DDS_RtpsReliableReaderProtocol_t Struct Reference
[Extended Qos Support]

Qos related to reliable reader protocol defined in RTPS. More...

Data Fields
struct DDS_Duration_t	min_heartbeat_response_delay
	The minimum delay to respond to a heartbeat.
struct DDS_Duration_t	max_heartbeat_response_delay
	The maximum delay to respond to a heartbeat.
struct DDS_Duration_t	heartbeat_suppression_duration
	The duration a reader ignores consecutively received heartbeats.
struct DDS_Duration_t	nack_period
	The period at which to send NACKs.

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Detailed Description

Qos related to reliable reader protocol defined in RTPS.

It is used to config reliable reader according to RTPS protocol.

Properties:

RxO = N/A
Changeable = NO

QoS:

DDS_DataReaderProtocolQosPolicy DDS_DiscoveryConfigQosPolicy

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Field Documentation

struct DDS_Duration_t DDS_RtpsReliableReaderProtocol_t::min_heartbeat_response_delay [read]

The minimum delay to respond to a heartbeat.

When a reliable reader receives a heartbeat from a remote writer and finds out that it needs to send back an ACK/NACK message, the reader can choose to delay a while. This sets the value of the minimum delay.

[default] 0 seconds

[range] [0, 1 year], <= max_heartbeat_response_delay

struct DDS_Duration_t DDS_RtpsReliableReaderProtocol_t::max_heartbeat_response_delay [read]

The maximum delay to respond to a heartbeat.

When a reliable reader receives a heartbeat from a remote writer and finds out that it needs to send back an ACK/NACK message, the reader can choose to delay a while. This sets the value of maximum delay.

[default] The default value depends on the container policy:

For DDS_DiscoveryConfigQosPolicy : 0 seconds
For DDS_DataReaderProtocolQosPolicy : 0.5 seconds

[range] [0, 1 year], >= min_heartbeat_response_delay

struct DDS_Duration_t DDS_RtpsReliableReaderProtocol_t::heartbeat_suppression_duration [read]

The duration a reader ignores consecutively received heartbeats.

When a reliable reader receives consecutive heartbeats within a short duration that will trigger redundant NACKs, the reader may ignore the latter heartbeat(s). This sets the duration during which additionally received heartbeats are suppressed.

[default] 0.0625 seconds

[range] [0, 1 year],

struct DDS_Duration_t DDS_RtpsReliableReaderProtocol_t::nack_period [read]

The period at which to send NACKs.

A reliable reader will send periodic NACKs at this rate when it first matches with a reliable writer. The reader will stop sending NACKs when it has received all available historical data from the writer.

[default] 5 seconds

[range] [1 nanosec, 1 year]