10.4. DataWriter profiles

The DataWriter profiles allow for configuring DataWriters from an XML file. These profiles are defined within the <data_writer> XML tags.

10.4.1. DataWriter XML attributes

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

Name	Description	Use
profile_name	Sets the name under which the <data_writer> 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_writer> profile as the default profile. Thus, if a default profile exists, it will be used when no other DataWriter profile is specified at the DataWriter’s creation.	Optional

10.4.2. DataWriter configuration

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

Name	Description	Values	Default
<topic>	TopicType configuration of the DataWriter.	TopicType
<qos>	DataWriter QoS configuration.	QoS
<times>	It configures some time related parameters of the DataWriter.	WriterTimes
<unicastLocatorList>	List of input unicast locators. It expects a LocatorListType.	<locator>
<multicastLocatorList>	List of input multicast locators. It expects a LocatorListType.	<locator>
<external_unicast_locators>	List of External Locators to announce for the communication with this DataWriter.	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 DataWriter.	bool	false
<historyMemoryPolicy>	Memory allocation kind for DataWriter’s history. See HistoryQosPolicyKind.	HistoryMemoryPolicy	PREALLOCATED
<propertiesPolicy>	Additional configuration properties.	PropertiesPolicyType
<userDefinedID>	Used for EDPStatic.	int16_t	-1
<entityID>	Sets the entity_id of the RTPSEndpointQos class.	int16_t	-1
<matchedSubscribersAllocation>	Sets the limits of the collection of matched DataReaders. See ParticipantResourceLimitsQos.	Allocation Configuration

Example

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

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

            <times> <!-- writerTimesType -->
                <initialHeartbeatDelay>
                    <nanosec>12</nanosec>
                </initialHeartbeatDelay>

                <heartbeatPeriod>
                    <sec>3</sec>
                </heartbeatPeriod>

                <nackResponseDelay>
                    <nanosec>5</nanosec>
                </nackResponseDelay>

                <nackSupressionDuration>
                    <sec>0</sec>
                </nackSupressionDuration>
            </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>

            <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>

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

            <userDefinedID>55</userDefinedID>

            <entityID>66</entityID>

            <matchedSubscribersAllocation>
                <initial>0</initial>
                <maximum>0</maximum>
                <increment>1</increment>
            </matchedSubscribersAllocation>

            <!-- reader_filters_allocation cannot be configured using XML (yet) -->
        </data_writer>
    </profiles>
</dds>

Note

• LOCATOR_LIST means a LocatorListType is expected.

• 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.

10.4.2.1. WriterTimes

These parameters are included within RTPSReliableWriterQos in the WriterTimes structure.

Name	Description	Values	Default
<initialHeartbeatDelay>	Initial heartbeat delay.	DurationType	12 ms
<heartbeatPeriod>	Periodic heartbeat period.	DurationType	3 s
<nackResponseDelay>	Delay to apply to the response of an ACKNACK message.	DurationType	5 ms
<nackSupressionDuration>	This time allows the DataWriter to ignore NACK messages for a given period of time right after the data has been sent.	DurationType	0 ms