3.1.2.2. eProsima Extensions

The eProsima QoS Policies extensions are those that allow changing the values of the RTPS layer configurable settings.

3.1.2.2.1. DisablePositiveACKsQosPolicy

This additional QoS allows reducing network traffic when strict reliable communication is not required and bandwidth is limited. It consists in changing the default behavior by which positive acks are sent from readers to writers. Instead, only negative acks will be sent when a reader is missing a sample, but writers will keep data for a sufficient time before considering it as acknowledged. See DisablePositiveACKsQosPolicy.

List of QoS Policy data members:

Data Member Name

Type

Default Value

enabled

bool

false

duration

Duration_t

c_TimeInfinite

  • enabled: Specifies if the QoS is enabled or not. If it is true means that the positive acks are disabled and the DataReader only sends negative acks. Otherwise, both positive and negative acks are sent.

  • duration: State the duration that the DataWriters keep the data before considering it as acknowledged. This value does not apply to DataReaders.

Note

This QoS Policy concerns to DataWriter and DataReader entities.
It cannot be changed on enabled entities.

Warning

For DataWriters and DataReaders to match, they must follow the compatibility rule. See Compatibility Rule for further details.

Compatibility Rule

To maintain the compatibility between DisablePositiveACKsQosPolicy in DataReaders and DataWriters, the DataReader cannot have this QoS enabled if the DataWriter have it disabled.

Table with the possible combinations:

DataWriter enabled value

DataReader enabled value

Compatibility

true

true

Yes

true

false

Yes

false

true

No

false

false

Yes

Example

C++

DisablePositiveACKsQosPolicy disable_acks;
//The DisablePositiveACKsQosPolicy is default constructed with enabled = false
//Change enabled to true
disable_acks.enabled = true;
//The DisablePositiveACKsQosPolicy is default constructed with infinite duration
//Change the duration to 1 second
disable_acks.duration = {1, 0};

XML

<publisher profile_name="publisher_xml_conf_disable_positive_acks_profile">
    <qos>
        <disablePositiveAcks>
            <enabled>true</enabled>
            <duration>
                <sec>1</sec>
            </duration>
        </disablePositiveAcks>
    </qos>
</publisher>

<subscriber profile_name="subscriber_xml_conf_disable_positive_acks_profile">
    <qos>
        <disablePositiveAcks>
            <enabled>true</enabled>
        </disablePositiveAcks>
    </qos>
</subscriber>

3.1.2.2.2. ParticipantResourceLimitsQos

This QoS configures allocation limits and the use of physical memory for internal resources. See ParticipantResourceLimitsQos.

List of QoS Policy data members:

Data Member Name

Type

locators

RemoteLocatorsAllocationAttributes

participants

ResourceLimitedContainerConfig

readers

ResourceLimitedContainerConfig

writers

ResourceLimitedContainerConfig

send_buffers

SendBuffersAllocationAttributes

data_limits

VariableLengthDataLimits

  • locators: Defines the limits for collections of remote locators.

  • participants: Specifies the allocation behavior and limits for collections dependent on the total number of participants.

  • readers: Specifies the allocation behavior and limits for collections dependent on the total number of readers per participant.

  • writers: Specifies the allocation behavior and limits for collections dependent on the total number of writers per participant.

  • send_buffers: Defines the allocation behavior and limits for the send buffer manager.

  • data_limits: States the limits for variable-length data.

Note

This QoS Policy concerns to DomainParticipant entities.
It cannot be changed on enabled entities.

RemoteLocatorsAllocationAttributes

This structure holds the limits for the remote locators’ collections. See RemoteLocatorsAllocationAttributes.

List of structure members:

Member Name

Type

Default Value

max_unicast_locators

size_t

4

max_multicast_locators

size_t

1

  • max_unicast_locators: This member controls the maximum number of unicast locators to keep for each discovered remote entity. It is recommended to use the highest number of local addresses found on all the systems belonging to the same domain.

  • max_multicast_locators: This member controls the maximum number of multicast locators to keep for each discovered remote entity. The default value is usually enough, as it does not make sense to add more than one multicast locator per entity.

ResourceLimitedContainerConfig

This structure holds the limits of a resource limited collection, as well as the allocation configuration, which can be fixed size or dynamic size.

List of structure members:

Member Name

Type

Default Value

initial

size_t

0

maximum

size_t

std::numeric_limits<size_t>::max()

increment

size_t

1 (dynamic size), 0 (fixed size)

  • initial: Indicates the number of elements to preallocate in the collection.

  • maximum: Specifies the maximum number of elements allowed in the collection.

  • increment: States the number of items to add when the reserved capacity limit is reached. This member has a different default value depending on the allocation configuration chosen.

SendBuffersAllocationAttributes

This structure holds the limits for the allocations of the send buffers. See SendBuffersAllocationAttributes.

List of structure members:

Member Name

Type

Default Value

preallocated_number

size_t

0

dynamic

bool

false

  • preallocated_number: This member controls the initial number of send buffers to be allocated. The default value will perform an initial guess of the number of buffers required, based on the number of threads from which a send operation could be started.

  • dynamic: This member controls how the buffer manager behaves when a send buffer is not available. When true, a new buffer will be created. Otherwise, it will wait for a buffer to be returned.

VariableLengthDataLimits

This structure holds the limits for variable-length data. See VariableLengthDataLimits.

List of structure members:

Member Name

Type

Default Value

max_properties

size_t

0

max_user_data

size_t

0

max_partitions

size_t

0

  • max_properties: Defines the maximum size, in octets, of the properties data in the local or remote participant.

  • max_user_data: Establishes the maximum size, in octets, of the user data in the local or remote participant.

  • max_partitions: States the maximum size, in octets, of the partitions data in the local or remote participant.

Example

C++

ParticipantResourceLimitsQos participant_limits;
//Set the maximum size of participant resource limits collection to 3 and it allocation configuration to fixed size
participant_limits.participants = eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(3u);
//Set the maximum size of reader's resource limits collection to 2 and its allocation configuration to fixed size
participant_limits.readers = eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(2u);
//Set the maximum size of writer's resource limits collection to 1 and its allocation configuration to fixed size
participant_limits.writers = eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(1u);
//Set the maximum size of the partition data to 256
participant_limits.data_limits.max_partitions = 256u;
//Set the maximum size of the user data to 256
participant_limits.data_limits.max_user_data = 256u;
//Set the maximum size of the properties data to 512
participant_limits.data_limits.max_properties = 512u;

XML

<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
    <participant profile_name="participant_alloc_qos_example">
        <rtps>
            <allocation>
                <!-- We know we have 3 participants on the domain -->
                <total_participants>
                    <initial>3</initial>
                    <maximum>3</maximum>
                    <increment>0</increment>
                </total_participants>
                <!-- We know we have at most 2 readers on each participant -->
                <total_readers>
                    <initial>2</initial>
                    <maximum>2</maximum>
                    <increment>0</increment>
                </total_readers>
                <!-- We know we have at most 1 writer on each participant -->
                <total_writers>
                    <initial>1</initial>
                    <maximum>1</maximum>
                    <increment>0</increment>
                </total_writers>
                <max_partitions>256</max_partitions>
                <max_user_data>256</max_user_data>
                <max_properties>512</max_properties>
            </allocation>
        </rtps>
    </participant>
    

3.1.2.2.3. PropertyPolicyQos

This additional QoS Policy (PropertyPolicyQos) stores name/value pairs that can be used to configure certain DDS settings that cannot be configured directly using an standard QoS Policy. In Fast DDS, it can be used to configure the security settings (See Security for further details of the security functionality).

Example

C++

PropertyPolicyQos property_policy;
//Add new property for the Auth:PKI-DH plugin
property_policy.properties().emplace_back("dds.sec.auth.plugin", "builtin.PKI-DH");
//Add new property for the Access:Permissions plugin
property_policy.properties().emplace_back(eprosima::fastrtps::rtps::Property("dds.sec.access.plugin", "builtin.Access-Permissions"));

XML

<participant profile_name="secure_participant_conf_all_plugin_xml_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <!-- Activate Auth:PKI-DH plugin -->
                <property>
                    <name>dds.sec.auth.plugin</name>
                    <value>builtin.PKI-DH</value>
                </property>

                <!-- Activate Access:Permissions plugin -->
                <property>
                    <name>dds.sec.access.plugin</name>
                    <value>builtin.Access-Permissions</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>

3.1.2.2.4. PublishModeQosPolicy

This QoS Policy configures how the DataWriter sends the data. See PublishModeQosPolicy.

List of QoS Policy data members:

Data Member Name

Type

Default Value

kind

PublishModeQosPolicyKind

SYNCHRONOUS_PUBLISH_MODE

Note

This QoS Policy concerns to DataWriter entities.
It cannot be changed on enabled entities.

PublishModeQosPolicyKind

There are two possible values (see PublishModeQosPolicyKind):

  • SYNCHRONOUS_PUBLISH_MODE: The data is sent in the context of the user thread that calls the write operation.

  • ASYNCHRONOUS_PUBLISH_MODE: An internal thread takes the responsibility of sending the data asynchronously. The write operation returns before the data is actually sent.

Example

C++

PublishModeQosPolicy publish_mode;
//The PublishModeQosPolicy is default constructed with kind = SYNCHRONOUS
//Change the kind to ASYNCHRONOUS
publish_mode.kind = ASYNCHRONOUS_PUBLISH_MODE;

XML

<publisher profile_name="publisher_profile_qos_publishmode">
    <qos>
        <publishMode>
            <kind>ASYNCHRONOUS</kind>
        </publishMode>
    </qos>
</publisher>

3.1.2.2.5. ReaderResourceLimitsQos

This QoS Policy states the limits for the matched DataWriters’ resource limited collections based on the maximum number of DataWriters that are going to match with the DataReader. See ReaderResourceLimitsQos.

List of QoS Policy data members:

Data Member Name

Type

matched_publisher_allocation

ResourceLimitedContainerConfig

Note

This QoS Policy concerns to DataReader entities.
It cannot be changed on enabled entities.

Example

C++

ReaderResourceLimitsQos reader_limits;
//Set the maximum size for writer matched resource limits collection to 1 and its allocation configuration to fixed size
reader_limits.matched_publisher_allocation = eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(1u);

XML

<subscriber profile_name="alloc_qos_example_sub">
    <!-- we know we will only have one matching publisher -->
    <matchedPublishersAllocation>
        <initial>1</initial>
        <maximum>1</maximum>
        <increment>0</increment>
    </matchedPublishersAllocation>
</subscriber>

3.1.2.2.6. RTPSEndpointQos

This QoS Policy configures the aspects of an RTPS endpoint, such as the list of locators, the identifiers, and the history memory policy. See RTPSEndpointQos.

List of QoS Policy data members:

Data Member Name

Type

Default Value

unicast_locator_list

LocatorList_t

Empty List

multicast_locator_list

LocatorList_t

Empty List

remote_locator_list

LocatorList_t

Empty List

user_defined_id

int16_t

-1

entity_id

int16_t

-1

history_memory_policy

MemoryManagementPolicy

PREALLOCATED_MEMORY_MODE

  • unicast_locator_list: Defines the list of unicast locators associated to the DDS Entity. DataReaders and DataWriters inherit the list of unicast locators set in the DomainParticipant, but it can be changed by means of this QoS.

  • multicast_locator_list: Stores the list of multicast locators associated to the DDS Entity. By default, DataReaders and DataWriters do not use any multicast locator, but it can be changed by means of this QoS.

  • remote_locator_list: States the list of remote locators associated to the DDS Entity.

  • user_defined_id: Establishes the unique identifier used for StaticEndpointDiscovery.

  • entity_id: The user can specify the identifier for the endpoint.

  • history_memory_policy: Indicates the way the memory is managed in terms of dealing with the CacheChanges.

Note

This QoS Policy concerns to DataWriter and DataReader entities.
It cannot be changed on enabled entities.

MemoryManagementPolicy

There are four possible values (see MemoryManagementPolicy):

  • PREALLOCATED_MEMORY_MODE: This option sets the size to the maximum of each data type. It produces the largest memory footprint but the smallest allocation count.

  • PREALLOCATED_WITH_REALLOC_MEMORY_MODE: This option set the size to the default for each data type and it requires reallocation when a bigger message arrives. It produces a lower memory footprint at the expense of increasing the allocation count.

  • DYNAMIC_RESERVE_MEMORY_MODE: This option allocates the size dynamically at the time of message arrival. It produces the least memory footprint but the highest allocation count.

  • DYNAMIC_REUSABLE_MEMORY_MODE: This option is similar to DYNAMIC_RESERVE_MEMORY_MODE, but the allocated memory is reused for future messages.

Example

C++

RTPSEndpointQos endpoint;
//Add new unicast locator with port 7800
eprosima::fastrtps::rtps::Locator_t new_unicast_locator;
new_unicast_locator.port = 7800;
endpoint.unicast_locator_list.push_back(new_unicast_locator);
//Add new multicast locator with IP 239.255.0.4 and port 7900
eprosima::fastrtps::rtps::Locator_t new_multicast_locator;
eprosima::fastrtps::rtps::IPLocator::setIPv4(new_multicast_locator, "239.255.0.4");
new_multicast_locator.port = 7900;
endpoint.multicast_locator_list.push_back(new_multicast_locator);
//Set 3 as user defined id
endpoint.user_defined_id = 3;
//Set 4 as entity id
endpoint.entity_id = 4;
//The RTPSEndpointQos is default constructed with history_memory_policy = PREALLOCATED
//Change the history_memory_policy to DYNAMIC_RESERVE
endpoint.history_memory_policy = eprosima::fastrtps::rtps::DYNAMIC_RESERVE_MEMORY_MODE;

XML

<publisher profile_name="publisher_xml_conf_unicast_locators_profile">
    <userDefinedID>3</userDefinedID>
    <entityID>2</entityID> <!-- Int16 -->
    <unicastLocatorList>
        <locator>
            <udpv4>
                <port>7800</port>
            </udpv4>
        </locator>
    </unicastLocatorList>
    <multicastLocatorList>
        <locator>
            <udpv4>
                <address>239.255.0.4</address>
                <port>7900</port>
            </udpv4>
        </locator>
    </multicastLocatorList>
    <!-- The history memory policy is changed to DYNAMIC_RESERVE -->
    <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</publisher>

<subscriber profile_name="subscriber_xml_conf_unicast_locators_profile">
    <userDefinedID>5</userDefinedID>
    <entityID>4</entityID> <!-- Int16 -->
    <unicastLocatorList>
        <locator>
            <udpv4>
                <port>7800</port>
            </udpv4>
        </locator>
    </unicastLocatorList>
    <multicastLocatorList>
        <locator>
            <udpv4>
                <address>239.255.0.4</address>
                <port>7900</port>
            </udpv4>
        </locator>
    </multicastLocatorList>
    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
</subscriber>

3.1.2.2.7. RTPSReliableReaderQos

This RTPS QoS Policy allows the configuration of several RTPS reliable reader’s aspects. See RTPSReliableReaderQos.

List of QoS Policy data members:

Data Member Name

Type

times

ReaderTimes

disable_positive_ACKs

DisablePositiveACKsQosPolicy

Note

This QoS Policy concerns to DataReader entities.
It cannot be changed on enabled entities.

ReaderTimes

This structure defines the times associated with the Reliable Readers’ events. See ReaderTimes.

List of structure members:

Member Name

Type

Default Value

initialAcknackDelay

Duration_t

70 ms

heartbeatResponseDelay

Duration_t

5 ms

Example

C++

RTPSReliableReaderQos reliable_reader_qos;
//The RTPSReliableReaderQos is default constructed with initialAcknackDelay = 70 ms
//Change the initialAcknackDelay to 70 nanoseconds
reliable_reader_qos.times.initialAcknackDelay = {0, 70};
//The RTPSReliableWriterQos is default constructed with heartbeatResponseDelay = 5 ms
//Change the heartbeatResponseDelay to 5 nanoseconds
reliable_reader_qos.times.heartbeatResponseDelay = {0, 5};
//You can also change the DisablePositiveACKsQosPolicy. For further details see DisablePositiveACKsQosPolicy section.
reliable_reader_qos.disable_positive_ACKs.enabled = true;

XML

<subscriber profile_name="sub_profile_name">
    <times> <!-- readerTimesType -->
        <initialAcknackDelay> <!-- DURATION -->
            <sec>0</sec>
            <nanosec>70</nanosec>
        </initialAcknackDelay>
        <heartbeatResponseDelay> <!-- DURATION -->
            <sec>0</sec>
            <nanosec>5</nanosec>
        </heartbeatResponseDelay>
    </times>
    <!--You can also change the values of DisablePositiveACKsQosPolicy.-->
    <!--See DisablePositiveACKsQosPolicy section for further details-->
</subscriber>

3.1.2.2.8. RTPSReliableWriterQos

This RTPS QoS Policy allows the configuration of several RTPS reliable writer’s aspects. See RTPSReliableWriterQos.

List of QoS Policy data members:

Data Member Name

Type

times

WriterTimes

disable_positive_acks

DisablePositiveACKsQosPolicy

Note

This QoS Policy concerns to DataWriter entities.
It cannot be changed on enabled entities.

WriterTimes

This structure defines the times associated with the Reliable Writers’ events.

List of structure members:

Member Name

Type

Default Value

initialHeartbeatDelay

Duration_t

12ms

heartbeatPeriod

Duration_t

3s

nackResponseDelay

Duration_t

5ms

nackSupressionDuration

Duration_t

0s

  • initialHeartbeatDelay: Defines duration of the initial heartbeat delay.

  • heartbeatPeriod: Specifies the interval between periodic heartbeats.

  • nackResponseDelay: Establishes the duration of the delay applied to the response of an ACKNACK message.

  • nackSupressionDuration: The RTPSWriter ignores the nack messages received after sending the data until the duration time elapses.

Example

C++

RTPSReliableWriterQos reliable_writer_qos;
//The RTPSReliableWriterQos is default constructed with initialHeartbeatDelay = 12 ms
//Change the initialHeartbeatDelay to 20 nanoseconds
reliable_writer_qos.times.initialHeartbeatDelay = {0, 20};
//The RTPSReliableWriterQos is default constructed with heartbeatPeriod = 3 s
//Change the heartbeatPeriod to 5 seconds
reliable_writer_qos.times.heartbeatPeriod = {5, 0};
//The RTPSReliableWriterQos is default constructed with nackResponseDelay = 5 ms
//Change the nackResponseDelay to 10 nanoseconds
reliable_writer_qos.times.nackResponseDelay = {0, 10};
//The RTPSReliableWriterQos is default constructed with nackSupressionDuration = 0 s
//Change the nackSupressionDuration to 20 nanoseconds
reliable_writer_qos.times.nackSupressionDuration = {0, 20};
//You can also change the DisablePositiveACKsQosPolicy. For further details see DisablePositiveACKsQosPolicy section.
reliable_writer_qos.disable_positive_acks.enabled = true;

XML

<publisher profile_name="pub_profile_name">
    <times> <!-- writerTimesType -->
        <initialHeartbeatDelay> <!-- DURATION -->
            <sec>0</sec>
            <nanosec>20</nanosec>
        </initialHeartbeatDelay>
        <heartbeatPeriod> <!-- DURATION -->
            <sec>5</sec>
            <nanosec>0</nanosec>
        </heartbeatPeriod>
        <nackResponseDelay> <!-- DURATION -->
            <sec>0</sec>
            <nanosec>10</nanosec>
        </nackResponseDelay>
        <nackSupressionDuration> <!-- DURATION -->
            <sec>0</sec>
            <nanosec>20</nanosec>
        </nackSupressionDuration>
    </times>
    <!--You can also change the values of DisablePositiveACKsQosPolicy.-->
    <!--See DisablePositiveACKsQosPolicy section for further details-->
</publisher>

3.1.2.2.9. TransportConfigQos

This QoS Policy allows the configuration of the transport layer settings. See TransportConfigQos.

List of QoS Policy data members:

Data Member Name

Type

Default Value

user_transports

std::vector<std::shared_ptr<TransportDescriptorInterface>>

use_builtin_transports

bool

Empty vector

send_socket_buffer_size

uint32_t

true

listen_socket_buffer_size

uint32_t

0

  • user_transports: This data member defines the list of transports to use alongside or in place of builtins.

  • use_builtin_transports: It controls whether the built-in transport layer is enabled or disabled. If it is set to false, the default UDPv4 implementation is disabled.

  • send_socket_buffer_size: By default, Fast DDS creates socket buffers using the system default size. This data member allows to change the send socket buffer size used to send data.

  • listen_socket_buffer_size: The listen socket buffer size is also created with the system default size, but it can be changed using this data member.

Note

This QoS Policy concerns to DomainParticipant entities.
It cannot be changed on enabled entities.

TransportDescriptorInterface

This structure is the base for the data type used to define transport configuration.

List of structure members:

Member Name

Type

maxMessageSize

uint32_t

maxInitialPeersRange

uint32_t

  • maxMessageSize: This member sets the maximum size in bytes of the transport’s message buffer.

  • maxInitialPeersRange: This member states the maximum number of guessed initial peers to try to connect.

Example

C++

TransportConfigQos transport;
//Add new transport to the list of user transports
std::shared_ptr<eprosima::fastdds::rtps::UDPv4TransportDescriptor> descriptor =
        std::make_shared<eprosima::fastdds::rtps::UDPv4TransportDescriptor>();
descriptor->sendBufferSize = 9126;
descriptor->receiveBufferSize = 9126;
transport.user_transports.push_back(descriptor);
//Set use_builtin_transports to false
transport.use_builtin_transports = false;

XML

<transport_descriptors>
    <transport_descriptor>
        <transport_id>my_transport</transport_id>
        <type>UDPv4</type>
        <sendBufferSize>9216</sendBufferSize>
        <receiveBufferSize>9216</receiveBufferSize>
    </transport_descriptor>
</transport_descriptors>

<participant profile_name="my_transport">
    <rtps>
        <userTransports>
            <transport_id>my_transport</transport_id>
        </userTransports>
        <useBuiltinTransports>false</useBuiltinTransports>
    </rtps>
</participant>

3.1.2.2.10. TypeConsistencyQos

This QoS Policy allows the configuration of the XTypes extension QoS on the DataReader. See TypeConsistencyQos.

List of QoS Policy data members:

Data Member Name

Type

type_consistency

TypeConsistencyEnforcementQosPolicy

representation

DataRepresentationQosPolicy

Note

This QoS Policy concerns to DataReader entities.
It cannot be changed on enabled entities.

Example

C++

TypeConsistencyQos consistency_qos;
//You can change the DataRepresentationQosPolicy. For further details see DataRepresentationQosPolicySection section.
consistency_qos.representation.m_value.push_back(DataRepresentationId_t::XCDR2_DATA_REPRESENTATION);
//You can change the TypeConsistencyEnforcementQosPolicy. For further details see TypeConsistencyEnforcementQosPolicy section.
consistency_qos.type_consistency.m_kind = TypeConsistencyKind::ALLOW_TYPE_COERCION;

XML

This QoS Policy cannot be configured using XML for the moment.

3.1.2.2.11. WireProtocolConfigQos

This QoS Policy allows the configuration of the wire protocol. See WireProtocolConfigQos.

List of QoS Policy data members:

Data Member Name

Type

Default Value

prefix

fastrtps::rtps::GuidPrefix_t

0

participant_id

int32_t

-1

builtin

RTPS BuiltinAttributes

throughput_controller

ThroughputControllerDescriptor

default_unicast_locator_list

LocatorList_t

Empty List

default_multicast_locator_list

LocatorList_t

Empty List

  • prefix: This data member allows the user to set manually the GUID prefix.

  • participant_id: It sets the participant identifier. By default, it will be automatically generated by the Domain.

  • builtin: This data member allows the configuration of the built-in parameters. See RTPS BuiltinAttributes for further details.

  • throughput_controller: It allows the configuration of the throughput settings.

  • default_unicast_locator_list: States the default list of unicast locators to be used for any endpoint defined inside the RTPSParticipant in the case that it was defined without unicast locators. This list should include at least one locator.

  • default_multicast_locator_list: Stores the default list of multicast locators to be used for any endpoint defined inside the RTPSParticipant in the case that it was defined without multicast locators. This list is usually left empty.

Note

This QoS Policy concerns to DomainParticipant entities.
It cannot be changed on enabled entities.

ThroughputControllerDescriptor

This structure allows to limit the output bandwidth. See ThroughputControllerDescriptor.

List of structure members:

Member Name

Type

bytesPerPeriod

uint32_t

periodMillisecs

uint32_t

  • bytesPerPeriod: This member states the number of bytes that this controller will allow in a given period.

  • periodMillisecs: It specifies the window of time in which no more than bytesPerPeriod bytes are allowed.

Example

C++

WireProtocolConfigQos wire_protocol;
//Set the guid prefix
std::istringstream("72.61.73.70.66.61.72.6d.74.65.73.74") >> wire_protocol.prefix;
//Configure Builtin Attributes
wire_protocol.builtin.discovery_config.discoveryProtocol = eprosima::fastrtps::rtps::DiscoveryProtocol_t::SERVER;
//Add locator to unicast list
eprosima::fastrtps::rtps::Locator_t server_locator;
eprosima::fastrtps::rtps::IPLocator::setIPv4(server_locator, "192.168.10.57");
server_locator.port = 56542;
wire_protocol.builtin.metatrafficUnicastLocatorList.push_back(server_locator);
// Limit to 300kb per second.
eprosima::fastrtps::rtps::ThroughputControllerDescriptor slowPublisherThroughputController{300000, 1000};
wire_protocol.throughput_controller = slowPublisherThroughputController;
//Add locator to default unicast locator list
eprosima::fastrtps::rtps::Locator_t unicast_locator;
eprosima::fastrtps::rtps::IPLocator::setIPv4(unicast_locator, 192, 168, 1, 41);
unicast_locator.port = 7400;
wire_protocol.default_unicast_locator_list.push_back(unicast_locator);
//Add locator to default multicast locator list
eprosima::fastrtps::rtps::Locator_t multicast_locator;
eprosima::fastrtps::rtps::IPLocator::setIPv4(multicast_locator, 192, 168, 1, 41);
multicast_locator.port = 7400;
wire_protocol.default_multicast_locator_list.push_back(multicast_locator);

XML

<participant profile_name="UDP SERVER" is_default_profile="true">
    <rtps>
        <prefix>72.61.73.70.66.61.72.6d.74.65.73.74</prefix>
        <builtin>
            <discovery_config>
                <discoveryProtocol>SERVER</discoveryProtocol>
            </discovery_config>
            <metatrafficUnicastLocatorList>
                <locator>
                    <udpv4>
                        <address>192.168.10.57</address>
                        <port>56542</port>
                    </udpv4>
                </locator>
            </metatrafficUnicastLocatorList>
        </builtin>
        <throughputController>
            <bytesPerPeriod>300000</bytesPerPeriod>
            <periodMillisecs>1000</periodMillisecs>
        </throughputController>
        <defaultUnicastLocatorList>
            <locator>
                <udpv4>
                    <!-- Access as physical, like UDP -->
                    <port>7400</port>
                    <address>192.168.1.41</address>
                </udpv4>
            </locator>
        </defaultUnicastLocatorList>

        <defaultMulticastLocatorList>
            <locator>
                <udpv4>
                    <!-- Access as physical, like UDP -->
                    <port>7400</port>
                    <address>192.168.1.41</address>
                </udpv4>
            </locator>
        </defaultMulticastLocatorList>
    </rtps>
</participant>

3.1.2.2.12. WriterResourceLimitsQos

This QoS Policy states the limits for the matched DataReaders’ resource limited collections based on the maximum number of DataReaders that are going to match with the DataWriter. See WriterResourceLimitsQos.

List of QoS Policy data members:

Data Member Name

Type

matched_subscriber_allocation

ResourceLimitedContainerConfig

Note

This QoS Policy concerns to DataWriter entities.
It cannot be changed on enabled entities.

Example

C++

WriterResourceLimitsQos writer_limits;
//Set the maximum size for reader matched resource limits collection to 3 and its allocation configuration to fixed size
writer_limits.matched_subscriber_allocation = eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(3u);

XML

<publisher profile_name="alloc_qos_example_pub_for_topic_1">
    <!-- we know we will have three matching subscribers -->
    <matchedSubscribersAllocation>
        <initial>3</initial>
        <maximum>3</maximum>
        <increment>0</increment>
    </matchedSubscribersAllocation>
</publisher>