10.11. Common¶
The preceding XML profiles define some XML elements that are common to several profiles. This section aims to explain these common elements.
10.11.1. LocatorListType¶
It represents a list of Locator_t
.
LocatorListType is used inside other configuration parameter labels that expect a list of locators,
for example, in <defaultUnicastLocatorList>
.
Therefore, LocatorListType is defined as a set of <locator>
elements.
The <locator>
element has a single child element that defines the transport protocol for which the locator is
defined. These are: <udpv4>
, <tcpv4>
, <udpv6>
, and <tcpv6>
.
The table presented below outlines each possible Locator’s field.
Note
SHM transport locators cannot be configured as they are automatically handled by SHM.
Name |
Description |
Values |
Default |
---|---|---|---|
|
RTPS port number of the locator. |
|
0 |
|
TCP’s physical port. |
|
0 |
|
IP address of the locator. |
|
Empty |
|
The LAN ID uniquely identifies the LAN the |
|
Empty |
|
WAN IPv4 address (TCPv4 only). |
|
|
Example
The following example shows the implementation of one locator of each transport protocol in
<defaultUnicastLocatorList>
.
<defaultUnicastLocatorList>
<locator>
<udpv4>
<!-- Access as physical, typical UDP usage -->
<port>7400</port>
<address>192.168.1.41</address>
</udpv4>
<udpv4>
<!-- Access as physical, typical UDP usage -->
<port>7600</port>
<address>localhost</address>
</udpv4>
</locator>
<locator>
<tcpv4>
<!-- Both physical and logical (port), useful in TCP transports -->
<physical_port>5100</physical_port>
<port>7400</port>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<address>192.168.1.55</address>
</tcpv4>
</locator>
<locator>
<udpv6>
<port>8844</port>
<address>::1</address>
</udpv6>
<udpv6>
<port>8888</port>
<address>localhost</address>
</udpv6>
</locator>
<locator>
<tcpv6>
<!-- Both physical and logical (port), useful in TCP transports -->
<physical_port>5100</physical_port>
<port>7400</port>
<address>fe80::55e3:290:165:5af8</address>
</tcpv6>
</locator>
</defaultUnicastLocatorList>
10.11.2. ExternalLocatorListType¶
It represents a list of external locator entries.
Each entry can be a <udpv4>
or a <udpv6>
tag.
These tags can be configured with the following attributes:
Name |
Description |
Values |
Default |
---|---|---|---|
|
Number of hops from the participant’s host to the |
|
1 |
|
Communication cost relative to other locators on |
|
0 |
|
Number of significant bits on the LAN represented |
|
24 |
They should contain the following tags:
Name |
Description |
Values |
---|---|---|
|
UDP port number of the locator. |
|
|
IP address of the locator. |
|
Example
The following example shows the implementation of one locator of each transport protocol in
<default_external_unicast_locators>
.
<default_external_unicast_locators>
<udpv4 externality="1" cost="0" mask="24">
<address>100.100.100.10</address>
<port>23456</port>
</udpv4>
<udpv6 externality="2" cost="0" mask="48">
<address>::1</address>
<port>1234</port>
</udpv6>
</default_external_unicast_locators>
10.11.3. PropertiesPolicyType¶
PropertiesPolicyType defines the <propertiesPolicy>
element.
It allows the user to define a set of generic properties inside a <properties>
element.
It is useful at defining extended or custom configuration parameters.
Name |
Description |
Values |
Default |
---|---|---|---|
|
Name to identify the property. |
|
|
|
Property’s value. |
|
|
|
Indicates if it is going to be serialized along with the |
|
|
Example
<propertiesPolicy>
<properties>
<property>
<name>Property1Name</name>
<value>Property1Value</value>
<propagate>false</propagate>
</property>
<property>
<name>Property2Name</name>
<value>Property2Value</value>
<propagate>true</propagate>
</property>
</properties>
</propertiesPolicy>
10.11.4. DurationType¶
DurationType expresses a period of time and it is commonly used inside other XML elements, such as in
<leaseAnnouncement>
or <leaseDuration>
.
A DurationType is defined by at least one mandatory element of two possible ones: <sec>
plus <nanosec>
.
An infinite value can be specified by using the values DURATION_INFINITY
,
DURATION_INFINITE_SEC
and DURATION_INFINITE_NSEC
.
Name |
Description |
Values |
Default |
---|---|---|---|
|
Number of seconds. |
|
0 |
|
Number of nanoseconds. |
|
0 |
Example
<discovery_config>
<leaseDuration>
<sec>DURATION_INFINITY</sec>
</leaseDuration>
<leaseAnnouncement>
<sec>1</sec>
<nanosec>856000</nanosec>
</leaseAnnouncement>
</discovery_config>
10.11.5. TopicType¶
This XML element allows the configuration of the specific HistoryQosPolicy and ResourceLimitsQosPolicy QoS of the Datawriters and DataReaders in which this element is defined inside of. Also, it sets the TopicQos configuration with the policies detailed.
Name |
Description |
Values |
---|---|---|
|
It controls the behavior of Fast DDS |
|
|
It controls the resources that Fast DDS |
Example
<data_writer profile_name="dataWriter_topic_example">
<topic>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
<resourceLimitsQos>
<max_samples>5</max_samples>
<max_instances>2</max_instances>
<max_samples_per_instance>1</max_samples_per_instance>
<allocated_samples>20</allocated_samples>
<extra_samples>10</extra_samples>
</resourceLimitsQos>
</topic>
</data_writer>
10.11.5.1. HistoryQoS¶
It controls the behavior of Fast DDS when the value of an instance changes before it is finally communicated to some of its existing DataReaders. Please refer to HistoryQosPolicyKind for further information on HistoryQoS.
Name |
Description |
Values |
Default |
---|---|---|---|
|
Fast DDS will only attempt to keep the latest values
of the instance |
||
Fast DDS will attempt to maintain and deliver all the
values of the instance |
|||
|
It must be consistent with the ResourceLimitsQos
|
|
1 |
10.11.5.2. ResourceLimitsQos¶
It controls the resources that Fast DDS can use in order to meet the requirements imposed by the application and other QoS settings. Please refer to ResourceLimitsQosPolicy for further information on ResourceLimitsQos.
Name |
Description |
Values |
Default |
---|---|---|---|
|
It must verify that:
|
|
5000 |
|
It defines the maximum number of instances. |
|
10 |
|
It must verify that: HistoryQos
|
|
400 |
|
It controls the maximum number of samples to be stored. |
|
100 |
|
The number of extra samples to allocate on the pool. |
|
1 |
10.11.6. ThreadSettings¶
It controls some OS settings for the Fast DDS created threads. Please refer to ThreadSettings for further information on ResourceLimitsQos.
Name |
Description |
Values |
Default |
---|---|---|---|
Configures the scheduling policy used for the thread. |
|
-1 |
|
Configures the thread’s priority. |
|
-2^31 |
|
On some systems (Windows, Linux), this is a bit mask for setting |
|
0 |
|
Configures the thread’s stack size in bytes. |
|
-1 |
10.11.7. BuiltinTransports¶
It controls the builtin transports that will be used during the initialization of the DomainParticipant. Please refer to Managing the Builtin Transports for further information on builtin transports.
This type must follow this configuration:
Name |
Description |
Values |
Default |
---|---|---|---|
|
Defines the builtin transport mode. |
|
|
The <builtinTransport>
tag can be configured with the following attributes:
Name |
Description |
Values |
Default |
---|---|---|---|
|
Maximum message size that will be specified in
the transport layer. |
|
65500 |
|
Size of the send and receive socket buffers. Valid values: from 0 to (2^32)-1. |
|
OS default |
|
Whether to use non-blocking send calls or not.
Valid values: |
|
|
|
Timeout duration for logical port negotiation.
Valid values: from 1 to (2^32)-1. |
|
0 |
10.11.8. QoS¶
The Quality of Service (QoS) is used to specify the behavior of the Service, allowing the user to define how each Entity will behave. Please refer to the Policy section for more information on QoS.
Name |
Description |
Values |
---|---|---|
|
||
|
See DeadlineQosPolicy. |
|
|
||
|
||
|
See DurabilityQosPolicy. |
|
|
||
|
See GroupDataQosPolicy. |
|
|
||
|
See LifespanQosPolicy. |
|
|
See LivelinessQosPolicy. |
|
|
See OwnershipQosPolicy. |
|
|
||
|
See PartitionQosPolicy. |
|
|
See PublishModeQosPolicy. |
|
|
See ReliabilityQosPolicy. |
|
|
See TopicDataQosPolicy. |
|
|
See UserDataQosPolicy. |
Example
<data_writer profile_name="pub_topic_qos">
<qos> <!-- writerQosPoliciesType -->
<data_sharing>
<kind>AUTOMATIC</kind>
<shared_dir>/home</shared_dir>
<max_domains>10</max_domains>
<domain_ids>
<domainId>0</domainId>
<domainId>11</domainId>
</domain_ids>
</data_sharing>
<deadline>
<period>
<sec>1</sec>
</period>
</deadline>
<!-- DataWriter specific QoS -->
<disable_heartbeat_piggyback>true</disable_heartbeat_piggyback>
<disablePositiveAcks>
<enabled>true</enabled>
<duration>
<sec>1</sec>
</duration>
</disablePositiveAcks>
<durability>
<kind>VOLATILE</kind>
</durability>
<groupData>
<value>1.a.2</value>
</groupData>
<!-- QoS policy pending implementation -->
<latencyBudget>
<duration>
<sec>1</sec>
</duration>
</latencyBudget>
<lifespan>
<duration>
<sec>1</sec>
</duration>
</lifespan>
<liveliness>
<kind>AUTOMATIC</kind>
<lease_duration>
<sec>1</sec>
</lease_duration>
<announcement_period>
<sec>1</sec>
</announcement_period>
</liveliness>
<ownership>
<kind>EXCLUSIVE</kind>
</ownership>
<!-- DataWriter specific QoS -->
<ownershipStrength>
<value>50</value>
</ownershipStrength>
<partition>
<names>
<name>part1</name>
<name>part2</name>
</names>
</partition>
<!-- DataWriter specific QoS -->
<publishMode>
<kind>ASYNCHRONOUS</kind>
</publishMode>
<reliability>
<kind>BEST_EFFORT</kind>
<max_blocking_time>
<sec>1</sec>
</max_blocking_time>
</reliability>
<topicData>
<value>2.b.1</value>
</topicData>
<userData>
<value>3.c.0</value>
</userData>
</qos>
10.11.8.1. Data-Sharing¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
See DataSharingKind |
||
|
Directory used for the memory-mapped files. |
|
Empty |
|
Maximum number of Data-Sharing domain IDs |
|
0 (unlimited) |
|
List of Data-Sharing domain IDs configured |
|
Empty list |
Name |
Description |
Values |
---|---|---|
|
Domain ID to be used by the endpoint for Data-Sharing. |
|
10.11.8.2. Deadline¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
See DeadlineQosPolicy. |
10.11.8.3. DisableHeartbeatPiggyback¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
|
|
Important
This configuration is only available for DataWriter QoS profile configuration.
10.11.8.4. DisablePositiveAcks¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
|
|
|
|
10.11.8.5. Durability¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
DataReaders: |
10.11.8.6. Entity Factory¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
|
|
10.11.8.7. GroupData¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
See GroupDataQosPolicy. |
|
Empty |
10.11.8.8. LatencyBudget¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
0 |
10.11.8.9. Lifespan¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
See LifespanQosPolicy. |
10.11.8.10. Liveliness¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
|||
|
See LivelinessQosPolicy. |
||
|
See LivelinessQosPolicy. |
10.11.8.11. Ownership¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
10.11.8.12. Ownership Strength¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
|
0 |
Important
This configuration is only available for DataWriter QoS profile configuration.
10.11.8.13. Partition¶
Name |
Description |
Values |
---|---|---|
|
It comprises a set of |
|
10.11.8.14. PublishMode¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
See PublishModeQosPolicy. |
|
|
|
Important
This configuration is only available for DataWriter QoS profile configuration.
10.11.8.15. ReliabilityQosPolicy¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
DataReaders: |
||
|
See ReliabilityQosPolicy. |
100 ms |
10.11.8.16. TopicData¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
See TopicDataQosPolicy. |
|
Empty |
10.11.8.17. UserData¶
Name |
Description |
Values |
Default |
---|---|---|---|
|
See UserDataQosPolicy. |
|
Empty |
10.11.9. HistoryMemoryPolicy¶
Indicates the way the memory is managed in terms of dealing with the CacheChanges of the RTPSEndpointQos.
Name |
Description |
Values |
Default |
---|---|---|---|
|
Four different options as described |
|
Example
<data_writer profile_name="data_writer_historyMemoryPolicy">
<!-- ... -->
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</data_writer>
<data_reader profile_name="data_reader_historyMemoryPolicy">
<!-- ... -->
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</data_reader>
10.11.10. Allocation Configuration¶
The <allocation>
element allows to control the allocation behavior of internal collections for which the number
of elements depends on the number of entities in the system.
For instance, there are collections inside a DataWriter which depend on the number of DataReaders matching with it.
Please refer to ParticipantResourceLimitsQos for a detailed documentation on DomainParticipant allocation,
and to Tuning allocations for detailed information on how to tune allocation related parameters.
Name |
Description |
Values |
Default |
---|---|---|---|
|
Number of elements for which space is initially allocated. |
|
0 |
|
Maximum number of elements for which space will be allocated. |
|
0 (Means no limit) |
|
Number of new elements that will be allocated when more space is |
|
1 |