[ Error ]: ICEORYX error! MEPOO__MEMPOOL_CHUNKSIZE_MUST_BE_MULTIPLE_OF_CHUNK_MEMORY_ALIGNMENT

[lix19937]

2022-01-01 11:45:58.305 [ Error ]: ICEORYX error! MEPOO__MEMPOOL_CHUNKSIZE_MUST_BE_MULTIPLE_OF_CHUNK_MEMORY_ALIGNMENT

[elBoberido]

This indicates that your mempool configuration is invalid. Are you using the TOML config or do you create it programmatically?

Anyway, you need to ensure that the payload size is a multiple of the specified memory alignment.

[lix19937]

@elBoberido Thank you, I assign the TOML config, like follow

[general]
version = 1

[[segment]]
[[segment.mempool]]
size = 43336   # sizeof (1th msg) + 96 Bytes 
count = 50

[[segment.mempool]]
size = 563336   # sizeof (2th msg) + 96 Bytes 
count = 50

[[segment.mempool]]
size = 2096776  # sizeof (3th msg) + 96 Bytes 
count = 50

[[segment.mempool]]
size = 46489736  # sizeof (4th msg) + 100 Bytes , use + 96 will raise align error  
count = 70

I use ros2 galactic version. Can you give some advice how to set the TOML config ?

source /opt/ros/galactic/install/setup.bash

iox-roudi -c  `pwd`/platform/ros2/havp_nni_node/config/roudi_config.toml

[lix19937]

@elBoberido Another problem, I want to know whether the addrs of borrow-loaded-msg memory are in limited range(number), I need get those addrs for static graph setting.

[elBoberido]

@lix19937 well, iox-roudi -c path/to/config.toml is basically the way to go. It seems your 4th message has an alignment of 4 bytes and iceoryx assumes a minimal alignment of 8. That's why you need to add additional 4 bytes to the payload size.

Another problem, I want to know whether the addrs of borrow-loaded-msg memory are in limited range(number), I need get those addrs for static graph setting.

I'm not sure what you mean with this?

[lix19937]

@elBoberido Another problem, I want to know whether the addrs of borrow-loaded-msg memory are in limited range(number), I need get those addrs for static graph setting.

I means ptr here

    std::set<void *> ptr_set; /// define in Class Init 

    ...

    // runtime call 
    auto psd_loaned_msg = psd_pub_->borrow_loaned_message();
    if (!psd_loaned_msg.is_valid()){
        ERR("Failed to borrow_loaned_message!");
        raise(SIGINT);
        return;
    }
    auto &psd_pub_msg = psd_loaned_msg.get();     
    auto ptr = psd_pub_msg.data.data()  // addr  data in msg  !!!    

    ptr_set.insert(ptr );  /// I want to know the size of ptr_set is limited and fixed.   

psd_msg define follow

uint64                          stamp  
uint32                          frame_id

uint32                          frame_num
uint32                          version
uint32[4]                       reserved

uint8 TENSOR_DT_INVALID = 0
uint8 TENSOR_DT_FLOAT   = 1
uint8 TENSOR_DT_HALF    = 2
uint8 TENSOR_DT_FP8     = 3
uint8 TENSOR_DT_INT32   = 4
uint8 TENSOR_DT_INT16   = 5
uint8 TENSOR_DT_INT8    = 6
uint8 TENSOR_DT_UINT8   = 7
uint8 TENSOR_DT_INT4    = 8
int32                           data_type

# 2750*26  float 
int32[71500]                    data

[lix19937]

some tips:

!!! note Actually only the chunk-payload size is configured and the size of the ChunkHeader will be added to the configured size. If a user-header or a user-payload alignment larger than 8 is used, the available size for the user-payload will be smaller than the configured chunk-payload since some space is needed for the other functionality. Please have a look at the chunk_header.md design document for a formula how to determine the necessary chunk-payload size with user-header and extended user-payload alignment.

1. Chunksize needs to be greater than the alignment
2. Chunksize needs to be a multiple of the alignment

https://github.com/eclipse-iceoryx/iceoryx/blob/main/doc/website/advanced/configuration-guide.md