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RTI Connext Traditional C++ API
Version 6.1.0
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Along with DDS_WireProtocolQosPolicy and DDS_DataWriterProtocolQosPolicy, this QoS policy configures the DDS on-the-network protocol (RTPS). More...
Public Attributes | |
| struct DDS_GUID_t | virtual_guid |
| The virtual GUID (Global Unique Identifier). More... | |
| DDS_UnsignedLong | rtps_object_id |
| The RTPS Object ID. More... | |
| DDS_Boolean | expects_inline_qos |
| Specifies whether this DataReader expects inline QoS with every sample. More... | |
| DDS_Boolean | disable_positive_acks |
| Whether the reader sends positive acknowledgements to writers. More... | |
| DDS_Boolean | propagate_dispose_of_unregistered_instances |
| Indicates whether or not an instance can move to the DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE state without being in the DDS_ALIVE_INSTANCE_STATE state. More... | |
| DDS_Boolean | propagate_unregister_of_disposed_instances |
| Indicates whether or not an instance can move to the DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE state without being in the DDS_ALIVE_INSTANCE_STATE state. More... | |
| struct DDS_RtpsReliableReaderProtocol_t | rtps_reliable_reader |
| RTPS protocol-related configuration settings for the RTPS reliable reader associated with a DDSDataReader. This parameter only has effect if the reader is configured with DDS_RELIABLE_RELIABILITY_QOS DDS_ReliabilityQosPolicyKind. More... | |
Along with DDS_WireProtocolQosPolicy and DDS_DataWriterProtocolQosPolicy, this QoS policy configures the DDS on-the-network protocol (RTPS).
DDS has a standard protocol for packet (user and meta data) exchange between applications using DDS for communications. This QoS policy and DDS_DataReaderProtocolQosPolicy give you control over configurable portions of the protocol, including the configuration of the reliable data delivery mechanism of the protocol on a per DataWriter or DataReader basis.
These configuration parameters control timing, timeouts, and give you the ability to tradeoff between speed of data loss detection and repair versus network and CPU bandwidth used to maintain reliability.
It is important to tune the reliability protocol (on a per DDSDataWriter and DDSDataReader basis) to meet the requirements of the end-user application so that data can be sent between DataWriters and DataReaders in an efficient and optimal manner in the presence of data loss.
You can also use this QoS policy to control how RTI Connext responds to "slow" reliable DataReaders or ones that disconnect or are otherwise lost. See DDS_ReliabilityQosPolicy for more information on the per-DataReader/DataWriter reliability configuration. DDS_HistoryQosPolicy and DDS_ResourceLimitsQosPolicy also play an important role in the DDS reliable protocol.
This QoS policy is an extension to the DDS standard.
| struct DDS_GUID_t DDS_DataReaderProtocolQosPolicy::virtual_guid |
The virtual GUID (Global Unique Identifier).
The virtual GUID is used to uniquely identify different incarnations of the same DDSDataReader.
The association between a DDSDataReader and its persisted state is done using the virtual GUID.
[default] DDS_GUID_AUTO
| DDS_UnsignedLong DDS_DataReaderProtocolQosPolicy::rtps_object_id |
The RTPS Object ID.
This value is used to determine the RTPS object ID of a data reader according to the DDS-RTPS Interoperability Wire Protocol.
Only the last 3 bytes are used; the most significant byte is ignored.
If the default value is specified, RTI Connext will automatically assign the object ID based on a counter value (per participant) starting at 0x00800000. That value is incremented for each new data reader.
A rtps_object_id value in the interval [0x00800000,0x00ffffff] may collide with the automatic values assigned by RTI Connext. In those cases, the recomendation is not to use automatic object ID assigment.
[default] DDS_RTPS_AUTO_ID
[range] [0,0x00ffffff]
| DDS_Boolean DDS_DataReaderProtocolQosPolicy::expects_inline_qos |
Specifies whether this DataReader expects inline QoS with every sample.
In RTI Connext, a DDSDataReader nominally relies on Discovery to propagate QoS on a matched DDSDataWriter. Alternatively, a DDSDataReader may get information on a matched DDSDataWriter through QoS sent inline with a sample.
Asserting DDS_DataReaderProtocolQosPolicy::expects_inline_qos indicates to a matching DDSDataWriter that this DDSDataReader expects to receive inline QoS with every sample. The complete set of inline QoS that a DDSDataWriter may send inline is specified by the Real-Time Publish-Subscribe (RTPS) Wire Interoperability Protocol.
Because RTI Connext DDSDataWriter and DDSDataReader cache Discovery information, inline QoS are largely redundant and thus unecessary. Only for other stateless implementations whose DDSDataReader does not cache Discovery information is inline QoS necessary.
Also note that inline QoS are additional wire-payload that consume additional bandwidth and serialization and deserialization time.
[default] DDS_BOOLEAN_FALSE
| DDS_Boolean DDS_DataReaderProtocolQosPolicy::disable_positive_acks |
Whether the reader sends positive acknowledgements to writers.
If set to DDS_BOOLEAN_TRUE, the reader does not send positive acknowledgments (ACKs) in response to Heartbeat messages. The reader will send negative acknowledgements (NACKs) when a Heartbeat advertises samples that it has not received.
Otherwise, if set to DDS_BOOLEAN_FALSE (the default), the reader will send ACKs to writers that expect ACKs (DDS_DataWriterProtocolQosPolicy::disable_positive_acks = DDS_BOOLEAN_FALSE) and it will not send ACKs to writers that disable ACKs (DDS_DataWriterProtocolQosPolicy::disable_positive_acks = DDS_BOOLEAN_TRUE)
[default] DDS_BOOLEAN_FALSE
| DDS_Boolean DDS_DataReaderProtocolQosPolicy::propagate_dispose_of_unregistered_instances |
Indicates whether or not an instance can move to the DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE state without being in the DDS_ALIVE_INSTANCE_STATE state.
This field only applies to keyed readers.
When the field is set to DDS_BOOLEAN_TRUE, the DataReader will receive dispose notifications even if the instance is not alive.
To guarantee the key availability through the usage of the API FooDataReader::get_key_value, this option should be used in combination DDS_DataWriterProtocolQosPolicy::serialize_key_with_dispose on the DataWriter that should be set to DDS_BOOLEAN_TRUE.
[default] DDS_BOOLEAN_FALSE
| DDS_Boolean DDS_DataReaderProtocolQosPolicy::propagate_unregister_of_disposed_instances |
Indicates whether or not an instance can move to the DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE state without being in the DDS_ALIVE_INSTANCE_STATE state.
This field only applies to keyed readers.
When the field is set to DDS_BOOLEAN_TRUE, the DataReader will receive unregister notifications even if the instance is not alive.
[default] DDS_BOOLEAN_FALSE
| struct DDS_RtpsReliableReaderProtocol_t DDS_DataReaderProtocolQosPolicy::rtps_reliable_reader |
RTPS protocol-related configuration settings for the RTPS reliable reader associated with a DDSDataReader. This parameter only has effect if the reader is configured with DDS_RELIABLE_RELIABILITY_QOS DDS_ReliabilityQosPolicyKind.
For details, refer to the DDS_RtpsReliableReaderProtocol_t
[default]
min_heartbeat_response_delay 0.0 seconds;
max_heartbeat_response_delay 0.5 seconds;
heartbeat_suppression_duration 0.0625 seconds;
nack_period 5.0 seconds;
receive_window_size 256;
round_trip_time 0.0 seconds;
app_ack_period 5.0 seconds;
samples_per_app_ack 1;