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fix(uxrce_dds_client): drain rx buffer by time budget instead of fixe… #27422

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fix(uxrce_dds_client): drain rx buffer by time budget instead of fixe… #27422

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fix(uxrce_dds_client): drain rx buffer by time budget instead of fixe…
SofianElmotiem May 21, 2026
ca2320a
Merge branch 'main' into SofianElmotiem/fix-uxrce-dds-rx-buffer-overrun
SofianElmotiem May 21, 2026
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9 changes: 5 additions & 4 deletions src/modules/uxrce_dds_client/uxrce_dds_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -702,9 +702,10 @@ void UxrceddsClient::run()
}
}

// Run session with 0 timeout (non-blocking). Under high inbound traffic the socket RX buffer can
// overflow and starve the system; drain a small burst per loop to keep up.
for (int i = 0; i < 10; i++) {
// Drain RX buffer up to a time budget to handle high inbound topic rates.
const hrt_abstime drain_deadline = hrt_absolute_time() + 3_ms;

do {
uxr_run_session_timeout(&session, 0);

int fd_bytes_available = 0;
Expand All @@ -714,7 +715,7 @@ void UxrceddsClient::run()
|| (fd_bytes_available <= 0)) {
break;
}
}
} while (hrt_absolute_time() < drain_deadline);

// check if there are available replies
process_replies();
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