Thanks, we're trying to serve as large amount as we can on a single kamailio server.
Anyway, after some test, I found the problem may related to debug level.

If I switch on memdbg, it'll have a HUGE impact to kamailio and cause TCP connection drop.
If I leave debug=-2, then it runs well.

Normally it should not switch on memlog on a running production server.
So I think this issue can be closed now.

Again, thank you for all your great contributions, really appreciate your help.

Further information if anyone interest in

Env:

start kamailio with pkg 2G, shm 2G
sipp with 1000 RPS

TEST 1: with memdbg on ( lots of logs write to syslog )

It will drop tcp connection along with shm goes down.
And sipp will stop and shows Broken pipe on TCP connection, remote peer probably closed the socket.

TEST 2: disable all logs, at log level -2, nearly no logs at all

It runs well, and did not keep swallowing shm at this level.
free shm 208811808 more or less.

root@SIP-B03:~# kamcmd core.shmmem
{
    total: 1073741824
    free: 208811808
    used: 862058976
    real_used: 864930016
    max_used: 864952488
    fragments: 253
}


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