QoS Mechanisms

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QoS Mechanisms

Hello,

I am using Deadline, Lifespan, Reliability, Durability, Liveliness, Source Redundancy (Ownership) policies and I am implementing it on a CAN protocol which has a Publisher and a Subscriber. Can anyone please let me know how I can generate timestamps, Time synchronization between Pub/Sub and also Acknowledgement mechanisms I can use in order to implement Reliability and others. Also Source redundancy mechanisms. I will be working with virtual can interfaces for now.