XML profiles¶
The Configuration section shows how to configure entity attributes using XML profiles, but this section goes deeper on it, explaining each field with its available values and how to compound the complete XML files.
eProsima Fast RTPS permits to load several XML files in the same execution, as they can contain several XML profiles.
An XML profile is defined by a unique name (or <transport_id> label
in the Transport descriptors case) that is used to reference the XML profile
during the creation of a Fast RTPS entity, Transports, or Dynamic Topic Types.
During eProsima Fast RTPS initialization,
it tries to load an XML file with the name DEFAULT_FASTRTPS_PROFILES.xml in the current execution path.
Making an XML¶
An XML file can contain several XML profiles. The available profile types are Transport descriptors, XML Dynamic Types, Participant profiles, Publisher profiles, and Subscriber profiles.
<transport_descriptor>
<transport_id>TransportProfile</transport_id>
<type>UDPv4</type>
<!-- ... -->
</transport_descriptor>
<struct name="struct_profile">
<!-- ... -->
</struct>
</type>
</types>
<participant profile_name="participant_profile">
<rtps>
<!-- ... -->
</rtps>
</participant>
<publisher profile_name="publisher_profile">
<!-- ... -->
</publisher>
<subscriber profile_name="subscriber_profile">
<!-- ... -->
</subscriber>
<!--><-->
The Fast-RTPS XML format uses some structs along several profiles types. For readability, the Common section groups these common structs.
Finally, The Example section shows an XML file that uses all the possibilities. This example is useful as a quick reference to look for a particular property and how to use it. This XSD file can be used as a quick reference too.
Loading and applying profiles¶
Before creating any entity, it’s required to load XML files using Domain::loadXMLProfilesFile function.
createParticipant, createPublisher and createSubscriber have a version
that expects the profile name as an argument. eProsima Fast RTPS searches the XML profile using
this profile name and applies the XML profile to the entity.
eprosima::fastrtps::Domain::loadXMLProfilesFile("my_profiles.xml");
Participant *participant = Domain::createParticipant("participant_xml_profile");
Publisher *publisher = Domain::createPublisher(participant, "publisher_xml_profile");
Subscriber *subscriber = Domain::createSubscriber(participant, "subscriber_xml_profile");
To load dynamic types from its declaration through XML see the Usage section of XML Dynamic Types.
Transport descriptors¶
This section allows creating transport descriptors to be referenced by the Participant profiles. Once a well-defined transport descriptor is referenced by a Participant profile, every time that profile is instantiated it will use or create the related transport.
The following XML code shows the complete list of configurable parameters:
<transport_descriptors>
<transport_descriptor>
<transport_id>TransportId1</transport_id> <!-- string -->
<type>UDPv4</type> <!-- string -->
<sendBufferSize>8192</sendBufferSize> <!-- uint32 -->
<receiveBufferSize>8192</receiveBufferSize> <!-- uint32 -->
<TTL>250</TTL> <!-- uint8 -->
<maxMessageSize>16384</maxMessageSize> <!-- uint32 -->
<maxInitialPeersRange>100</maxInitialPeersRange> <!-- uint32 -->
<interfaceWhiteList>
<id>192.168.1.41</id> <!-- string -->
<id>127.0.0.1</id> <!-- string -->
</interfaceWhiteList>
<wan_addr>80.80.55.44</wan_addr> <!-- string -->
<output_port>5101</output_port> <!-- uint16 -->
<keep_alive_frequency_ms>5000</keep_alive_frequency_ms> <!-- uint32 -->
<keep_alive_timeout_ms>25000</keep_alive_timeout_ms> <!-- uint32 -->
<max_logical_port>9000</max_logical_port> <!-- uint16 -->
<logical_port_range>100</logical_port_range> <!-- uint16 -->
<logical_port_increment>2</logical_port_increment> <!-- uint16 -->
<ListeningPorts>
<port>5100</port> <!-- uint16 -->
<port>5200</port> <!-- uint16 -->
</ListeningPorts>
</transport_descriptor>
<transport_descriptor>
<transport_id>TransportId2</transport_id>
<type>TCPv4</type> <!-- string -->
<!-- ... -->
</transport_descriptor>
</transport_descriptors>
The XML label <transport_descriptors> can hold any number of <transport_descriptor>.
| Name | Description | Values | Default |
|---|---|---|---|
<transport_id> |
Unique name to identify each transport descriptor. | string |
|
<type> |
Type of the transport descriptor. | UDPv4, UDPv6,
TCPv4, TCPv6 |
UDPv4 |
<sendBufferSize> |
Size in bytes of the socket send buffer.
If the value is zero then FastRTPS will use the default size from
the configuration of the sockets, using a minimum size of 65536 bytes.
|
uint32 |
0 |
<receiveBufferSize> |
Size in bytes of the socket receive buffer.
If the value is zero then FastRTPS will use the default size from
the configuration of the sockets, using a minimum size of 65536 bytes.
|
uint32 |
0 |
<TTL> |
Time To Live, only for UDP transports. | uint8 |
1 |
<maxMessageSize> |
The maximum size in bytes of the transport’s message buffer. | uint32 |
65500 |
<maxInitialPeersRange> |
The maximum number of guessed initial peers to try to connect. | uint32 |
4 |
<interfaceWhiteList> |
Allows defining Whitelist Interfaces. | Whitelist Interfaces | |
<wan_addr> |
Public WAN address when using TCPv4 transports.
This field is optional if the transport doesn’t need to define a WAN address.
|
string with IPv4 FormatXXX.XXX.XXX.XXX. |
|
<output_port> |
Port used for output bound.
If this field isn’t defined, the output port will be random.
|
uint16 |
0 |
<keep_alive_frequency_ms> |
Frequency in milliseconds for sending RTCP keepalive requests (TCP only). | uint32 |
50000 |
<keep_alive_timeout_ms> |
Time in milliseconds since sending the last keepalive request
to consider a connection as broken. (TCP only).
|
uint32 |
10000 |
<max_logical_port> |
The maximum number of logical ports to try during RTCP negotiation.
(TCP only)
|
uint16 |
100 |
<logical_port_range> |
The maximum number of logical ports per request to try
during RTCP negotiation (TCP only).
|
uint16 |
20 |
<logical_port_increment> |
Increment between logical ports to try during RTCP negotiation.
(TCP only).
|
uint16 |
2 |
<ListeningPorts> |
Local port to work as TCP acceptor for input connections.
If not set, the transport will work as TCP client only (TCP only).
|
List <uint16> |
There are more examples of transports descriptors in Transports.
XML Dynamic Types¶
XML Dynamic Types allows creating eProsima Fast RTPS Dynamic Types directly defining them through XML. It allows any application to change TopicDataTypes without modifying its source code.
XML Structure¶
The XML Types definition (<types> tag) can be placed similarly to the profiles tag inside the XML file.
It can be a stand-alone XML Types file or be a child of the Fast-RTPS XML root tag (<dds>).
Inside the types tag, there must be one or more type tags (<type>).
Stand-Alone:
<types>
<type>
<!-- Type definition -->
</type>
<type>
<!-- Type definition -->
<!-- Type definition -->
</type>
</types>
Rooted:
<dds>
<types>
<type>
<!-- Type definition -->
</type>
<type>
<!-- Type definition -->
<!-- Type definition -->
</type>
</types>
</dds>
Finally, each <type> tag can contain one or more Type definitions.
Defining several types inside a <type> tag or defining each type in its <type> tag has the same result.
Type definition¶
Enum
The <enum> type is defined by its name and a set of literals,
each of them with its name and its (optional) value.
Example:
| XML | C++ |
|---|---|
<enum name="MyEnum">
<literal name="A" value="0"/>
<literal name="B" value="1"/>
<literal name="C" value="2"/>
</enum>
|
DynamicTypeBuilder_ptr enum_builder = DynamicTypeBuilderFactory::GetInstance()->CreateEnumBuilder();
enum_builder->SetName("MyEnum");
enum_builder->AddEmptyMember(0, "A");
enum_builder->AddEmptyMember(1, "B");
enum_builder->AddEmptyMember(2, "C");
DynamicType_ptr enum_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(enum_builder.get());
|
Typedef
The <typedef> type is defined by its name and its value or an inner element for complex types.
Typedefs correspond to Alias in Dynamic Types glossary.
Example:
| XML | C++ |
|---|---|
<typedef name="MyAlias1" value="MyEnum"/>
<typedef name="MyAlias2">
<long dimensions="2,2"/>
</typedef>
|
DynamicTypeBuilder_ptr alias1_builder = DynamicTypeBuilderFactory::GetInstance()->CreateAliasBuilder(enum_builder.get(), "MyAlias1");
DynamicType_ptr alias1_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(alias1_builder.get());
std::vector<uint32_t> sequence_lengths = { 2, 2 };
DynamicTypeBuilder_ptr int_builder = DynamicTypeBuilderFactory::GetInstance()->CreateInt32Builder();
DynamicTypeBuilder_ptr array_builder = DynamicTypeBuilderFactory::GetInstance()->CreateArrayBuilder(int_builder.get(), sequence_lengths);
DynamicTypeBuilder_ptr alias2_builder = DynamicTypeBuilderFactory::GetInstance()->CreateAliasBuilder(array_builder.get(), "MyAlias2");
DynamicType_ptr alias2_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(alias2_builder.get());
|
Struct
The <struct> type is defined by its name and inner members.
Example:
| XML | C++ |
|---|---|
<struct name="MyStruct">
<long name="first"/>
<longlong name="second"/>
</struct>
|
DynamicTypeBuilder_ptr long_builder = DynamicTypeBuilderFactory::GetInstance()->CreateInt32Builder();
DynamicTypeBuilder_ptr long_long_builder = DynamicTypeBuilderFactory::GetInstance()->CreateInt64Builder();
DynamicTypeBuilder_ptr struct_builder = DynamicTypeBuilderFactory::GetInstance()->CreateStructBuilder();
struct_builder->SetName("MyStruct");
struct_builder->AddMember(0, "first", long_builder.get());
struct_builder->AddMember(1, "second", long_long_builder.get());
DynamicType_ptr struct_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(struct_builder.get());
|
Union
The <union> type is defined by its name, a discriminator and a set of cases.
Each case has one or more caseValue and a member.
Example:
| XML | C++ |
|---|---|
<union name="MyUnion">
<discriminator type="octet"/>
<case>
<caseValue value="0"/>
<caseValue value="1"/>
<long name="first"/>
</case>
<case>
<caseValue value="2"/>
<MyStruct name="second"/>
</case>
<case>
<caseValue value="default"/>
<longlong name="third"/>
</case>
</union>
|
DynamicTypeBuilder_ptr long_builder = DynamicTypeBuilderFactory::GetInstance()->CreateInt32Builder();
DynamicTypeBuilder_ptr long_long_builder = DynamicTypeBuilderFactory::GetInstance()->CreateInt64Builder();
DynamicTypeBuilder_ptr struct_builder = DynamicTypeBuilderFactory::GetInstance()->CreateStructBuilder();
DynamicTypeBuilder_ptr octet_builder = DynamicTypeBuilderFactory::GetInstance()->CreateByteBuilder();
DynamicTypeBuilder_ptr union_builder = DynamicTypeBuilderFactory::GetInstance()->CreateUnionBuilder(octet_builder.get());
union_builder->SetName("MyUnion");
union_builder->AddMember(0, "first", long_builder.get(), "", { 0, 1 }, false);
union_builder->AddMember(1, "second", struct_builder.get(), "", { 2 }, false);
union_builder->AddMember(2, "third", long_long_builder.get(), "", { }, true);
DynamicType_ptr union_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(union_builder.get());
|
Member types¶
Member types are any type that can belong to a <struct> or a <union>, or be aliased by a <typedef>.
When used as <sequence>’s elements, key or value types of a map, as an aliased type, etc.,
its name attribute is ignored and can be omitted.
Basic types
The tags of the available basic types are:
<boolean> |
<longlong> |
<longdouble> |
<octet> |
<unsignedshort> |
<string> |
<char> |
<unsignedlong> |
<wstring> |
<wchar> |
<unsignedlonglong> |
<boundedString> |
<short> |
<float> |
<boundedWString> |
<long> |
<double> |
All of them are defined as follows:
| XML | C++ |
|---|---|
<longlong name="my_long"/>
|
DynamicTypeBuilder_ptr long_long_builder = DynamicTypeBuilderFactory::GetInstance()->CreateInt64Builder();
long_long_builder->SetName("my_long");
DynamicType_ptr long_long_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(long_long_builder.get());
|
Except for <boundedString> and <boundedWString> that should include an inner element maxLength
whose value indicates the maximum length of the string.
| XML | C++ |
|---|---|
<boundedString name="my_large_string">
<maxLength value="41925"/>
</boundedString>
<boundedWString name="my_large_wstring">
<maxLength value="20925"/>
</boundedWString>
|
DynamicTypeBuilder_ptr string_builder = DynamicTypeBuilderFactory::GetInstance()->CreateStringBuilder(41925);
string_builder->SetName("my_large_string");
DynamicType_ptr string_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(string_builder.get());
DynamicTypeBuilder_ptr wstring_builder = DynamicTypeBuilderFactory::GetInstance()->CreateWstringBuilder(20925);
wstring_builder->SetName("my_large_wstring");
DynamicType_ptr wstring_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(wstring_builder.get());
|
Arrays
Arrays are defined in the same way as any other member type but add the attribute dimensions.
The format of this dimensions attribute is the size of each dimension separated by commas.
Example:
| XML | C++ |
|---|---|
<long name="long_array" dimensions="2,3,4"/>
|
std::vector<uint32_t> lengths = { 2, 3, 4 };
DynamicTypeBuilder_ptr long_builder = DynamicTypeBuilderFactory::GetInstance()->CreateInt32Builder();
DynamicTypeBuilder_ptr array_builder = DynamicTypeBuilderFactory::GetInstance()->CreateArrayBuilder(long_builder.get(), lengths);
array_builder->SetName("long_array");
DynamicType_ptr array_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(array_builder.get());
|
It’s IDL analog would be:
long long_array[2][3][4];
Sequences
Sequences are defined by its name, its content type, and optionally its length.
The type of its content can be defined by its type attribute or by a member type.
Example:
| XML | C++ |
|---|---|
<sequence name="my_sequence_sequence" length="3">
<sequence type="long" length="2"/>
</sequence>
|
uint32_t child_len = 2;
DynamicTypeBuilder_ptr long_builder = DynamicTypeBuilderFactory::GetInstance()->CreateInt32Builder();
DynamicTypeBuilder_ptr seq_builder = DynamicTypeBuilderFactory::GetInstance()->CreateSequenceBuilder(long_builder.get(),
child_len);
uint32_t length = 3;
DynamicTypeBuilder_ptr seq_seq_builder = DynamicTypeBuilderFactory::GetInstance()->CreateSequenceBuilder(
seq_builder.get(), length);
seq_seq_builder->SetName("my_sequence_sequence");
DynamicType_ptr seq_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(seq_seq_builder.get());
|
The example shows a sequence with length 3 of sequences with length 2 with <long> contents.
As IDL would be:
sequence<sequence<long,2>,3> my_sequence_sequence;
Note that the inner (or content) sequence has no name, as it would be ignored by the parser.
Maps
Maps are similar to sequences, but they need to define two types instead of one.
One type defines its key_type, and the other type defines its value_type.
Again, both types can be defined as attributes or as members, but when defined
as members, they should be contained in another XML element (<key_type> and <value_type> respectively).
The definition kind of each type can be mixed, this is, one type can be defined as an attribute and the other as a member.
Example:
| XML | C++ |
|---|---|
<map name="my_map_map" key_type="long" length="2">
<value_type>
<map key_type="long" value_type="long" length="2"/>
</value_type>
</map>
|
uint32_t length = 2;
DynamicTypeBuilder_ptr long_builder = DynamicTypeBuilderFactory::GetInstance()->CreateInt32Builder();
DynamicTypeBuilder_ptr map_builder = DynamicTypeBuilderFactory::GetInstance()->CreateMapBuilder(long_builder.get(),
long_builder.get(), length);
DynamicTypeBuilder_ptr map_map_builder = DynamicTypeBuilderFactory::GetInstance()->CreateMapBuilder(long_builder.get(),
map_builder.get(), length);
map_map_builder->SetName("my_map_map");
DynamicType_ptr map_type = DynamicTypeBuilderFactory::GetInstance()->CreateType(map_map_builder.get());
|
Is equivalent to the IDL:
map<long,map<long,long,2>,2> my_map_map;
Complex types
Once defined, complex types can be used as members in the same way a basic or array type would be.
Example:
<struct name="OtherStruct">
<MyEnum name="my_enum"/>
<MyStruct name="my_struct" dimensions="5"/>
</struct>
Usage¶
In the application that will make use of XML Types, it’s mandatory to load the XML file that defines
the types before trying to instantiate DynamicPubSubTypes of these types.
It’s important to remark that only <struct> types generate usable DynamicPubSubType instances.
// Load the XML File
XMLP_ret ret = XMLProfileManager::loadXMLFile("types.xml");
// Create the "MyStructPubSubType"
DynamicPubSubType *pbType = XMLProfileManager::CreateDynamicPubSubType("MyStruct");
// Create a "MyStruct" instance
DynamicData* data = DynamicDataFactory::GetInstance()->CreateData(pbType->GetDynamicType());
Participant profiles¶
Participant profiles allow declaring Participant configuration from an XML file.
All the configuration options for the participant belongs to the <rtps> label.
The attribute profile_name will be the name that the Domain will associate to the profile to load it
as shown in Loading and applying profiles.
<participant profile_name="part_profile_name">
<rtps>
<name>Participant Name</name> <!-- String -->
<defaultUnicastLocatorList>
<!-- LOCATOR_LIST -->
<locator>
<kind>UDPv4</kind>
</locator>
</defaultUnicastLocatorList>
<defaultMulticastLocatorList>
<!-- LOCATOR_LIST -->
<locator>
<kind>UDPv4</kind>
</locator>
</defaultMulticastLocatorList>
<sendSocketBufferSize>8192</sendSocketBufferSize> <!-- uint32 -->
<listenSocketBufferSize>8192</listenSocketBufferSize> <!-- uint32 -->
<builtin>
<!-- BUILTIN -->
</builtin>
<port>
<portBase>7400</portBase> <!-- uint16 -->
<domainIDGain>200</domainIDGain> <!-- uint16 -->
<participantIDGain>10</participantIDGain> <!-- uint16 -->
<offsetd0>0</offsetd0> <!-- uint16 -->
<offsetd1>1</offsetd1> <!-- uint16 -->
<offsetd2>2</offsetd2> <!-- uint16 -->
<offsetd3>3</offsetd3> <!-- uint16 -->
</port>
<participantID>99</participantID> <!-- int32 -->
<throughputController>
<bytesPerPeriod>8192</bytesPerPeriod> <!-- uint32 -->
<periodMillisecs>1000</periodMillisecs> <!-- uint32 -->
</throughputController>
<userTransports>
<transport_id>TransportId1</transport_id> <!-- string -->
<transport_id>TransportId2</transport_id> <!-- string -->
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports> <!-- boolean -->
<propertiesPolicy>
<!-- PROPERTIES_POLICY -->
</propertiesPolicy>
</rtps>
</participant>
Note
LOCATOR_LISTmeans it expects a LocatorListType.PROPERTIES_POLICYmeans that the label is a PropertiesPolicyType block.DURATIONmeans it expects a DurationType.- For
BUILTINdetails, please refer to Built-in parameters.
List with the possible configuration parameter:
| Name | Description | Values | Default |
|---|---|---|---|
<name> |
Participant’s name. It’s not the same field that profile_name. |
string |
|
<defaultUnicastLocatorList> |
List of default input unicast locators. It expects a LocatorListType. | LocatorListType |
|
<defaultMulticastLocatorList> |
List of default input multicast locators. It expects a LocatorListType. | LocatorListType |
|
<sendSocketBufferSize> |
Size in bytes of the output socket buffer.
If the value is zero then FastRTPS will use the default size from
the configuration of the sockets, using a minimum size of 65536 bytes.
|
uint32 |
0 |
<listenSocketBufferSize> |
Size in bytes of the input socket buffer.
If the value is zero then FastRTPS will use the default size from
the configuration of the sockets, using a minimum size of 65536 bytes.
|
uint32 |
0 |
<builtin> |
Built-in parameters. Explained in the Built-in parameters section. | Built-in parameters | |
<port> |
Allows defining the port parameters and gains related to the RTPS protocol.
Explained in the Port section.
|
Port | |
<participantID> |
Participant’s identifier.
Typically it will be autogenerated by the
Domain. |
int32 |
0 |
<throughputController> |
Allows defining a maximum throughput.
Explained in the Throughput section.
|
Throughput | |
<userTransports> |
Transport descriptors to be used by the participant. | List <string> |
|
<useBuiltinTransports> |
Boolean field to indicate to the system that the participant will use
the default builtin transport independently of its
<userTransports>. |
bool |
true |
<propertiesPolicy> |
Additional configuration properties.
It expects a PropertiesPolicyType.
|
PropertiesPolicyType |
Port Configuration
| Name | Description | Values | Default |
|---|---|---|---|
<portBase> |
Base port. |
uint16 |
7400 |
<domainIDGain> |
Gain in domainId. |
uint16 |
250 |
<participantIDGain> |
Gain in participantId. |
uint16 |
2 |
<offsetd0> |
Multicast metadata offset. | uint16 |
0 |
<offsetd1> |
Unicast metadata offset. | uint16 |
10 |
<offsetd2> |
Multicast user data offset. | uint16 |
1 |
<offsetd3> |
Unicast user data offset. | uint16 |
11 |
Built-in parameters¶
This section of the Participant's rtps configuration allows defining built-in parameters.
<builtin>
<use_SIMPLE_RTPS_PDP>false</use_SIMPLE_RTPS_PDP> <!-- boolean -->
<use_WriterLivelinessProtocol>false</use_WriterLivelinessProtocol> <!-- boolean -->
<EDP>SIMPLE</EDP> <!-- string -->
<domainId>4</domainId> <!-- uint32 -->
<leaseDuration>
<!-- DURATION -->
</leaseDuration>
<leaseAnnouncement>
<!-- DURATION -->
</leaseAnnouncement>
<simpleEDP>
<PUBWRITER_SUBREADER>true</PUBWRITER_SUBREADER> <!-- boolean -->
<PUBREADER_SUBWRITER>true</PUBREADER_SUBWRITER> <!-- boolean -->
</simpleEDP>
<metatrafficUnicastLocatorList>
<!-- LOCATOR_LIST -->
<locator>
<kind>UDPv4</kind>
</locator>
</metatrafficUnicastLocatorList>
<metatrafficMulticastLocatorList>
<!-- LOCATOR_LIST -->
<locator>
<kind>UDPv4</kind>
</locator>
</metatrafficMulticastLocatorList>
<initialPeersList>
<!-- LOCATOR_LIST -->
<locator>
<kind>UDPv4</kind>
</locator>
</initialPeersList>
<staticEndpointXMLFilename>filename.xml</staticEndpointXMLFilename> <!-- string -->
<readerHistoryMemoryPolicy>PREALLOCATED_WITH_REALLOC</readerHistoryMemoryPolicy>
<writerHistoryMemoryPolicy>PREALLOCATED_WITH_REALLOC</writerHistoryMemoryPolicy>
</builtin>
| Name | Description | Values | Default |
|---|---|---|---|
<use_SIMPLE_RTPS_PDP> |
Indicates if the Participant must use the Simple RTPS Discovery Protocol. | Boolean |
true |
<use_WriterLivelinessProtocol> |
Indicates to use the WriterLiveliness protocol. | Boolean |
true |
<EDP> |
- If set to
SIMPLE, <simpleEDP> would be used.- If set to
STATIC, StaticEDP based on an XML file would be usedwith the contents of
<staticEndpointXMLFilename>. |
SIMPLE, STATIC |
SIMPLE |
<domainId> |
DomainId to be used by the RTPSParticipant. | UInt32 |
0 |
<leaseDuration> |
Indicates how much time remote RTPSParticipants should consider this
RTPSParticipant alive.
|
DurationType | 130 s |
<leaseAnnouncement> |
The period for the RTPSParticipant to send its Discovery Message to all
other discovered RTPSParticipants as well as to all Multicast ports.
|
DurationType | 40 s |
<simpleEDP> |
Attributes of the SimpleEDP protocol | simpleEDP | |
<metatrafficUnicastLocatorList> |
Metatraffic Unicast Locator List | List of LocatorListType | |
<metatrafficMulticastLocatorList> |
Metatraffic Multicast Locator List. | List of LocatorListType | |
<initialPeersList> |
Initial peers. | List of LocatorListType | |
<staticEndpointXMLFilename> |
StaticEDP XML filename.
Only necessary if
<EDP> is set to STATIC |
string |
|
<readerHistoryMemoryPolicy> |
Memory policy for builtin readers. | PREALLOCATED,
PREALLOCATED_WITH_REALLOC,
DYNAMIC |
PREALLOCATED |
<writerHistoryMemoryPolicy> |
Memory policy for builtin writers. | PREALLOCATED,
PREALLOCATED_WITH_REALLOC,
DYNAMIC |
PREALLOCATED |
simpleEDP
| Name | Description | Values | Default |
|---|---|---|---|
<PUBWRITER_SUBREADER> |
Indicates if the participant must use Publication Writer and Subcription Reader. | Boolean |
true |
<PUBREADER_SUBWRITER> |
Indicates if the participant must use Publication Reader and Subcription Writer. | Boolean |
true |
Publisher profiles¶
Publisher profiles allow declaring Publisher configuration from an XML file.
The attribute profile_name is the name that the Domain associates to the profile to load it
as shown in the Loading and applying profiles section.
<publisher profile_name="pub_profile_name">
<topic>
<!-- TOPIC_TYPE -->
</topic>
<qos>
<!-- QOS -->
</qos>
<times> <!-- readerTimesType -->
<initialAcknackDelay>
<!-- DURATION -->
</initialAcknackDelay>
<heartbeatResponseDelay>
<!-- DURATION -->
</heartbeatResponseDelay>
</times>
<unicastLocatorList>
<!-- LOCATOR_LIST -->
<locator>
<kind>UDPv4</kind>
</locator>
</unicastLocatorList>
<multicastLocatorList>
<!-- LOCATOR_LIST -->
<locator>
<kind>UDPv4</kind>
</locator>
</multicastLocatorList>
<throughputController>
<bytesPerPeriod>8192</bytesPerPeriod> <!-- uint32 -->
<periodMillisecs>1000</periodMillisecs> <!-- uint32 -->
</throughputController>
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
<propertiesPolicy>
<!-- PROPERTIES_POLICY -->
</propertiesPolicy>
<userDefinedID>55</userDefinedID> <!-- Int16 -->
<entityID>66</entityID> <!-- Int16 -->
</publisher>
Note
LOCATOR_LISTmeans it expects a LocatorListType.PROPERTIES_POLICYmeans that the label is a PropertiesPolicyType block.DURATIONmeans it expects a DurationType.- For
QOSdetails, please refer to QOS. TOPIC_TYPEis detailed in section Topic Type.
| Name | Description | Values | Default |
|---|---|---|---|
<topic> |
Topic Type configuration of the pubsliher. | Topic Type | |
<qos> |
Publisher QOS configuration. | QOS | |
<times> |
It allows configuring some time related parameters of the publisher . | Times | |
<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 | |
<throughputController> |
Limits the output bandwidth of the publisher. | Throughput | |
<historyMemoryPolicy> |
Memory allocation kind for pubsliher’s history. | PREALLOCATED,
PREALLOCATED_WITH_REALLOC,
DYNAMIC |
PREALLOCATED |
<propertiesPolicy> |
Additional configuration properties. | PropertiesPolicyType | |
<userDefinedID> |
Used for StaticEndpointDiscovery. | Int16 |
-1 |
<entityID> |
EntityId of the endpoint. | Int16 |
-1 |
Times
| Name | Description | Values | Default |
|---|---|---|---|
<initialHeartbeatDelay> |
Initial heartbeat delay. | DurationType | ~45 ms |
<heartbeatPeriod> |
Periodic HB period. | DurationType | 3 s |
<nackResponseDelay> |
Delay to apply to the response of a ACKNACK message. | DurationType | ~45 ms |
<nackSupressionDuration> |
This time allows the RTPSWriter to ignore nack messages
too soon after the data has been sent.
|
DurationType | 0 ms |
Subscriber profiles¶
Subscriber profiles allow declaring Subscriber configuration from an XML file.
The attribute profile_name is the name that the Domain associates to the profile to load it
as shown in Loading and applying profiles.
<subscriber profile_name="sub_profile_name">
<topic>
<!-- TOPIC_TYPE -->
</topic>
<qos>
<!-- QOS -->
</qos>
<times> <!-- readerTimesType -->
<initialAcknackDelay>
<!-- DURATION -->
</initialAcknackDelay>
<heartbeatResponseDelay>
<!-- DURATION -->
</heartbeatResponseDelay>
</times>
<unicastLocatorList>
<!-- LOCATOR_LIST -->
<locator>
<kind>UDPv4</kind>
</locator>
</unicastLocatorList>
<multicastLocatorList>
<!-- LOCATOR_LIST -->
<locator>
<kind>UDPv4</kind>
</locator>
</multicastLocatorList>
<expectsInlineQos>true</expectsInlineQos> <!-- boolean -->
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
<propertiesPolicy>
<!-- PROPERTIES_POLICY -->
</propertiesPolicy>
<userDefinedID>55</userDefinedID> <!-- Int16 -->
<entityID>66</entityID> <!-- Int16 -->
</subscriber>
Note
LOCATOR_LISTmeans it expects a LocatorListType.PROPERTIES_POLICYmeans that the label is a PropertiesPolicyType block.DURATIONmeans it expects a DurationType.- For
QOSdetails, please refer to QOS. TOPIC_TYPEis detailed in section Topic Type.
| Name | Description | Values | Default |
|---|---|---|---|
<topic> |
Topic Type configuration of the subscriber. | Topic Type | |
<qos> |
Subscriber QOS configuration. | QOS | |
<times> |
It allows configuring some time related parameters of the subscriber. | Times | |
<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 | |
<expectsInlineQos> |
It indicates if QOS is expected inline. | Boolean |
false |
<historyMemoryPolicy> |
Memory allocation kind for subscriber’s history. | PREALLOCATED,
PREALLOCATED_WITH_REALLOC,
DYNAMIC |
PREALLOCATED |
<propertiesPolicy> |
Additional configuration properties. | PropertiesPolicyType | |
<userDefinedID> |
Used for StaticEndpointDiscovery. | Int16 |
-1 |
<entityID> |
EntityId of the endpoint. | Int16 |
-1 |
Times
| Name | Description | Values | Default |
|---|---|---|---|
<initialAcknackDelay> |
Initial AckNack delay. | DurationType | ~45 ms |
<heartbeatResponseDelay> |
Delay to be applied when a hearbeat message is received. | DurationType | ~4.5 ms |
Common¶
In the above profiles, some types are used in several different places. To avoid too many details, some of that
places have a tag like LocatorListType that indicates that field is defined in this section.
LocatorListType¶
It represents a list of Locator_t.
LocatorListType is normally used as an anonymous type, this is, it hasn’t its own label.
Instead, it is used inside other configuration parameter labels that expect a list of locators and give it sense,
for example, in <defaultUnicastLocatorList>:
<defaultUnicastLocatorList>
<locator>
<kind>UDPv4</kind>
<!-- Access as physical, typical UDP usage -->
<port>7400</port> <!-- uint32 -->
<address>192.168.1.41</address>
</locator>
<locator>
<kind>TCPv4</kind>
<!-- Both physical and logical, useful in TCP transports -->
<port_>
<physical_port>5100</physical_port> <!-- uint16 -->
<logical_port>7400</logical_port> <!-- uint16 -->
</port_>
<addresses_>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<ip_address>192.168.1.55</ip_address>
</addresses_>
</locator>
<locator>
<kind>UDPv6</kind>
<port>8844</port>
<ipv6_address>::1</ipv6_address>
</locator>
</defaultUnicastLocatorList>
In this example, there are three different locators in <defaultUnicastLocatorList>.
Let’s see each Locator’s fields in detail:
| Name | Description | Values | Default |
|---|---|---|---|
<kind> |
Locator’s kind. | UDPv4, UDPv6,
TCPv4, TCPv6 |
UDPv4 |
<port> |
Physical port number of the locator. | Uint32 |
0 |
<port_> |
It allows to access low-level TCP port details.
It is detailed in TCP Ports
|
TCP Ports | |
<address> |
IPv4 address of the locator | string with IPv4 Format |
0.0.0.0 |
<addresses_> |
It allows managing low-level details in address of TCPv4 locators.
It is detailed in TCP Addresses
|
TCP Addresses | |
<ipv6_address> |
IPv6 address of the locator | string with IPv6 Format |
:: |
TCP Ports
| Name | Description | Values | Default |
|---|---|---|---|
<physical_port> |
TCP port. | UInt16 |
0 |
<logical_port> |
RTPS logical port. | UInt16 |
0 |
TCP Addresses
| Name | Description | Values | Default |
|---|---|---|---|
<unique_lan_id> |
The LAN ID uniquely identifies the LAN the locator belongs to. | string (16 bytes) |
|
<wan_address> |
WAN IPv4 address. | string with IPv4 Format |
0.0.0.0 |
<ip_address> |
WAN IPv4 address. | string with IPv4 Format |
0.0.0.0 |
PropertiesPolicyType¶
PropertiesPolicyType (XML label <propertiesPolicy>) allows defining a set of generic properties.
It’s useful at defining extended or custom configuration parameters.
<propertiesPolicy>
<properties>
<property>
<name>Property1Name</name> <!-- string -->
<value>Property1Value</value> <!-- string -->
<propagate>false</propagate> <!-- boolean -->
</property>
<property>
<name>Property2Name</name> <!-- string -->
<value>Property2Value</value> <!-- string -->
<propagate>true</propagate> <!-- boolean -->
</property>
</properties>
</propertiesPolicy>
| Name | Description | Values | Default |
|---|---|---|---|
<name> |
Name to identify the property. | string |
|
<value> |
Property’s value. | string |
|
<propagate> |
Indicates if it is going to be serialized along with the object it belongs to. | Boolean |
false |
DurationType¶
DurationType expresses a period of time and it’s commonly used as an anonymous type, this is, it hasn’t its own label.
Instead, it is used inside other configuration parameter labels that give it sense, like <leaseAnnouncement> or <leaseDuration>.
<leaseDuration>INFINITE</leaseDuration> <!-- string -->
<leaseDuration>
<seconds>500</seconds> <!-- int32 -->
<fraction>0</fraction> <!-- uint32 -->
</leaseDuration>
<leaseAnnouncement>
<seconds>1</seconds> <!-- int32 -->
<fraction>856000</fraction> <!-- uint32 -->
</leaseAnnouncement>
Duration time can be defined through a constant value directly (INFINITE, ZERO, or INVALID),
or by <seconds> plus <fraction> labels:
INFINITE: Constant value, represents an infinite period of time.ZERO: Constant value, represents 0.0 seconds.INVALID: Constant value, represents an invalid period of time.
| Name | Description | Values | Default |
|---|---|---|---|
<seconds> |
Number of seconds. | Int32 |
0 |
<fraction> |
Fractions of a second. A fraction is 1/(2^32) seconds. |
UInt32 |
0 |
Topic Type¶
The topic name and data type are used as meta-data to determine whether Publishers and Subscribers can exchange messages. There is a deeper explanation of the “topic” field here: Topic information.
<topic>
<kind>NO_KEY</kind> <!-- string -->
<name>TopicName</name> <!-- string -->
<dataType>TopicDataTypeName</dataType> <!-- string -->
<historyQos>
<kind>KEEP_LAST</kind> <!-- string -->
<depth>20</depth> <!-- uint32 -->
</historyQos>
<resourceLimitsQos>
<max_samples>5</max_samples> <!-- unint32 -->
<max_instances>2</max_instances> <!-- unint32 -->
<max_samples_per_instance>1</max_samples_per_instance> <!-- unint32 -->
<allocated_samples>20</allocated_samples> <!-- unint32 -->
</resourceLimitsQos>
</topic>
| Name | Description | Values | Default |
|---|---|---|---|
<kind> |
It defines the Topic’s kind | NO_KEY,
WITH_KEY |
NO_KEY |
<name> |
It defines the Topic’s name. Must be unique. | string |
|
<dataType> |
It references the Topic’s data type. | string |
|
<historyQos> |
It controls the behavior of Fast RTPS when the value of an instance changes
before it is finally communicated to some of its existing DataReader entities.
|
HistoryQos | |
<resourceLimitsQos> |
It controls the resources that Fast RTPS can use in order to meet the
requirements imposed by the application and other QoS settings.
|
ResourceLimitsQos |
HistoryQoS
It controls the behavior of Fast RTPS when the value of an instance changes before it is finally communicated to some of its existing DataReader entities.
| Name | Description | Values | Default |
|---|---|---|---|
<kind> |
See description below. | KEEP_LAST,
KEEP_ALL |
KEEP_LAST |
<depth> |
UInt32 |
1000 |
If the
<kind> is set to KEEP_LAST, then Fast RTPS will only attempt to keep the latest values of the instance and discard the older ones.If the
<kind> is set to KEEP_ALL, then Fast RTPS will attempt to maintain and deliver all the values of the instance to existing subscribers.The setting of
<depth> must be consistent with the ResourceLimitsQos <max_samples_per_instance>. For these two QoS to be consistent, they must verify that depth <= max_samples_per_instance.ResourceLimitsQos
It controls the resources that Fast RTPS can use in order to meet the requirements imposed by the application and other QoS settings.
| Name | Description | Values | Default |
|---|---|---|---|
<max_samples> |
It must verify that max_samples >= max_samples_per_instance. |
UInt32 |
5000 |
<max_instances> |
It defines the maximum number of instances. | UInt32 |
10 |
<max_samples_per_instance> |
It must verify that HistoryQos
depth <= max_samples_per_instance. |
UInt32 |
400 |
<allocated_samples> |
It controls the maximum number of samples to be stored. | UInt32 |
100 |
QOS¶
The quality of service (QoS) handles the restrictions applied to the application.
<qos> <!-- readerQosPoliciesType -->
<durability>
<kind>VOLATILE</kind> <!-- string -->
</durability>
<liveliness>
<!-- LIVELINESS -->
<kind>AUTOMATIC</kind> <!-- string -->
</liveliness>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<partition>
<names>
<name>part1</name> <!-- string -->
<name>part2</name> <!-- string -->
</names>
</partition>
</qos>
| Name | Description | Values | Default |
|---|---|---|---|
<durability> |
It is defined on Setting the data durability kind section. | VOLATILE,
TRANSIENT_LOCAL,
TRANSIENT |
VOLATILE |
<liveliness> |
Defines the liveliness of the participant. | LivelinessType | |
<reliability> |
It is defined on Reliability section. | RELIABLE,
BEST_EFFORT |
RELIABLE |
<partition> |
It allows the introduction of a logical partition concept
inside the ‘physical’ partition induced by a domain.
|
List <string> |
LivelinessType¶
This parameter defines who is responsible for issues of liveliness packets.
<liveliness>
<kind>AUTOMATIC</kind> <!-- string -->
<leaseDuration>
<!-- DURATION -->
</leaseDuration>
<announcement_period>
<!-- DURATION -->
</announcement_period>
</liveliness>
| Name | Description | Values | Default |
|---|---|---|---|
<kind> |
Specifies how to manage liveliness. | AUTOMATIC,
MANUAL_BY_TOPIC,
MANUAL_BY_TOPIC |
AUTOMATIC |
<leaseDuration> |
Amount of time that the remote RTPSParticipants should consider this
RTPSParticipant to be alive since the last message.
|
DurationType | 130 s |
<announcement_period> |
The period to send its Discovery Message to all other
discovered RTPSParticipants as well as to all Multicast ports.
|
DurationType | 40 s |
Throughput Configuration¶
Throughput Configuration allows to limit the output bandwidth.
| Name | Description | Values | Default |
|---|---|---|---|
<bytesPerPeriod> |
Packet size in bytes that this controller will allow in a given period. | UInt32 |
4294967295 |
<periodMillisecs> |
Window of time in which no more than <bytesPerPeriod> bytes are allowed. |
UInt32 |
0 |
Example¶
In this section, there is a full XML example with all possible configuration. It can be used as a quick reference, but it may not be valid due to incompatibility or exclusive properties. Don’t take it as a working example.
<profiles>
<transport_descriptors>
<transport_descriptor>
<transport_id>ExampleTransportId1</transport_id>
<type>TCPv4</type>
<sendBufferSize>8192</sendBufferSize>
<receiveBufferSize>8192</receiveBufferSize>
<TTL>250</TTL>
<maxMessageSize>16384</maxMessageSize>
<maxInitialPeersRange>100</maxInitialPeersRange>
<interfaceWhiteList>
<id>192.168.1.41</id>
<id>127.0.0.1</id>
</interfaceWhiteList>
<wan_addr>80.80.55.44</wan_addr>
<output_port>5101</output_port>
<keep_alive_frequency_ms>5000</keep_alive_frequency_ms>
<keep_alive_timeout_ms>25000</keep_alive_timeout_ms>
<max_logical_port>200</max_logical_port>
<logical_port_range>20</logical_port_range>
<logical_port_increment>2</logical_port_increment>
<ListeningPorts>
<port>5100</port>
<port>5200</port>
</ListeningPorts>
</transport_descriptor>
<transport_descriptor>
<transport_id>ExampleTransportId2</transport_id>
<type>UDPv6</type>
</transport_descriptor>
</transport_descriptors>
<types>
<type> <!-- Types can be defined in its own type of tag or sharing the same tag -->
<enum name="MyAloneEnumType">
<literal name="A" value="0"/>
<literal name="B" value="1"/>
<literal name="C" value="2"/>
</enum>
</type>
<type>
<enum name="MyEnumType">
<literal name="A" value="0"/>
<literal name="B" value="1"/>
<literal name="C" value="2"/>
</enum>
<typedef name="MyAlias1" value="MyEnum"/>
<typedef name="MyAlias2">
<long dimensions="2,2"/>
</typedef>
<struct name="MyStruct">
<long name="first"/>
<longlong name="second"/>
</struct>
<union name="MyUnion">
<discriminator type="octet"/>
<case>
<caseValue value="0"/>
<caseValue value="1"/>
<long name="first"/>
</case>
<case>
<caseValue value="2"/>
<MyStruct name="second"/>
</case>
<case>
<caseValue value="default"/>
<longlong name="third"/>
</case>
</union>
<!-- All possible members struct type -->
<struct name="MyFullStruct">
<!-- Primitives & basic -->
<boolean name="my_bool"/>
<octet name="my_octet"/>
<char name="my_char"/>
<wchar name="my_wchar"/>
<short name="my_short"/>
<long name="my_long"/>
<longlong name="my_longlong"/>
<unsignedshort name="my_unsignedshort"/>
<unsignedlong name="my_unsignedlong"/>
<unsignedlonglong name="my_unsignedlonglong"/>
<float name="my_float"/>
<double name="my_double"/>
<longdouble name="my_longdouble"/>
<string name="my_string"/>
<wstring name="my_wstring"/>
<boundedString name="my_boundedString">
<maxLength value="41925"/>
</boundedString>
<boundedWString name="my_boundedWString">
<maxLength value="41925"/>
</boundedWString>
<!-- long long_array[2][3][4]; -->
<long name="long_array" dimensions="2,3,4"/>
<!-- sequence<sequence<long,2>,3> my_sequence_sequence; -->
<sequence name="my_sequence_sequence" length="3">
<sequence type="long" length="2"/>
</sequence>
<!-- map<long,map<long,long,2>,2> my_map_map; -->
<map name="my_map_map" key_type="long" length="2">
<value_type>
<map key_type="long" value_type="long" length="2"/>
</value_type>
</map>
<!-- Complex types -->
<struct name="OtherStruct">
<MyEnum name="my_enum"/>
<MyStruct name="my_struct" dimensions="5"/>
</struct>
</struct>
</type>
</types>
<participant profile_name="part_profile_example">
<rtps>
<name>Participant Name</name> <!-- String -->
<defaultUnicastLocatorList>
<locator>
<kind>UDPv4</kind>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</locator>
<locator>
<kind>TCPv4</kind>
<!-- Both physical and logical, like TCP -->
<port_>
<physical_port>5100</physical_port>
<logical_port>7400</logical_port>
</port_>
<addresses_>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<ip_address>192.168.1.55</ip_address>
</addresses_>
</locator>
<locator>
<kind>UDPv6</kind>
<port>8844</port>
<ipv6_address>::1</ipv6_address>
</locator>
</defaultUnicastLocatorList>
<defaultMulticastLocatorList>
<locator>
<kind>UDPv4</kind>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</locator>
<locator>
<kind>TCPv4</kind>
<!-- Both physical and logical, like TCP -->
<port_>
<physical_port>5100</physical_port>
<logical_port>7400</logical_port>
</port_>
<addresses_>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<ip_address>192.168.1.55</ip_address>
</addresses_>
</locator>
<locator>
<kind>UDPv6</kind>
<port>8844</port>
<ipv6_address>::1</ipv6_address>
</locator>
</defaultMulticastLocatorList>
<sendSocketBufferSize>8192</sendSocketBufferSize>
<listenSocketBufferSize>8192</listenSocketBufferSize>
<builtin>
<use_SIMPLE_RTPS_PDP>false</use_SIMPLE_RTPS_PDP>
<use_WriterLivelinessProtocol>false</use_WriterLivelinessProtocol>
<EDP>SIMPLE</EDP>
<domainId>4</domainId>
<leaseDuration>INFINITE</leaseDuration>
<leaseAnnouncement>
<seconds>1</seconds>
<fraction>856000</fraction>
</leaseAnnouncement>
<simpleEDP>
<PUBWRITER_SUBREADER>true</PUBWRITER_SUBREADER>
<PUBREADER_SUBWRITER>true</PUBREADER_SUBWRITER>
</simpleEDP>
<metatrafficUnicastLocatorList>
<locator>
<kind>UDPv4</kind>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</locator>
<locator>
<kind>TCPv4</kind>
<!-- Both physical and logical, like TCP -->
<port_>
<physical_port>5100</physical_port>
<logical_port>7400</logical_port>
</port_>
<addresses_>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<ip_address>192.168.1.55</ip_address>
</addresses_>
</locator>
<locator>
<kind>UDPv6</kind>
<port>8844</port>
<ipv6_address>::1</ipv6_address>
</locator>
</metatrafficUnicastLocatorList>
<metatrafficMulticastLocatorList>
<locator>
<kind>UDPv4</kind>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</locator>
<locator>
<kind>TCPv4</kind>
<!-- Both physical and logical, like TCP -->
<port_>
<physical_port>5100</physical_port>
<logical_port>7400</logical_port>
</port_>
<addresses_>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<ip_address>192.168.1.55</ip_address>
</addresses_>
</locator>
<locator>
<kind>UDPv6</kind>
<port>8844</port>
<ipv6_address>::1</ipv6_address>
</locator>
</metatrafficMulticastLocatorList>
<initialPeersList>
<locator>
<kind>UDPv4</kind>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</locator>
<locator>
<kind>TCPv4</kind>
<!-- Both physical and logical, like TCP -->
<port_>
<physical_port>5100</physical_port>
<logical_port>7400</logical_port>
</port_>
<addresses_>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<ip_address>192.168.1.55</ip_address>
</addresses_>
</locator>
<locator>
<kind>UDPv6</kind>
<port>8844</port>
<ipv6_address>::1</ipv6_address>
</locator>
</initialPeersList>
<staticEndpointXMLFilename>filename.xml</staticEndpointXMLFilename>
<readerHistoryMemoryPolicy>PREALLOCATED_WITH_REALLOC</readerHistoryMemoryPolicy>
<writerHistoryMemoryPolicy>PREALLOCATED</writerHistoryMemoryPolicy>
</builtin>
<port>
<portBase>7400</portBase>
<domainIDGain>200</domainIDGain>
<participantIDGain>10</participantIDGain>
<offsetd0>0</offsetd0>
<offsetd1>1</offsetd1>
<offsetd2>2</offsetd2>
<offsetd3>3</offsetd3>
</port>
<participantID>99</participantID>
<throughputController>
<bytesPerPeriod>8192</bytesPerPeriod>
<periodMillisecs>1000</periodMillisecs>
</throughputController>
<userTransports>
<transport_id>TransportId1</transport_id>
<transport_id>TransportId2</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
<propertiesPolicy>
<properties>
<property>
<name>Property1Name</name>
<value>Property1Value</value>
<propagate>false</propagate>
</property>
<property>
<name>Property2Name</name>
<value>Property2Value</value>
<propagate>false</propagate>
</property>
</properties>
</propertiesPolicy>
</rtps>
</participant>
<publisher profile_name="pub_profile_example">
<topic>
<kind>WITH_KEY</kind>
<name>TopicName</name>
<dataType>TopicDataTypeName</dataType>
<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>
</resourceLimitsQos>
</topic>
<qos> <!-- writerQosPoliciesType -->
<durability>
<kind>VOLATILE</kind>
</durability>
<liveliness>
<kind>AUTOMATIC</kind>
<leaseDuration>
<seconds>1</seconds>
<fraction>856000</fraction>
</leaseDuration>
<announcement_period>
<seconds>1</seconds>
<fraction>856000</fraction>
</announcement_period>
</liveliness>
<reliability>
<kind>BEST_EFFORT</kind>
<max_blocking_time>
<seconds>1</seconds>
<fraction>856000</fraction>
</max_blocking_time>
</reliability>
<partition>
<names>
<name>part1</name>
<name>part2</name>
</names>
</partition>
<publishMode>
<kind>ASYNCHRONOUS</kind>
</publishMode>
</qos>
<times>
<initialHeartbeatDelay>
<seconds>1</seconds>
<fraction>856000</fraction>
</initialHeartbeatDelay>
<heartbeatPeriod>
<seconds>1</seconds>
<fraction>856000</fraction>
</heartbeatPeriod>
<nackResponseDelay>
<seconds>1</seconds>
<fraction>856000</fraction>
</nackResponseDelay>
<nackSupressionDuration>
<seconds>1</seconds>
<fraction>856000</fraction>
</nackSupressionDuration>
</times>
<unicastLocatorList>
<locator>
<kind>UDPv4</kind>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</locator>
<locator>
<kind>TCPv4</kind>
<!-- Both physical and logical, like TCP -->
<port_>
<physical_port>5100</physical_port>
<logical_port>7400</logical_port>
</port_>
<addresses_>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<ip_address>192.168.1.55</ip_address>
</addresses_>
</locator>
<locator>
<kind>UDPv6</kind>
<port>8844</port>
<ipv6_address>::1</ipv6_address>
</locator>
</unicastLocatorList>
<multicastLocatorList>
<locator>
<kind>UDPv4</kind>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</locator>
<locator>
<kind>TCPv4</kind>
<!-- Both physical and logical, like TCP -->
<port_>
<physical_port>5100</physical_port>
<logical_port>7400</logical_port>
</port_>
<addresses_>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<ip_address>192.168.1.55</ip_address>
</addresses_>
</locator>
<locator>
<kind>UDPv6</kind>
<port>8844</port>
<ipv6_address>::1</ipv6_address>
</locator>
</multicastLocatorList>
<throughputController>
<bytesPerPeriod>8192</bytesPerPeriod>
<periodMillisecs>1000</periodMillisecs>
</throughputController>
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
<propertiesPolicy>
<properties>
<property>
<name>Property1Name</name>
<value>Property1Value</value>
<propagate>false</propagate>
</property>
<property>
<name>Property2Name</name>
<value>Property2Value</value>
<propagate>false</propagate>
</property>
</properties>
</propertiesPolicy>
<userDefinedID>45</userDefinedID>
<entityID>76</entityID>
</publisher>
<subscriber profile_name="sub_profile_example">
<topic>
<kind>WITH_KEY</kind>
<name>TopicName</name>
<dataType>TopicDataTypeName</dataType>
<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>
</resourceLimitsQos>
</topic>
<qos>
<durability>
<kind>PERSISTENT</kind>
</durability>
<liveliness>
<kind>MANUAL_BY_PARTICIPANT</kind>
<leaseDuration>
<seconds>1</seconds>
<fraction>856000</fraction>
</leaseDuration>
<announcement_period>
<seconds>1</seconds>
<fraction>856000</fraction>
</announcement_period>
</liveliness>
<reliability>
<kind>BEST_EFFORT</kind>
<max_blocking_time>
<seconds>1</seconds>
<fraction>856000</fraction>
</max_blocking_time>
</reliability>
<partition>
<names>
<name>part1</name>
<name>part2</name>
</names>
</partition>
</qos>
<times>
<initialAcknackDelay>
<seconds>1</seconds>
<fraction>856000</fraction>
</initialAcknackDelay>
<heartbeatResponseDelay>
<seconds>1</seconds>
<fraction>856000</fraction>
</heartbeatResponseDelay>
</times>
<unicastLocatorList>
<locator>
<kind>UDPv4</kind>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</locator>
<locator>
<kind>TCPv4</kind>
<!-- Both physical and logical, like TCP -->
<port_>
<physical_port>5100</physical_port>
<logical_port>7400</logical_port>
</port_>
<addresses_>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<ip_address>192.168.1.55</ip_address>
</addresses_>
</locator>
<locator>
<kind>UDPv6</kind>
<port>8844</port>
<ipv6_address>::1</ipv6_address>
</locator>
</unicastLocatorList>
<multicastLocatorList>
<locator>
<kind>UDPv4</kind>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</locator>
<locator>
<kind>TCPv4</kind>
<!-- Both physical and logical, like TCP -->
<port_>
<physical_port>5100</physical_port>
<logical_port>7400</logical_port>
</port_>
<addresses_>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<ip_address>192.168.1.55</ip_address>
</addresses_>
</locator>
<locator>
<kind>UDPv6</kind>
<port>8844</port>
<ipv6_address>::1</ipv6_address>
</locator>
</multicastLocatorList>
<expectsInlineQos>true</expectsInlineQos>
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
<propertiesPolicy>
<properties>
<property>
<name>Property1Name</name>
<value>Property1Value</value>
<propagate>false</propagate>
</property>
<property>
<name>Property2Name</name>
<value>Property2Value</value>
<propagate>false</propagate>
</property>
</properties>
</propertiesPolicy>
<userDefinedID>55</userDefinedID>
<entityID>66</entityID>
</subscriber>
</profiles>