Enabling Reliability

You must modify the RELIABILITY QosPolicy of the DataWriter and each of its reliable DataReaders. Set the kind field to DDS_RELIABLE_RELIABILITY_QOS:

• DataWriter

writer_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;

• DataReader

reader_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;

Blocking until the Send Queue Has Space Available

The max_blocking_time property in the RELIABILITY QosPolicy indicates how long a DataWriter can be blocked during a write().

If max_blocking_time is non-zero and the reliability send queue is full, the write is blocked (the DDS sample is not sent). If max_blocking_time has passed and the DDS sample is still not sent, write() returns DDS_RETCODE_TIMEOUT and the DDS sample is not sent.

If the number of unacknowledged DDS samples in the reliability send queue drops below max_samples (set in the RESOURCE_LIMITS QosPolicy) before max_blocking_time, the DDS sample is sent and write() returns DDS_RETCODE_OK.

If max_blocking_time is zero and the reliability send queue is full, write() returns DDS_RETCODE_TIMEOUT and the DDS sample is not sent.

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