10.5. DataReader profiles

The DataReader profiles allow declaring DataReaders from an XML file. These profiles are defined within the <data_reader> XML tags.

10.5.1. DataReader XML attributes

The <data_reader> element has two attributes defined: profile_name and is_default_profile.

Name	Description	Use
profile_name	Sets the name under which the <data_reader> profile is registered in the DDS Domain, so that it can be loaded later by the DomainParticipant, as shown in Loading and applying profiles.	Mandatory
is_default_profile	Sets the <data_reader> profile as the default profile. Thus, if a default profile exists, it will be used when no other DataReader profile is specified at the DataReader’s creation.	Optional

10.5.2. DataReader configuration

The DataReader configuration is performed through the XML elements listed in the following table.

Name	Description	Values	Default
<topic>	TopicType configuration of the DataReader.	TopicType
<qos>	Subscriber QoS configuration.	QoS
<times>	It allows configuring some time related parameters of the DataReader.	ReaderTimes
<unicastLocatorList>	List of input unicast locators. It expects a LocatorListType.	List of LocatorListType
<multicastLocatorList>	List of input multicast locators. It expects a LocatorListType.	List of LocatorListType
<external_unicast_locators>	List of External Locators to announce for the communication with this DataReader.	ExternalLocatorListType
<ignore_non_matching_locators>	Whether to ignore locators received on announcements from other entities when they don’t match with any of the locators announced by this DataReader.	bool	false
<expectsInlineQos>	It indicates if QoS is expected inline.	bool	false
<historyMemoryPolicy>	Memory allocation kind for DataReaders’s history.	HistoryMemoryPolicy	PREALLOCATED
<propertiesPolicy>	Additional configuration properties.	PropertiesPolicyType
<userDefinedID>	Used for StaticEndpointDiscovery.	int16_t	-1
<entityID>	Set the entity_id of the RTPSEndpointQos class.	int16_t	-1
<matchedPublishersAllocation>	Sets the limits of the collection of matched DataWriters. See ParticipantResourceLimitsQos.	Allocation Configuration

Example

<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
    <profiles>
        <data_reader profile_name="data_reader_profile_name">
            <topic>
                <historyQos>
                    <kind>KEEP_LAST</kind>
                </historyQos>
            </topic>

            <qos>
                <!-- QOS -->
            </qos>

            <times> <!-- readerTimesType -->
                <initialAcknackDelay>
                    <nanosec>70</nanosec>
                </initialAcknackDelay>

                <heartbeatResponseDelay>
                    <nanosec>5</nanosec>
                </heartbeatResponseDelay>
            </times>

            <unicastLocatorList>
                <!-- LOCATOR_LIST -->
                <locator>
                    <udpv4>
                        <address>192.168.0.1</address>
                    </udpv4>
                </locator>
            </unicastLocatorList>

            <multicastLocatorList>
                <!-- LOCATOR_LIST -->
                <locator>
                    <udpv4>
                        <address>192.168.0.1</address>
                    </udpv4>
                </locator>
            </multicastLocatorList>

            <external_unicast_locators>
                <!-- EXTERNAL_LOCATOR_LIST -->
                <udpv4 externality="1" cost="0" mask="24">
                    <address>100.100.100.10</address>
                    <port>12345</port>
                </udpv4>
            </external_unicast_locators>

            <ignore_non_matching_locators>true</ignore_non_matching_locators>

            <expectsInlineQos>true</expectsInlineQos>

            <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>

            <!-- PROPERTIES_POLICY -->
            <propertiesPolicy>
                <properties>
                    <property>
                        <name>PropertyName</name>
                        <value>PropertyValue</value>
                    </property>
                </properties>
            </propertiesPolicy>

            <userDefinedID>55</userDefinedID>

            <entityID>66</entityID>

            <matchedPublishersAllocation>
                <initial>0</initial>
                <maximum>0</maximum>
                <increment>1</increment>
            </matchedPublishersAllocation>
        </data_reader>
    </profiles>
</dds>

Note

• LOCATOR_LIST means it expects a LocatorListType.

• EXTERNAL_LOCATOR_LIST means a ExternalLocatorListType is expected.

• PROPERTIES_POLICY means that the label is a PropertiesPolicyType block.

• For QOS details, please refer to QoS.

• TOPIC_TYPE is detailed in section TopicType.

10.5.2.1. ReaderTimes

These parameters are included within RTPSReliableReaderQos in the ReaderTimes structure.

Name	Description	Values	Default
<initialAcknackDelay>	Initial ACKNACK delay.	DurationType	70 ms
<heartbeatResponseDelay>	Response time delay when receiving a Heartbeat.	DurationType	5 ms