com>
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    sumanth-nirmal committed Mar 24, 2022
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  2. Abstract the method to transfer samples from iox queue to reader hist… 

    …ory cache from shm_monitor.c to dds_read.c

Signed-off-by: Sumanth Nirmal <sumanth.724@gmail.com>
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    sumanth-nirmal committed Mar 24, 2022
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  3. Update dds_reader_lock_samples to update the samples from the iox sub… 

    …scriber

queue to the reader cache directly in the same thread context, if the monitor
is not attached to this reader

Signed-off-by: Sumanth Nirmal <sumanth.724@gmail.com>
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    sumanth-nirmal committed Mar 24, 2022
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  4. Remove the logic of attaching reader to shm monitor for every reader 

     The reader will be attached to the monitor when the reader has read conditions or
status conditions or listener with data availability status mask

Signed-off-by: Sumanth Nirmal <sumanth.724@gmail.com>
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    sumanth-nirmal committed Mar 24, 2022
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  5. Update waitset attach method to attach the reader to the shm monitor 

    Signed-off-by: Sumanth Nirmal <sumanth.724@gmail.com>
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    sumanth-nirmal committed Mar 24, 2022
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  6. Update waitset detach method to detach the reader from the shm monitor 

    Signed-off-by: Sumanth Nirmal <sumanth.724@gmail.com>
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    sumanth-nirmal committed Mar 24, 2022
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  7. Remove the logic of tracking attached iox listeners 

    Signed-off-by: Sumanth Nirmal <sumanth.724@gmail.com>
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    sumanth-nirmal committed Mar 24, 2022
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  8. Remove the unused mutex in shm_monitor 

    Signed-off-by: Sumanth Nirmal <sumanth.724@gmail.com>
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    sumanth-nirmal committed Mar 24, 2022
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  9. Update samples from iox_queue to reader history cache in the 

    read/take_impl APIs when SHM is supported and iox_listener is not
attached to a specific reader

Signed-off-by: Sumanth Nirmal <sumanth.724@gmail.com>
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    sumanth-nirmal committed Mar 24, 2022
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  10. Resolve merge conflicts 

    Signed-off-by: Sumanth Nirmal <sumanth.724@gmail.com>
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    sumanth-nirmal committed Mar 24, 2022
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