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Executable
+35
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#
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# $Id$
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# $HeadURL$
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# $Author$
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#
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SET(SRCS
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DDS_DefaultQos.h
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DDS_DefaultQos.cpp
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)
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IF(TABLET_MODE)
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NGL_INSTALL(WS AAR HLA SV FILES "default_profile_tablet.xml" DESTINATION "./share/Lts/DDS" RENAME "default_profile.xml")
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NGL_INSTALL(WS AAR HLA SV FILES "default_profile.xml" DESTINATION "./share/Lts/DDS" RENAME "default_profile_ws.xml")
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ELSE()
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INSTALL_SHARED_FILES(SRCS
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FILES "default_profile.xml"
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DESTINATION "DDS"
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SV WS AAR HLA
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)
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ENDIF()
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NGL_ADD_LIBRARY2(AAR SV HLA WS ddsQoS SHARED ${SRCS})
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NGL_TARGET_INCLUDE_DIRECTORIES(ddsQoS
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INTERFACE
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${CMAKE_CURRENT_SOURCE_DIR}/../../
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)
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NGL_TARGET_LINK_LIBRARIES(ddsQoS
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PRIVATE
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RTI::nddsc
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RTI::nddscpp2
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NGLLogger
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ngltools
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PUBLIC
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Qt5::Core
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)
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Executable
+259
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/**
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* @RDE_HEADER@
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* Configuration of the default QoS
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* $Id$
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* $HeadURL$
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* $Author$
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*/
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#include "DDS_DefaultQos.h"
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#include <QUrl>
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#include <ngltools/ngltools_filesystem.h>
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#include <NGLLogger/NGLLoggerBootstrap.h>
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namespace DDS
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{
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namespace QosProfile
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{
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static void printPolicyMap(const std::map<std::string, std::string> &policyMap, NGL::INGLLogger &logger);
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QString defaultProfileXml()
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{
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return NGL::findFile(NGL::FileType::ConfigFile, QStringLiteral("default_profile.xml"));
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}
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bool setDefault(const QStringList &qosFileList)
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{
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NGL::INGLLogger &logger = NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("DDS.DefaultQos");
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const QStringList qosStr = qosFileList.isEmpty() ?
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QStringList(defaultProfileXml()) :
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qosFileList;
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if (logger.isDebugEnabled())
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{
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DEBUG_LOG(logger) << "findFile - m_qosFileList = ";
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for (const QString &file : qosStr)
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DEBUG_LOG(logger) << "# profile: " << file;
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}
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try
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{
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// QosProvider
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dds::core::StringSeq urls;
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urls.reserve(qosStr.size());
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for (const QString &file : qosStr)
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{
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const QString url = QUrl::fromLocalFile(file).toString();
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DEBUG_LOG(logger) << "Using qosFile: " << file << " - " << url;
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urls.emplace_back(url.toStdString());
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}
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dds::core::QosProvider defaultProvider = dds::core::QosProvider::Default();
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rti::core::QosProviderParams qosProviderParams = defaultProvider->default_provider_params();
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qosProviderParams.url_profile(urls);
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defaultProvider->default_provider_params(qosProviderParams);
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print(defaultProvider, logger);
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}
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catch (const dds::core::Exception &ex)
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{
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ERROR_LOG(logger) << ex.what();
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return false;
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}
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return true;
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}
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static QString fixupSchemeName(const QUrl &url)
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{
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// '_' is not allowed in a scheme, but rti needs it ...
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QString str = url.toString();
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str = str.replace(QLatin1String("tcpv4lan"), QLatin1String("tcpv4_lan"));
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return QStringLiteral("0@") + str;
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}
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dds::domain::qos::DomainParticipantQos domainParticipantShmUdp()
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{
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return domainParticipantDefault(ConnectionType::ShmUdp, QUrl());
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}
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dds::domain::qos::DomainParticipantQos domainParticipantShmUdpLocalhost()
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{
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return domainParticipantDefault(ConnectionType::ShmUdpLocalhost, QUrl());
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}
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dds::domain::qos::DomainParticipantQos domainParticipantShm()
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{
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return domainParticipantDefault(ConnectionType::Shm, QUrl());
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}
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dds::domain::qos::DomainParticipantQos domainParticipantShmTcp(const QUrl &tcpConnectionUrl)
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{
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return domainParticipantDefault(ConnectionType::Tcp, tcpConnectionUrl);
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}
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dds::domain::qos::DomainParticipantQos domainParticipantDefault(ConnectionType type, const QUrl &tcpConnectionUrl)
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{
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dds::core::QosProvider defaultProvider = dds::core::QosProvider::Default();
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dds::domain::qos::DomainParticipantQos dpQos = defaultProvider.participant_qos();
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switch (type)
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{
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case ConnectionType::Tcp:
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{
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.Tcp");
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if (tcpConnectionUrl.scheme() == QLatin1String("tcpv4lan"))
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{
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// client
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rti::core::policy::Discovery discovery;
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dpQos >> discovery;
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const dds::core::StringSeq seq({fixupSchemeName(tcpConnectionUrl).toStdString()});
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discovery.initial_peers(seq);
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dpQos << discovery;
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}
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else
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{
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// server
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rti::core::policy::Property props;
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dpQos >> props;
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props.set({"dds.transport.TCPv4.tcp1.server_bind_port", std::to_string(tcpConnectionUrl.port(7400))});
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dpQos << props;
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}
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break;
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}
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case ConnectionType::Shm:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.Shm");
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break;
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case ConnectionType::ShmUdp:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.ShmUdp");
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break;
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case ConnectionType::ShmUdpLocalhost:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.ShmUdpLocalhost");
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break;
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case ConnectionType::Server:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.Server");
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break;
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case ConnectionType::Client:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.Client");
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break;
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case ConnectionType::Tablet:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.Tablet");
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break;
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}
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return dpQos;
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}
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dds::pub::qos::DataWriterQos dataWriterDefault(TopicType type)
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{
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dds::core::QosProvider defaultProvider = dds::core::QosProvider::Default();
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dds::pub::qos::DataWriterQos dwQos = defaultProvider.datawriter_qos();
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switch (type)
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{
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case TopicType::DataTopic:
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break; // no changes to default profile
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case TopicType::FunctionTopic:
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dwQos = defaultProvider.datawriter_qos("LtsProfiles::DataReaderWriter.FT");
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break;
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}
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return dwQos;
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}
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dds::sub::qos::DataReaderQos dataReaderDefault(TopicType type)
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{
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dds::core::QosProvider defaultProvider = dds::core::QosProvider::Default();
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dds::sub::qos::DataReaderQos drQos = defaultProvider.datareader_qos();
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switch (type)
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{
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case TopicType::DataTopic:
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break; // no changes to default profile
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case TopicType::FunctionTopic:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DataReaderWriter.FT");
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break;
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}
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return drQos;
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}
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dds::sub::qos::DataReaderQos dataReaderDefault( ConnectionType conType)
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{
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dds::core::QosProvider defaultProvider = dds::core::QosProvider::Default();
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dds::sub::qos::DataReaderQos drQos = defaultProvider.datareader_qos();
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switch (conType)
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{
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case ConnectionType::Shm:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.Shm");
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break;
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case ConnectionType::ShmUdp:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.ShmUdp");
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break;
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case ConnectionType::ShmUdpLocalhost:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.ShmUdpLocalhost");
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break;
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case ConnectionType::Server:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.Server");
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break;
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case ConnectionType::Client:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.Client");
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break;
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case ConnectionType::Tablet:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.Tablet");
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break;
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default:
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break;
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}
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return drQos;
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}
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void print(dds::core::QosProvider provider, NGL::INGLLogger &logger)
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{
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// for debugging: get the QoS parameter for writerQos & readerQos
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// Dp Qos
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print(provider.participant_qos(), logger);
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// DataWriter Qos
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print(provider.datawriter_qos(), logger);
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// DataReader Qos
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print(provider.datareader_qos(), logger);
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}
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void print(const dds::domain::qos::DomainParticipantQos &qos, NGL::INGLLogger &logger)
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{
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// DataReader Qos
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DEBUG_LOG(logger) << "Qos for DomainParticipant: ";
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printPolicyMap(qos->property.get_all(), logger);
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}
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void print(const dds::sub::qos::DataReaderQos &readerQos, NGL::INGLLogger &logger)
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{
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// DataReader Qos
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DEBUG_LOG(logger) << "Qos for dataReader: ";
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DEBUG_LOG(logger) << "resourceLimit.max_samples " << readerQos->resource_limits.max_samples();
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printPolicyMap(readerQos->property.get_all(), logger);
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}
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void print(const dds::pub::qos::DataWriterQos &writerQos, NGL::INGLLogger &logger)
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{
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// DataWriter Qos
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DEBUG_LOG(logger) << "Default Qos for dataWriter: ";
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DEBUG_LOG(logger) << "ReliabilityKind: " << writerQos->reliability->kind();
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DEBUG_LOG(logger) << "Publish mode: " << writerQos->publish_mode.kind();
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printPolicyMap(writerQos->property.get_all(), logger);
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}
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void printPolicyMap(const std::map<std::string, std::string> &policyMap, NGL::INGLLogger &logger)
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{
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for (const auto &it : policyMap)
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{
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const std::string &policyName = it.first;
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const std::string &policyContent = it.second;
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DEBUG_LOG(logger) << "policy " << policyName << ": " << policyContent ;
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}
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}
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} // namespace QosProfile
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} // namespace DDS
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Executable
+64
@@ -0,0 +1,64 @@
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/**
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* @RDE_HEADER@
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* Configuration of the default QoS:
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* - Reading default profile (xml)
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* - added Parameter
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*
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* $Id$
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* $HeadURL$
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||||
* $Author$
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*/
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#pragma once
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#include <QStringList>
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#include <QUrl>
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#include <dds/core/QosProvider.hpp>
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#include <QosProfile/ddsqos_export.h>
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namespace NGL
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{
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class INGLLogger;
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}
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namespace DDS
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{
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namespace QosProfile
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{
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enum class ConnectionType
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{
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ShmUdp, // shm and udp
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ShmUdpLocalhost, // shm and udp, but udp only localhost
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Shm, // only shm
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Tcp, // tcpv4
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Server,
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Client,
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Tablet
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};
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enum class TopicType
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{
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DataTopic,
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FunctionTopic
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};
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DDSQOS_EXPORT QString defaultProfileXml();
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DDSQOS_EXPORT bool setDefault(const QStringList &qosFileList = QStringList());
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DDSQOS_EXPORT dds::domain::qos::DomainParticipantQos domainParticipantDefault(ConnectionType type, const QUrl &tcpConnectionUrl);
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DDSQOS_EXPORT dds::pub::qos::DataWriterQos dataWriterDefault(TopicType type);
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DDSQOS_EXPORT dds::sub::qos::DataReaderQos dataReaderDefault(TopicType type);
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DDSQOS_EXPORT dds::sub::qos::DataReaderQos dataReaderDefault(ConnectionType conType);
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// shortcuts for domainParticipantDefault(typ, url)
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DDSQOS_EXPORT dds::domain::qos::DomainParticipantQos domainParticipantShmUdp();
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DDSQOS_EXPORT dds::domain::qos::DomainParticipantQos domainParticipantShmUdpLocalhost();
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DDSQOS_EXPORT dds::domain::qos::DomainParticipantQos domainParticipantShm();
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DDSQOS_EXPORT dds::domain::qos::DomainParticipantQos domainParticipantShmTcp(const QUrl &tcpConnectionUrl);
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DDSQOS_EXPORT void print(dds::core::QosProvider provider, NGL::INGLLogger &logger);
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DDSQOS_EXPORT void print(const dds::domain::qos::DomainParticipantQos &qos, NGL::INGLLogger &logger);
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DDSQOS_EXPORT void print(const dds::sub::qos::DataReaderQos &readerQos, NGL::INGLLogger &logger);
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DDSQOS_EXPORT void print(const dds::pub::qos::DataWriterQos &writerQos, NGL::INGLLogger &logger);
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} // namespace QosProfile
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||||
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||||
} // namespace DDS
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||||
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Executable
+571
@@ -0,0 +1,571 @@
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||||
<?xml version="1.0"?>
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||||
<!--
|
||||
Description
|
||||
XML QoS Profile for a project with DDS
|
||||
|
||||
For more information about XML QoS Profiles see Chapter 15 in the
|
||||
RTI Connext user manual.
|
||||
-->
|
||||
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="/opt/RTI/resource/qos_profiles_5.1.0/schema/rti_dds_qos_profiles.xsd">
|
||||
<!-- QoS Library containing the default QoS profile for the project
|
||||
|
||||
A QoS library is a named set of QoS profiles.
|
||||
-->
|
||||
<qos_library name="LtsProfiles">
|
||||
<!-- QoS profile used to configure reliable communication between the DataWriter and DataReader
|
||||
|
||||
A QoS profile groups a set of related QoS.
|
||||
-->
|
||||
|
||||
<qos_profile name="Base" base_name="BuiltinQosLibExp::Generic.StrictReliable" is_default_qos="true">
|
||||
<!-- Participent QoS -->
|
||||
<participant_qos>
|
||||
<property>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.shmem.builtin.receive_buffer_size</name>
|
||||
<value>20971520</value> <!-- 20MB -->
|
||||
</element>
|
||||
</value>
|
||||
<!--FRAN: allow IP fragmentation (30jun2020)-->
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.UDPv4.builtin.parent.message_size_max</name>
|
||||
<value>1450</value>
|
||||
</element>
|
||||
</value>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.UDPv4.builtin.multicast_ttl</name>
|
||||
<value>5</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.period.sec</name>
|
||||
<value>0</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.period.nanosec</name>
|
||||
<value>100000000</value>
|
||||
</element>
|
||||
<!-- UDP MTU -->
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.bytes_per_token</name>
|
||||
<value>3072</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.tokens_leaked_per_period</name>
|
||||
<value>0</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.tokens_added_per_period</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.max_tokens</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
<resource_limits>
|
||||
<!-- type_code is not needed for RTI 5.x and above-->
|
||||
<type_code_max_serialized_length>0</type_code_max_serialized_length>
|
||||
<!-- type_object is only needed if someone wants to dynamically decode the structures
|
||||
without haveing this info otherwise (e.g. programatically) which is not the case
|
||||
in our system-->
|
||||
<type_object_max_serialized_length>0</type_object_max_serialized_length>
|
||||
</resource_limits>
|
||||
<discovery_config>
|
||||
<!--FRAN: disable sending DATA(p) packets to domain 0, RTPX (30jun2020)-->
|
||||
<default_domain_announcement_period>
|
||||
<sec>DURATION_INFINITE_SEC</sec>
|
||||
<nanosec>DURATION_INFINITE_NSEC</nanosec>
|
||||
</default_domain_announcement_period>
|
||||
<publication_writer_publish_mode>
|
||||
<kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
|
||||
<!-- <flow_controller_name>dds.flow_controller.token_bucket.my_2_5Mbps_fc</flow_controller_name> -->
|
||||
</publication_writer_publish_mode>
|
||||
<subscription_writer_publish_mode>
|
||||
<kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
|
||||
<!-- <flow_controller_name>dds.flow_controller.token_bucket.my_2_5Mbps_fc</flow_controller_name> -->
|
||||
</subscription_writer_publish_mode>
|
||||
<participant_liveliness_assert_period>
|
||||
<sec>5</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</participant_liveliness_assert_period>
|
||||
<participant_liveliness_lease_duration>
|
||||
<sec>20</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</participant_liveliness_lease_duration>
|
||||
<max_liveliness_loss_detection_period>
|
||||
<sec>10</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</max_liveliness_loss_detection_period>
|
||||
<publication_writer>
|
||||
<enable_multicast_periodic_heartbeat>1</enable_multicast_periodic_heartbeat>
|
||||
<!--FRAN: why these values?-->
|
||||
<min_send_window_size>20</min_send_window_size>
|
||||
<max_send_window_size>400</max_send_window_size>
|
||||
<heartbeats_per_max_samples>50</heartbeats_per_max_samples>
|
||||
<!--FRAN: set to 500ms instead of 50ms (30jun2020)-->
|
||||
<fast_heartbeat_period>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</fast_heartbeat_period>
|
||||
<late_joiner_heartbeat_period>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</late_joiner_heartbeat_period>
|
||||
<max_nack_response_delay>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</max_nack_response_delay>
|
||||
</publication_writer>
|
||||
<subscription_writer>
|
||||
<enable_multicast_periodic_heartbeat>1</enable_multicast_periodic_heartbeat>
|
||||
<!--FRAN: set to 500ms instead of 50ms (30jun2020)-->
|
||||
<min_send_window_size>20</min_send_window_size>
|
||||
<max_send_window_size>400</max_send_window_size>
|
||||
<heartbeats_per_max_samples>50</heartbeats_per_max_samples>
|
||||
<fast_heartbeat_period>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</fast_heartbeat_period>
|
||||
<late_joiner_heartbeat_period>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</late_joiner_heartbeat_period>
|
||||
<max_nack_response_delay>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</max_nack_response_delay>
|
||||
</subscription_writer>
|
||||
</discovery_config>
|
||||
</participant_qos>
|
||||
<!-- Publisher QOS -->
|
||||
|
||||
|
||||
<!--Patric: we enabled coherent sets -->
|
||||
<!-- QoS used to configure the data writer -->
|
||||
<!--
|
||||
<publisher_qos>
|
||||
<presentation>
|
||||
<access_scope>TOPIC_PRESENTATION_QOS</access_scope>
|
||||
<coherent_access>true</coherent_access>
|
||||
</presentation>
|
||||
</publisher_qos>
|
||||
<subscriber_qos>
|
||||
<presentation>
|
||||
<access_scope>TOPIC_PRESENTATION_QOS</access_scope>
|
||||
<coherent_access>true</coherent_access>
|
||||
</presentation>
|
||||
</subscriber_qos>
|
||||
-->
|
||||
|
||||
|
||||
<!-- QoS used to configure the data writer -->
|
||||
<datawriter_qos>
|
||||
<publish_mode>
|
||||
<kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
|
||||
</publish_mode>
|
||||
<property>
|
||||
<value>
|
||||
<!-- The next setting is used to force dynamic memory
|
||||
allocation for samples with a serialized size of
|
||||
larger than 2K. Without setting
|
||||
pool_buffer_max_size, all memory would be obtained
|
||||
from a pre-allocated pool, which would greatly
|
||||
increase the memory usage in an application which
|
||||
sends large data.
|
||||
-->
|
||||
<element>
|
||||
<name>dds.data_writer.history.memory_manager.fast_pool.pool_buffer_max_size</name>
|
||||
<value>2048</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
<reliability>
|
||||
<kind>RELIABLE_RELIABILITY_QOS</kind>
|
||||
<!--FRAN: why 60 seconds?-->
|
||||
<max_blocking_time>
|
||||
<sec>60</sec>
|
||||
</max_blocking_time>
|
||||
</reliability>
|
||||
<durability>
|
||||
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
|
||||
</durability>
|
||||
<history>
|
||||
<kind>KEEP_LAST_HISTORY_QOS</kind>
|
||||
<depth>1</depth>
|
||||
</history>
|
||||
<resource_limits>
|
||||
<!--<max_samples_per_instance>1</max_samples_per_instance>-->
|
||||
<max_samples>8000</max_samples>
|
||||
</resource_limits>
|
||||
<protocol>
|
||||
<rtps_reliable_writer>
|
||||
<!--FRAN: why these values?-->
|
||||
<min_send_window_size>20</min_send_window_size>
|
||||
<max_send_window_size>400</max_send_window_size>
|
||||
<heartbeats_per_max_samples>50</heartbeats_per_max_samples>
|
||||
</rtps_reliable_writer>
|
||||
</protocol>
|
||||
<writer_resource_limits>
|
||||
<autoregister_instances>true</autoregister_instances>
|
||||
</writer_resource_limits>
|
||||
</datawriter_qos>
|
||||
|
||||
|
||||
|
||||
<datareader_qos>
|
||||
<reliability>
|
||||
<kind>RELIABLE_RELIABILITY_QOS</kind>
|
||||
</reliability>
|
||||
<reader_data_lifecycle>
|
||||
<autopurge_nowriter_samples_delay>
|
||||
<sec>5</sec>
|
||||
<nanosec>DURATION_ZERO_NSEC</nanosec>
|
||||
</autopurge_nowriter_samples_delay>
|
||||
<autopurge_disposed_samples_delay>
|
||||
<sec>5</sec>
|
||||
<nanosec>DURATION_ZERO_NSEC</nanosec>
|
||||
</autopurge_disposed_samples_delay>
|
||||
</reader_data_lifecycle>
|
||||
<durability>
|
||||
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
|
||||
<!-- Set this field to 0 if you want brokered communication (all communication
|
||||
passes through the persistence service before being received by the datareader;
|
||||
i.e. datawriter and datareader cannot 'see' each other directly)
|
||||
-->
|
||||
<direct_communication>true</direct_communication>
|
||||
</durability>
|
||||
<history>
|
||||
<kind>KEEP_LAST_HISTORY_QOS</kind>
|
||||
<depth>1</depth>
|
||||
</history>
|
||||
<resource_limits>
|
||||
<!--<initial_samples>200</initial_samples> -->
|
||||
<!--<max_samples_per_instance>1</max_samples_per_instance> -->
|
||||
<!-- We limit max_samples on the reader so that if the
|
||||
writer is publishing samples faster than the reader is
|
||||
taking them then the reader will start sending NACKs
|
||||
for samples received after the number of samples in
|
||||
its queue reaches max_samples. This behavior will put
|
||||
pressure on the writer to throttle back its publishing
|
||||
speed.
|
||||
-->
|
||||
<max_samples>8000</max_samples>
|
||||
</resource_limits>
|
||||
<reader_resource_limits>
|
||||
<!-- Determines whether the DataReader pre-allocates
|
||||
storage for storing fragmented samples. This setting
|
||||
can be used to limit upfront memory allocation costs
|
||||
in applications which are dealing with large data
|
||||
-->
|
||||
<dynamically_allocate_fragmented_samples>true</dynamically_allocate_fragmented_samples>
|
||||
<max_samples_per_read>8000</max_samples_per_read>
|
||||
</reader_resource_limits>
|
||||
<property>
|
||||
<value>
|
||||
<!-- The next setting is used to force dynamic memory
|
||||
allocation for samples with a serialized size of
|
||||
larger than 2K. Without setting
|
||||
pool_buffer_max_size, all memory would be obtained
|
||||
from a pre-allocated pool, which would greatly
|
||||
increase the memory usage in an application which
|
||||
sends large data.
|
||||
-->
|
||||
<element>
|
||||
<name>dds.data_reader.history.memory_manager.fast_pool.pool_buffer_max_size</name>
|
||||
<value>2048</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
</datareader_qos>
|
||||
</qos_profile>
|
||||
|
||||
<!--FRAN: who uses this profile?-->
|
||||
<!--Function topic. tablets->server-->
|
||||
<qos_profile name="DataReaderWriter.FT" base_name="LtsProfiles::Base">
|
||||
<datareader_qos>
|
||||
<durability>
|
||||
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
|
||||
</durability>
|
||||
<history>
|
||||
<kind>KEEP_ALL_HISTORY_QOS</kind>
|
||||
</history>
|
||||
</datareader_qos>
|
||||
<datawriter_qos>
|
||||
<publish_mode>
|
||||
<kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
|
||||
</publish_mode>
|
||||
<durability>
|
||||
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
|
||||
</durability>
|
||||
<history>
|
||||
<kind>KEEP_LAST_HISTORY_QOS</kind>
|
||||
<depth>1</depth>
|
||||
</history>
|
||||
</datawriter_qos>
|
||||
</qos_profile>
|
||||
<!--Mostly used by the tablets as a special mode-->
|
||||
<qos_profile name="DomainParticipant.Shm" base_name="LtsProfiles::Base">
|
||||
<participant_qos>
|
||||
<transport_builtin>
|
||||
<mask>SHMEM</mask>
|
||||
</transport_builtin>
|
||||
<discovery>
|
||||
<multicast_receive_addresses/>
|
||||
<accept_unknown_peers>false</accept_unknown_peers>
|
||||
<initial_peers>
|
||||
<element>30@builtin.shmem://</element>
|
||||
</initial_peers>
|
||||
</discovery>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
|
||||
<!--Used by both tablets and server-->
|
||||
<qos_profile name="DomainParticipant.ShmUdp" base_name="LtsProfiles::Base">
|
||||
<participant_qos>
|
||||
<transport_builtin>
|
||||
<mask>UDPv4 | SHMEM</mask>
|
||||
</transport_builtin>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
|
||||
<!-- Both server and clients. Maybe not used-->
|
||||
<qos_profile name="DomainParticipant.ShmUdpLocalhost" base_name="DomainParticipant.ShmUdp">
|
||||
<participant_qos>
|
||||
<discovery>
|
||||
<multicast_receive_addresses/>
|
||||
<accept_unknown_peers>false</accept_unknown_peers>
|
||||
<initial_peers>
|
||||
<element>builtin.shmem://</element>
|
||||
<element>builtin.udpv4://127.0.0.1</element>
|
||||
</initial_peers>
|
||||
</discovery>
|
||||
<property>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.UDPv4.builtin.multicast_enabled</name>
|
||||
<value>0</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.UDPv4.builtin.parent.allow_interfaces</name>
|
||||
<value>127.0.0.1</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
<!-- configured for tcp client -> listenport = -1 -->
|
||||
<qos_profile name="DomainParticipant.Tcp" base_name="LtsProfiles::Base">
|
||||
<participant_qos>
|
||||
<transport_builtin>
|
||||
<mask>MASK_NONE</mask>
|
||||
</transport_builtin>
|
||||
<property>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.load_plugins</name>
|
||||
<value>dds.transport.TCPv4.tcp1</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.library</name>
|
||||
<value>nddstransporttcp</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.create_function</name>
|
||||
<value>NDDS_Transport_TCPv4_create</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.parent.classid</name>
|
||||
<value>NDDS_TRANSPORT_CLASSID_TCPV4_LAN</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.server_bind_port</name>
|
||||
<value>-1</value>
|
||||
</element>
|
||||
<!--
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.logging_verbosity_bitmap</name>
|
||||
<value>159</value>
|
||||
</element>
|
||||
-->
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.disable_nagle</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
<!--
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.send_max_wait_sec</name>
|
||||
<value>-1</value>
|
||||
</element>
|
||||
-->
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.max_packet_size</name>
|
||||
<value>63020</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.parent.message_size_max</name>
|
||||
<value>63020</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.recv_socket_buffer_size</name>
|
||||
<value>8388608</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.send_socket_buffer_size</name>
|
||||
<value>8388608</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.connection_liveliness.enable</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.connection_liveliness.lease_duration</name>
|
||||
<value>5</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.connection_liveliness.assertions_per_lease_duration</name>
|
||||
<value>2</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.outstanding_connection_cookies</name>
|
||||
<value>100</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.outstanding_connection_cookies_life_span</name>
|
||||
<value>5</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.force_asynchronous_send</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
<discovery_config>
|
||||
<participant_liveliness_assert_period>
|
||||
<sec>2</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</participant_liveliness_assert_period>
|
||||
<participant_liveliness_lease_duration>
|
||||
<sec>5</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</participant_liveliness_lease_duration>
|
||||
<max_liveliness_loss_detection_period>
|
||||
<sec>2</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</max_liveliness_loss_detection_period>
|
||||
</discovery_config>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
|
||||
|
||||
<!--FRAN: 3 new profiles for each kind of host (30jun2020)-->
|
||||
<!--This implements asymmetric discovery-->
|
||||
<qos_profile name="DomainParticipant.Client" base_name="DomainParticipant.ShmUdp">
|
||||
<participant_qos>
|
||||
<discovery>
|
||||
<initial_peers>
|
||||
<element>239.255.0.2</element>
|
||||
</initial_peers>
|
||||
<multicast_receive_addresses>
|
||||
<element>239.255.0.3</element>
|
||||
</multicast_receive_addresses>
|
||||
</discovery>
|
||||
</participant_qos>
|
||||
<!-- QoS used to configure the data reader -->
|
||||
<!--Patric: reader want all our LTS Topics via multicast now -->
|
||||
<datareader_qos>
|
||||
<multicast>
|
||||
<value>
|
||||
<element>
|
||||
<receive_address>239.255.1.7</receive_address>
|
||||
</element>
|
||||
</value>
|
||||
</multicast>
|
||||
<reliability>
|
||||
<kind>RELIABLE_RELIABILITY_QOS</kind>
|
||||
</reliability>
|
||||
<reader_data_lifecycle>
|
||||
<autopurge_nowriter_samples_delay>
|
||||
<sec>5</sec>
|
||||
<nanosec>DURATION_ZERO_NSEC</nanosec>
|
||||
</autopurge_nowriter_samples_delay>
|
||||
<autopurge_disposed_samples_delay>
|
||||
<sec>5</sec>
|
||||
<nanosec>DURATION_ZERO_NSEC</nanosec>
|
||||
</autopurge_disposed_samples_delay>
|
||||
</reader_data_lifecycle>
|
||||
<durability>
|
||||
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
|
||||
<!-- Set this field to 0 if you want brokered communication (all communication
|
||||
passes through the persistence service before being received by the datareader;
|
||||
i.e. datawriter and datareader cannot 'see' each other directly)
|
||||
-->
|
||||
<direct_communication>true</direct_communication>
|
||||
</durability>
|
||||
<history>
|
||||
<kind>KEEP_LAST_HISTORY_QOS</kind>
|
||||
<depth>1</depth>
|
||||
</history>
|
||||
<resource_limits>
|
||||
<!--<initial_samples>200</initial_samples> -->
|
||||
<!--<max_samples_per_instance>1</max_samples_per_instance> -->
|
||||
<!-- We limit max_samples on the reader so that if the
|
||||
writer is publishing samples faster than the reader is
|
||||
taking them then the reader will start sending NACKs
|
||||
for samples received after the number of samples in
|
||||
its queue reaches max_samples. This behavior will put
|
||||
pressure on the writer to throttle back its publishing
|
||||
speed.
|
||||
-->
|
||||
<max_samples>8000</max_samples>
|
||||
</resource_limits>
|
||||
<reader_resource_limits>
|
||||
<!-- Determines whether the DataReader pre-allocates
|
||||
storage for storing fragmented samples. This setting
|
||||
can be used to limit upfront memory allocation costs
|
||||
in applications which are dealing with large data
|
||||
-->
|
||||
<dynamically_allocate_fragmented_samples>true</dynamically_allocate_fragmented_samples>
|
||||
<max_samples_per_read>8000</max_samples_per_read>
|
||||
</reader_resource_limits>
|
||||
</datareader_qos>
|
||||
|
||||
|
||||
|
||||
</qos_profile>
|
||||
|
||||
<!--FRAN: 3 new profiles for each kind of host (30jun2020)-->
|
||||
<!--This implements asymmetric discovery-->
|
||||
<qos_profile name="DomainParticipant.Server" base_name="DomainParticipant.ShmUdp">
|
||||
<participant_qos>
|
||||
<discovery>
|
||||
<initial_peers>
|
||||
<element>239.255.0.1</element>
|
||||
<element>239.255.0.3</element>
|
||||
<element>127.0.0.1</element>
|
||||
</initial_peers>
|
||||
<multicast_receive_addresses>
|
||||
<element>239.255.0.2</element>
|
||||
</multicast_receive_addresses>
|
||||
</discovery>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
<!--FRAN: 3 new profiles for each kind of host (30jun2020)-->
|
||||
<!--This implements asymmetric discovery-->
|
||||
<qos_profile name="DomainParticipant.Tablet" base_name="DomainParticipant.ShmUdp">
|
||||
<participant_qos>
|
||||
<discovery>
|
||||
<initial_peers>
|
||||
<element>239.255.0.2</element>
|
||||
</initial_peers>
|
||||
<multicast_receive_addresses>
|
||||
<element>239.255.0.1</element>
|
||||
</multicast_receive_addresses>
|
||||
</discovery>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
</qos_library>
|
||||
</dds>
|
||||
+544
@@ -0,0 +1,544 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Description
|
||||
XML QoS Profile for a project with DDS
|
||||
|
||||
For more information about XML QoS Profiles see Chapter 15 in the
|
||||
RTI Connext user manual.
|
||||
-->
|
||||
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="/opt/RTI/resource/qos_profiles_5.1.0/schema/rti_dds_qos_profiles.xsd">
|
||||
<!-- QoS Library containing the default QoS profile for the project
|
||||
|
||||
A QoS library is a named set of QoS profiles.
|
||||
-->
|
||||
<qos_library name="LtsProfiles">
|
||||
<!-- QoS profile used to configure reliable communication between the DataWriter and DataReader
|
||||
|
||||
A QoS profile groups a set of related QoS.
|
||||
-->
|
||||
|
||||
<qos_profile name="Base" base_name="BuiltinQosLibExp::Generic.StrictReliable" is_default_qos="true">
|
||||
<!-- Participent QoS -->
|
||||
<participant_qos>
|
||||
<property>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.shmem.builtin.receive_buffer_size</name>
|
||||
<value>20971520</value> <!-- 20MB -->
|
||||
</element>
|
||||
</value>
|
||||
<!--FRAN: allow IP fragmentation (30jun2020)-->
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.UDPv4.builtin.parent.message_size_max</name>
|
||||
<value>1450</value>
|
||||
</element>
|
||||
</value>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.UDPv4.builtin.multicast_ttl</name>
|
||||
<value>5</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.period.sec</name>
|
||||
<value>0</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.period.nanosec</name>
|
||||
<value>100000000</value>
|
||||
</element>
|
||||
<!-- UDP MTU -->
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.bytes_per_token</name>
|
||||
<value>3072</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.tokens_leaked_per_period</name>
|
||||
<value>0</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.tokens_added_per_period</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.flow_controller.token_bucket.my_2_5Mbps_fc.token_bucket.max_tokens</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
<resource_limits>
|
||||
<!-- type_code is not needed for RTI 5.x and above-->
|
||||
<type_code_max_serialized_length>0</type_code_max_serialized_length>
|
||||
<!-- type_object is only needed if someone wants to dynamically decode the structures
|
||||
without haveing this info otherwise (e.g. programatically) which is not the case
|
||||
in our system-->
|
||||
<type_object_max_serialized_length>0</type_object_max_serialized_length>
|
||||
</resource_limits>
|
||||
<discovery_config>
|
||||
<!--FRAN: disable sending DATA(p) packets to domain 0, RTPX (30jun2020)-->
|
||||
<default_domain_announcement_period>
|
||||
<sec>DURATION_INFINITE_SEC</sec>
|
||||
<nanosec>DURATION_INFINITE_NSEC</nanosec>
|
||||
</default_domain_announcement_period>
|
||||
<publication_writer_publish_mode>
|
||||
<kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
|
||||
<!-- <flow_controller_name>dds.flow_controller.token_bucket.my_2_5Mbps_fc</flow_controller_name> -->
|
||||
</publication_writer_publish_mode>
|
||||
<subscription_writer_publish_mode>
|
||||
<kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
|
||||
<!-- <flow_controller_name>dds.flow_controller.token_bucket.my_2_5Mbps_fc</flow_controller_name> -->
|
||||
</subscription_writer_publish_mode>
|
||||
<participant_liveliness_assert_period>
|
||||
<sec>5</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</participant_liveliness_assert_period>
|
||||
<participant_liveliness_lease_duration>
|
||||
<sec>20</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</participant_liveliness_lease_duration>
|
||||
<max_liveliness_loss_detection_period>
|
||||
<sec>10</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</max_liveliness_loss_detection_period>
|
||||
<publication_writer>
|
||||
<enable_multicast_periodic_heartbeat>1</enable_multicast_periodic_heartbeat>
|
||||
<!--FRAN: why these values?-->
|
||||
<min_send_window_size>20</min_send_window_size>
|
||||
<max_send_window_size>400</max_send_window_size>
|
||||
<heartbeats_per_max_samples>50</heartbeats_per_max_samples>
|
||||
<!--FRAN: set to 500ms instead of 50ms (30jun2020)-->
|
||||
<fast_heartbeat_period>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</fast_heartbeat_period>
|
||||
<late_joiner_heartbeat_period>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</late_joiner_heartbeat_period>
|
||||
<max_nack_response_delay>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</max_nack_response_delay>
|
||||
</publication_writer>
|
||||
<subscription_writer>
|
||||
<enable_multicast_periodic_heartbeat>1</enable_multicast_periodic_heartbeat>
|
||||
<!--FRAN: set to 500ms instead of 50ms (30jun2020)-->
|
||||
<min_send_window_size>20</min_send_window_size>
|
||||
<max_send_window_size>400</max_send_window_size>
|
||||
<heartbeats_per_max_samples>50</heartbeats_per_max_samples>
|
||||
<fast_heartbeat_period>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</fast_heartbeat_period>
|
||||
<late_joiner_heartbeat_period>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</late_joiner_heartbeat_period>
|
||||
<max_nack_response_delay>
|
||||
<sec>0</sec>
|
||||
<nanosec>500000000</nanosec>
|
||||
</max_nack_response_delay>
|
||||
</subscription_writer>
|
||||
</discovery_config>
|
||||
</participant_qos>
|
||||
<!-- Publisher QOS -->
|
||||
|
||||
|
||||
<!--Patric: we enabled coherent sets -->
|
||||
<!-- QoS used to configure the data writer -->
|
||||
<!--
|
||||
<publisher_qos>
|
||||
<presentation>
|
||||
<access_scope>TOPIC_PRESENTATION_QOS</access_scope>
|
||||
<coherent_access>true</coherent_access>
|
||||
</presentation>
|
||||
</publisher_qos>
|
||||
<subscriber_qos>
|
||||
<presentation>
|
||||
<access_scope>TOPIC_PRESENTATION_QOS</access_scope>
|
||||
<coherent_access>true</coherent_access>
|
||||
</presentation>
|
||||
</subscriber_qos>
|
||||
-->
|
||||
|
||||
|
||||
<!-- QoS used to configure the data writer -->
|
||||
<datawriter_qos>
|
||||
<publish_mode>
|
||||
<kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
|
||||
</publish_mode>
|
||||
<property>
|
||||
<value>
|
||||
<!-- The next setting is used to force dynamic memory
|
||||
allocation for samples with a serialized size of
|
||||
larger than 2K. Without setting
|
||||
pool_buffer_max_size, all memory would be obtained
|
||||
from a pre-allocated pool, which would greatly
|
||||
increase the memory usage in an application which
|
||||
sends large data.
|
||||
-->
|
||||
<element>
|
||||
<name>dds.data_writer.history.memory_manager.fast_pool.pool_buffer_max_size</name>
|
||||
<value>2048</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
<reliability>
|
||||
<kind>RELIABLE_RELIABILITY_QOS</kind>
|
||||
<!--FRAN: why 60 seconds?-->
|
||||
<max_blocking_time>
|
||||
<sec>60</sec>
|
||||
</max_blocking_time>
|
||||
</reliability>
|
||||
<durability>
|
||||
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
|
||||
</durability>
|
||||
<history>
|
||||
<kind>KEEP_LAST_HISTORY_QOS</kind>
|
||||
<depth>1</depth>
|
||||
</history>
|
||||
<resource_limits>
|
||||
<!--<max_samples_per_instance>1</max_samples_per_instance>-->
|
||||
<max_samples>8000</max_samples>
|
||||
</resource_limits>
|
||||
<protocol>
|
||||
<rtps_reliable_writer>
|
||||
<!--FRAN: why these values?-->
|
||||
<min_send_window_size>20</min_send_window_size>
|
||||
<max_send_window_size>400</max_send_window_size>
|
||||
<heartbeats_per_max_samples>50</heartbeats_per_max_samples>
|
||||
</rtps_reliable_writer>
|
||||
</protocol>
|
||||
<writer_resource_limits>
|
||||
<autoregister_instances>true</autoregister_instances>
|
||||
</writer_resource_limits>
|
||||
</datawriter_qos>
|
||||
|
||||
<!-- QoS used to configure the data reader -->
|
||||
<!--Patric: reader want all our LTS Topics via multicast now -->
|
||||
|
||||
<datareader_qos>
|
||||
<reliability>
|
||||
<kind>RELIABLE_RELIABILITY_QOS</kind>
|
||||
</reliability>
|
||||
<reader_data_lifecycle>
|
||||
<autopurge_nowriter_samples_delay>
|
||||
<sec>5</sec>
|
||||
<nanosec>DURATION_ZERO_NSEC</nanosec>
|
||||
</autopurge_nowriter_samples_delay>
|
||||
<autopurge_disposed_samples_delay>
|
||||
<sec>5</sec>
|
||||
<nanosec>DURATION_ZERO_NSEC</nanosec>
|
||||
</autopurge_disposed_samples_delay>
|
||||
</reader_data_lifecycle>
|
||||
<durability>
|
||||
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
|
||||
<!-- Set this field to 0 if you want brokered communication (all communication
|
||||
passes through the persistence service before being received by the datareader;
|
||||
i.e. datawriter and datareader cannot 'see' each other directly)
|
||||
-->
|
||||
<direct_communication>true</direct_communication>
|
||||
</durability>
|
||||
<history>
|
||||
<kind>KEEP_LAST_HISTORY_QOS</kind>
|
||||
<depth>1</depth>
|
||||
</history>
|
||||
<resource_limits>
|
||||
<!--<initial_samples>200</initial_samples> -->
|
||||
<!--<max_samples_per_instance>1</max_samples_per_instance> -->
|
||||
<!-- We limit max_samples on the reader so that if the
|
||||
writer is publishing samples faster than the reader is
|
||||
taking them then the reader will start sending NACKs
|
||||
for samples received after the number of samples in
|
||||
its queue reaches max_samples. This behavior will put
|
||||
pressure on the writer to throttle back its publishing
|
||||
speed.
|
||||
-->
|
||||
<max_samples>8000</max_samples>
|
||||
</resource_limits>
|
||||
<reader_resource_limits>
|
||||
<!-- Determines whether the DataReader pre-allocates
|
||||
storage for storing fragmented samples. This setting
|
||||
can be used to limit upfront memory allocation costs
|
||||
in applications which are dealing with large data
|
||||
-->
|
||||
<dynamically_allocate_fragmented_samples>true</dynamically_allocate_fragmented_samples>
|
||||
<max_samples_per_read>8000</max_samples_per_read>
|
||||
</reader_resource_limits>
|
||||
<property>
|
||||
<value>
|
||||
<!-- The next setting is used to force dynamic memory
|
||||
allocation for samples with a serialized size of
|
||||
larger than 2K. Without setting
|
||||
pool_buffer_max_size, all memory would be obtained
|
||||
from a pre-allocated pool, which would greatly
|
||||
increase the memory usage in an application which
|
||||
sends large data.
|
||||
-->
|
||||
<element>
|
||||
<name>dds.data_reader.history.memory_manager.fast_pool.pool_buffer_max_size</name>
|
||||
<value>2048</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
</datareader_qos>
|
||||
</qos_profile>
|
||||
|
||||
<!--FRAN: who uses this profile?-->
|
||||
<!--Function topic. tablets->server-->
|
||||
<qos_profile name="DataReaderWriter.FT" base_name="LtsProfiles::Base">
|
||||
<datareader_qos>
|
||||
<durability>
|
||||
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
|
||||
</durability>
|
||||
<history>
|
||||
<kind>KEEP_ALL_HISTORY_QOS</kind>
|
||||
</history>
|
||||
</datareader_qos>
|
||||
<datawriter_qos>
|
||||
<publish_mode>
|
||||
<kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
|
||||
</publish_mode>
|
||||
<durability>
|
||||
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
|
||||
</durability>
|
||||
<history>
|
||||
<kind>KEEP_LAST_HISTORY_QOS</kind>
|
||||
<depth>10</depth>
|
||||
</history>
|
||||
</datawriter_qos>
|
||||
</qos_profile>
|
||||
<!--Mostly used by the tablets as a special mode-->
|
||||
<qos_profile name="DomainParticipant.Shm" base_name="LtsProfiles::Base">
|
||||
<participant_qos>
|
||||
<transport_builtin>
|
||||
<mask>SHMEM</mask>
|
||||
</transport_builtin>
|
||||
<discovery>
|
||||
<multicast_receive_addresses/>
|
||||
<accept_unknown_peers>false</accept_unknown_peers>
|
||||
<initial_peers>
|
||||
<element>60@builtin.shmem://</element>
|
||||
</initial_peers>
|
||||
</discovery>
|
||||
<property>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.shmem.builtin.host_id</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
|
||||
<!--Used by both tablets and server-->
|
||||
<qos_profile name="DomainParticipant.ShmUdp" base_name="LtsProfiles::Base">
|
||||
<participant_qos>
|
||||
<transport_builtin>
|
||||
<mask>UDPv4 | SHMEM</mask>
|
||||
</transport_builtin>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
|
||||
<!-- Both server and clients. Maybe not used-->
|
||||
<qos_profile name="DomainParticipant.ShmUdpLocalhost" base_name="DomainParticipant.ShmUdp">
|
||||
<participant_qos>
|
||||
<discovery>
|
||||
<multicast_receive_addresses/>
|
||||
<accept_unknown_peers>false</accept_unknown_peers>
|
||||
<initial_peers>
|
||||
<element>builtin.shmem://</element>
|
||||
<element>builtin.udpv4://127.0.0.1</element>
|
||||
</initial_peers>
|
||||
</discovery>
|
||||
<property>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.UDPv4.builtin.multicast_enabled</name>
|
||||
<value>0</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.UDPv4.builtin.parent.allow_interfaces</name>
|
||||
<value>127.0.0.1</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
<!-- configured for tcp client -> listenport = -1 -->
|
||||
<qos_profile name="DomainParticipant.Tcp" base_name="LtsProfiles::Base">
|
||||
<participant_qos>
|
||||
<transport_builtin>
|
||||
<mask>MASK_NONE</mask>
|
||||
</transport_builtin>
|
||||
<property>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.load_plugins</name>
|
||||
<value>dds.transport.TCPv4.tcp1</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.library</name>
|
||||
<value>nddstransporttcp</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.create_function</name>
|
||||
<value>NDDS_Transport_TCPv4_create</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.parent.classid</name>
|
||||
<value>NDDS_TRANSPORT_CLASSID_TCPV4_LAN</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.server_bind_port</name>
|
||||
<value>-1</value>
|
||||
</element>
|
||||
<!--
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.logging_verbosity_bitmap</name>
|
||||
<value>159</value>
|
||||
</element>
|
||||
-->
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.disable_nagle</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
<!--
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.send_max_wait_sec</name>
|
||||
<value>-1</value>
|
||||
</element>
|
||||
-->
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.max_packet_size</name>
|
||||
<value>63020</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.parent.message_size_max</name>
|
||||
<value>63020</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.recv_socket_buffer_size</name>
|
||||
<value>8388608</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.send_socket_buffer_size</name>
|
||||
<value>8388608</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.connection_liveliness.enable</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.connection_liveliness.lease_duration</name>
|
||||
<value>5</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.connection_liveliness.assertions_per_lease_duration</name>
|
||||
<value>2</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.outstanding_connection_cookies</name>
|
||||
<value>100</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.outstanding_connection_cookies_life_span</name>
|
||||
<value>5</value>
|
||||
</element>
|
||||
<element>
|
||||
<name>dds.transport.TCPv4.tcp1.force_asynchronous_send</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
<discovery_config>
|
||||
<participant_liveliness_assert_period>
|
||||
<sec>2</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</participant_liveliness_assert_period>
|
||||
<participant_liveliness_lease_duration>
|
||||
<sec>5</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</participant_liveliness_lease_duration>
|
||||
<max_liveliness_loss_detection_period>
|
||||
<sec>2</sec>
|
||||
<nanosec>0</nanosec>
|
||||
</max_liveliness_loss_detection_period>
|
||||
</discovery_config>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
|
||||
|
||||
<!--FRAN: 3 new profiles for each kind of host (30jun2020)-->
|
||||
<!--This implements asymmetric discovery-->
|
||||
<qos_profile name="DomainParticipant.Client" base_name="DomainParticipant.ShmUdp">
|
||||
<participant_qos>
|
||||
<transport_builtin>
|
||||
<mask>SHMEM</mask>
|
||||
</transport_builtin>
|
||||
<discovery>
|
||||
<accept_unknown_peers>false</accept_unknown_peers>
|
||||
<initial_peers>
|
||||
<element>60@builtin.shmem://</element>
|
||||
</initial_peers>
|
||||
</discovery>
|
||||
<property>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.shmem.builtin.host_id</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
|
||||
<!--FRAN: 3 new profiles for each kind of host (30jun2020)-->
|
||||
<!--This implements asymmetric discovery-->
|
||||
<qos_profile name="DomainParticipant.Server" base_name="DomainParticipant.ShmUdp">
|
||||
<participant_qos>
|
||||
<transport_builtin>
|
||||
<mask>SHMEM</mask>
|
||||
</transport_builtin>
|
||||
<discovery>
|
||||
<accept_unknown_peers>false</accept_unknown_peers>
|
||||
<initial_peers>
|
||||
<element>60@builtin.shmem://</element>
|
||||
</initial_peers>
|
||||
</discovery>
|
||||
<property>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.shmem.builtin.host_id</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
<!--FRAN: 3 new profiles for each kind of host (30jun2020)-->
|
||||
<!--This implements asymmetric discovery-->
|
||||
<qos_profile name="DomainParticipant.Tablet" base_name="DomainParticipant.ShmUdp">
|
||||
<participant_qos>
|
||||
<transport_builtin>
|
||||
<mask>SHMEM</mask>
|
||||
</transport_builtin>
|
||||
<discovery>
|
||||
<accept_unknown_peers>false</accept_unknown_peers>
|
||||
<initial_peers>
|
||||
<element>60@builtin.shmem://</element>
|
||||
</initial_peers>
|
||||
</discovery>
|
||||
<property>
|
||||
<value>
|
||||
<element>
|
||||
<name>dds.transport.shmem.builtin.host_id</name>
|
||||
<value>1</value>
|
||||
</element>
|
||||
</value>
|
||||
</property>
|
||||
</participant_qos>
|
||||
</qos_profile>
|
||||
</qos_library>
|
||||
</dds>
|
||||
Reference in new issue
Block a user