11.2. DomainParticipant profiles¶

The DomainParticipant profiles allow the definition of the configuration of DomainParticipants through XML files. These profiles are defined within the <participant> XML tags.

11.2.1. DomainParticipant XML attributes¶

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

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

11.2.2. DomainParticipant configuration¶

The <participant> element has two child elements: <domain_id> and <rtps>. All the DomainParticipant configuration options belong to the <rtps> element, except for the DDS DomainId which is defined by the <domain_id> element. Below a list with the configuration XML elements is presented:

Name	Description	Values	Default
`<domainId>`	DomainId to be used by the DomainParticipant.	`uint32_t`	0
`<rtps>`	Fast DDS DomainParticipant configurations. See RTPS element type.	RTPS element type

11.2.2.1. RTPS element type¶

The following is a list with all the possible child XML elements of the <rtps> element. These elements allow the user to define the DomainParticipant configuration.

Name	Description	Values	Default
`<name>`	The DomainParticipant’s name.	`string_255`
`<defaultUnicastLocatorList>`	List of default reception unicast locators for user data traffic (see `<metatrafficUnicastLocatorList>` defined in Builtin parameters). It expects a LocatorListType.	`<locator>`
`<defaultMulticastLocatorList>`	List of default reception multicast locators for user data traffic (see `<metatrafficMulticastLocatorList>` defined in Builtin parameters). It expects a LocatorListType.	`<locator>`
`<sendSocketBufferSize>`	Size in bytes of the send socket buffer. If the value is zero then Fast DDS will use the system default socket size.	`uint32_t`	0
`<listenSocketBufferSize>`	Size in bytes of the reception socket buffer. If the value is zero then Fast DDS will use the system default socket size.	`uint32_t`	0
`<builtin>`	`builtin` public data member of the `WireProtocolConfigQos` class. See the Builtin parameters section.	Builtin parameters
`<port>`	Allows defining the port and gains related to the RTPS protocol. See the Port section.	Port
`<participantID>`	DomainParticipant’s identifier. Typically it will be automatically generated by the DomainParticipantFactory.	`int32_t`	0
`<throughputController>`	Limits middleware’s bandwidth usage. See the Throughput Configuration section.	Throughput Configuration
`<userTransports>`	Transport descriptors to be used by the DomainParticipant. See Transport descriptors.	`List <string>`
`<useBuiltinTransports>`	Boolean field to indicate the system whether the DomainParticipant will use the default `builtin` transport instead of its `<userTransports>`.	`bool`	true
`<propertiesPolicy>`	Additional configuration properties. It expects a PropertiesPolicyType.	PropertiesPolicyType
`<allocation>`	Configuration regarding allocation behavior. It expects a DomainParticipantAllocationType.	DomainParticipantAllocationType

Example

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
    <participant profile_name="domainparticipant_profile_name">
        <domainId>80</domainId>

        <rtps>
            <name>DomainParticipant Name</name>

            <defaultUnicastLocatorList>
                <!-- LOCATOR_LIST -->
                <locator>
                    <udpv4>
                        <port>7400</port>
                        <address>192.168.1.41</address>
                    </udpv4>
                </locator>
            </defaultUnicastLocatorList>

            <defaultMulticastLocatorList>
                <!-- LOCATOR_LIST -->
                <locator>
                    <udpv4>
                        <port>7400</port>
                        <address>192.168.2.41</address>
                    </udpv4>
                </locator>
            </defaultMulticastLocatorList>

            <sendSocketBufferSize>8192</sendSocketBufferSize>

            <listenSocketBufferSize>8192</listenSocketBufferSize>

            <builtin>
                <!-- BUILTIN -->
            </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_POLICY -->
                <properties>
                    <property>
                        <name>Property1Name</name>
                        <value>Property1Value</value>
                        <propagate>false</propagate>
                    </property>
                </properties>
            </propertiesPolicy>

            <allocation>
                <!-- ALLOCATION -->
            </allocation>
            <userData>

Note

LOCATOR_LIST means a LocatorListType is expected.
PROPERTIES_POLICY means that the label is a PropertiesPolicyType block.
For BUILTIN details, please refer to Builtin parameters.
For ALLOCATION details, please refer to ParticipantAllocationType.

11.2.2.1.1. Port Configuration¶

According to the RTPS standard (Section 9.6.1.1), the RTPSParticipants’ discovery traffic unicast listening ports are calculated using the following equation: \(7400 + 250 * DomainId + 10 + 2 * ParticipantId\). Therefore the following parameters can be specified:

Name	Description	Values	Default
`<portBase>`	Base `port`.	`uint16_t`	7400
`<domainIDGain>`	Gain in DomainId.	`uint16_t`	250
`<participantIDGain>`	Gain in `participant_id`.	`uint16_t`	2
`<offsetd0>`	Multicast metadata offset.	`uint16_t`	0
`<offsetd1>`	Unicast metadata offset.	`uint16_t`	10
`<offsetd2>`	Multicast user data offset.	`uint16_t`	1
`<offsetd3>`	Unicast user data offset.	`uint16_t`	11

Warning

Changing these default parameters may break compatibility with other RTPS compliant implementations, as well as with other Fast DDS applications with default port settings.

11.2.2.1.2. ParticipantAllocationType¶

The ParticipantAllocationType defines the <allocation> element, which allows setting of the parameters related with the allocation behavior on the DomainParticipant. Please refer to ParticipantResourceLimitsQos for a detailed documentation on DomainParticipants allocation configuration.

Name	Description	Values	Default
`<remote_locators>`	Defines the limits for the remote locators’ collections. See RemoteLocatorsAllocationAttributes.	`<max_unicast_locators>` `<max_multicast_locators>`
`<max_unicast_locators>`	Child element of `<remote_locators>`. Maximum number of unicast locators expected on a remote entity. It is recommended to use the maximum number of network interfaces available on the machine on which DomainParticipant is running. See RemoteLocatorsAllocationAttributes.	`uint32_t`	4
`<max_multicast_locators>`	Child element of `<remote_locators>`. Maximum number of multicast locators expected on a remote entity. May be set to zero to disable multicast traffic. See RemoteLocatorsAllocationAttributes.	`uint32_t`	1
`<total_participants>`	DomainParticipant Allocation Configuration to specify the total number of DomainParticipants in the domain (local and remote). See ResourceLimitedContainerConfig.	Allocation Configuration
`<total_readers>`	DomainParticipant Allocation Configuration to specify the total number of DataReader on each DomainParticipant (local and remote). See ResourceLimitedContainerConfig.	Allocation Configuration
`<total_writers>`	DomainParticipant Allocation Configuration related to the total number of DataWriters on each DomainParticipant (local and remote). See ResourceLimitedContainerConfig.	Allocation Configuration
`<max_partitions>`	Maximum size of the partitions submessage. Set to zero for no limit. See SendBuffersAllocationAttributes.	`uint32_t`
`<max_user_data>`	Maximum size of the user data submessage. Set to zero for no limit. See SendBuffersAllocationAttributes.	`uint32_t`
`<max_properties>`	Maximum size of the properties submessage. Set to zero for no limit. See SendBuffersAllocationAttributes.	`uint32_t`

Example

<allocation>
    <remote_locators>
        <max_unicast_locators>4</max_unicast_locators>
        <max_multicast_locators>1</max_multicast_locators>
    </remote_locators>

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

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

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

    <max_partitions>256</max_partitions>

    <max_user_data>256</max_user_data>

    <max_properties>512</max_properties>

    <!-- content_filter cannot be configured using XML (yet) -->
</allocation>

11.2.2.1.3. Builtin parameters¶

By calling the wire_protocol() member function of the DomainParticipantQos, it is possible to access the builtin public data member of the WireProtocolConfigQos class. This section specifies the available XML members for the configuration of this builtin parameters.

Name	Description	Values	Default
`<discovery_config>`	This is the main element within which discovery-related settings can be configured. See Discovery.	discovery_config
`<avoid_builtin_multicast>`	Restricts multicast metatraffic to PDP only.	`bool`	`true`
`<use_WriterLivelinessProtocol>`	Indicates whether to use the DataWriterLiveliness protocol.	`bool`	`true`
`<metatrafficUnicastLocatorList>`	Metatraffic Unicast Locator List.	A set of `<locator>` members. See LocatorListType
`<metatrafficMulticastLocatorList>`	Metatraffic Multicast Locator List.	A set of `<locator>` members. See LocatorListType
`<initialPeersList>`	The list of IP-port address pairs of all other DomainParticipants with which a DomainParticipant will communicate. See Initial peers	A set of `<locator>` members. See LocatorListType
`<DataReaderHistoryMemoryPolicy>`	Memory policy for DataReaders. See HistoryQosPolicyKind.	HistoryMemoryPolicy	`PREALLOCATED`
`<DataWriterHistoryMemoryPolicy>`	Memory policy for DataWriters. See HistoryQosPolicyKind.	HistoryMemoryPolicy	`PREALLOCATED`
`<readerPayloadSize>`	Maximum DataReader’s History payload size. Allows to reserve all the required memory at DataReader initialization. See MemoryManagementPolicy.	`uint32_t`	512
`<writerPayloadSize>`	Maximum DataWriter’s History payload size. Allows to reserve all the required memory at DataWriter initialization. See MemoryManagementPolicy.	`uint32_t`	512
`<mutation_tries>`	Number of different ports to try if DataReader’s physical port is already in use.	`uint32_t`	100

Example

<builtin>
    <discovery_config>
        <discoveryProtocol>NONE</discoveryProtocol>

        <ignoreParticipantFlags>FILTER_DIFFERENT_HOST</ignoreParticipantFlags>

        <EDP>SIMPLE</EDP>

        <leaseDuration>
            <!-- DURATION -->
            <sec>20</sec>
            <nanosec>0</nanosec>
        </leaseDuration>

        <leaseAnnouncement>
            <!-- DURATION -->
            <sec>3</sec>
            <nanosec>0</nanosec>
        </leaseAnnouncement>

        <initialAnnouncements>
            <!-- INITIAL_ANNOUNCEMENTS -->
        </initialAnnouncements>

        <simpleEDP>
            <PUBWRITER_SUBREADER>true</PUBWRITER_SUBREADER>
            <PUBREADER_SUBWRITER>true</PUBREADER_SUBWRITER>
        </simpleEDP>

        <static_edp_xml_config>file://filename.xml</static_edp_xml_config>
    </discovery_config>

    <avoid_builtin_multicast>true</avoid_builtin_multicast>

    <use_WriterLivelinessProtocol>false</use_WriterLivelinessProtocol>

    <metatrafficUnicastLocatorList>
        <!-- LOCATOR_LIST -->
        <locator>
            <udpv4/>
        </locator>
    </metatrafficUnicastLocatorList>

    <metatrafficMulticastLocatorList>
        <!-- LOCATOR_LIST -->
        <locator>
            <udpv4/>
        </locator>
    </metatrafficMulticastLocatorList>

    <initialPeersList>
        <!-- LOCATOR_LIST -->
        <locator>
            <udpv4/>
        </locator>
    </initialPeersList>

    <readerHistoryMemoryPolicy>PREALLOCATED_WITH_REALLOC</readerHistoryMemoryPolicy>

    <readerPayloadSize>512</readerPayloadSize>

    <writerHistoryMemoryPolicy>PREALLOCATED_WITH_REALLOC</writerHistoryMemoryPolicy>

    <writerPayloadSize>512</writerPayloadSize>

    <mutation_tries>55</mutation_tries>
</builtin>

discovery_config¶

Through the <discovery_config> element, Fast DDS allows the configuration of the discovery mechanism via an XML file. Please refer to the Discovery section for more detail on the various types of discovery mechanisms and configurable settings.

Name	Description	Values	Default
`<discoveryProtocol>`	Indicates which discovery protocol the DomainParticipant will use. See Discovery mechanisms.	`SIMPLE`	`SIMPLE`
		`CLIENT`
		`SERVER`
		`BACKUP`
		`NONE`
`<ignoreParticipantFlags>`	Restricts metatraffic using several filtering criteria. See Ignore Participant flags.	ignoreParticipantFlags	`NO_FILTER`
`<EDP>`	If set to `SIMPLE`, `<simpleEDP>` element would be used. If set to `STATIC`, `EDPStatic` will be performed, configured with the contents of the XML file set in `<staticEndpointXMLFilename>`. See Discovery.	`SIMPLE`	`SIMPLE`
`<EDP>`		`STATIC`	`SIMPLE`
`<simpleEDP>`	Attributes of the Simple Discovery Protocol. See Simple EDP Attributes.	simpleEDP
`<leaseDuration>`	Indicates how long the DomainParticipant should consider remote DomainParticipants alive. See Lease Duration.	DurationType	20s
`<leaseAnnouncement>`	The period for the DomainParticipant to send its discovery message to all other discovered DomainParticipants as well as to all Multicast ports. See Announcement Period.	DurationType	3s
`<initialAnnouncements>`	Allows the user to configure the number and period of the DomainParticipant’s initial discovery messages. See Initial Announcements.	Initial Announcements
`<staticEndpointXMLFilename>`	The XML filename with the static EDP configuration. Only necessary if the `<EDP>` member is set to `STATIC`. See STATIC Discovery Settings.	`string`

ignoreParticipantFlags¶

Possible values	Description
`NO_FILTER`	All Discovery traffic is processed.
`FILTER_DIFFERENT_HOST`	Discovery traffic from another host is discarded.
`FILTER_DIFFERENT_PROCESS`	Discovery traffic from another process on the same host is discarded.
`FILTER_SAME_PROCESS`	Discovery traffic from DomainParticipant’s own process is discarded.
`FILTER_DIFFERENT_PROCESS` \| `FILTER_SAME_PROCESS`	Discovery traffic from DomainParticipant’s own host is discarded.

simpleEDP¶

Name	Description	Values	Default
`<PUBWRITER_SUBREADER>`	Indicates if the participant must use Publication DataWriter and Subscription DataReader.	`bool`	`true`
`<PUBREADER_SUBWRITER>`	Indicates if the participant must use Publication DataReader and Subscription DataWriter.	`bool`	`true`

Initial Announcements¶

Name	Description	Values	Default
`<count>`	Number of initial discovery messages to send at the period specified by `<period>`. After these announcements, the DomainParticipant will continue sending its discovery messages at the `<leaseAnnouncement>` rate.	`uint32_t`	5
`<period>`	The period for the DomainParticipant to send its discovery messages.	DurationType	100 ms