RTI Connext Java API
Version 6.1.2
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This QoS policy specifies whether or not RTI Connext will store and deliver previously published data samples to new com.rti.dds.subscription.DataReader entities that join the network later. More...
Public Attributes | |
DurabilityQosPolicyKind | kind |
The kind of durability. More... | |
boolean | direct_communication |
<<extension>> Indicates whether or not a TRANSIENT or PERSISTENT com.rti.dds.subscription.DataReader should receive samples directly from a TRANSIENT or PERSISTENT com.rti.dds.publication.DataWriter More... | |
int | writer_depth |
<<extension>> Indicates the number of samples per instance that a durable com.rti.dds.publication.DataWriter will send to a late-joining com.rti.dds.subscription.DataReader. More... | |
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final QosPolicyId_t | id |
The ID of this QoS policy. More... | |
final String | policy_name |
The name of this QoS policy. More... | |
Static Public Attributes | |
static final int | AUTO_WRITER_DEPTH |
A special value used as the default value for com.rti.dds.infrastructure.DurabilityQosPolicy.writer_depth. More... | |
This QoS policy specifies whether or not RTI Connext will store and deliver previously published data samples to new com.rti.dds.subscription.DataReader entities that join the network later.
It is possible for a com.rti.dds.publication.DataWriter to start publishing data before all (or any) com.rti.dds.subscription.DataReader entities have joined the network.
Moreover, a com.rti.dds.subscription.DataReader that joins the network after some data has been written could potentially be interested in accessing the most current values of the data, as well as potentially some history.
This policy makes it possible for a late-joining com.rti.dds.subscription.DataReader to obtain previously published samples.
By helping to ensure that DataReaders get all data that was sent by DataWriters, regardless of when it was sent, using this QoS policy can increase system tolerance to failure conditions.
Note that although related, this does not strictly control what data RTI Connext will maintain internally. That is, RTI Connext may choose to maintain some data for its own purposes (e.g., flow control) and yet not make it available to late-joining readers if the DURABILITY policy is set to com.rti.dds.infrastructure.DurabilityQosPolicyKind.DurabilityQosPolicyKind.VOLATILE_DURABILITY_QOS.
For the purpose of implementing the DURABILITY QoS kind TRANSIENT or PERSISTENT, RTI Connext behaves as if for each Topic that has com.rti.dds.infrastructure.DurabilityQosPolicy.kind of com.rti.dds.infrastructure.DurabilityQosPolicyKind.DurabilityQosPolicyKind.TRANSIENT_DURABILITY_QOS or com.rti.dds.infrastructure.DurabilityQosPolicyKind.DurabilityQosPolicyKind.PERSISTENT_DURABILITY_QOS there is a corresponding "built-in" com.rti.dds.subscription.DataReader and com.rti.dds.publication.DataWriter configured with the same DURABILITY kind. In other words, it is as if somewhere in the system, independent of the original com.rti.dds.publication.DataWriter, there is a built-in durable com.rti.dds.subscription.DataReader subscribing to that Topic and a built-in durable DataWriter re-publishing it as needed for the new subscribers that join the system. This functionality is provided by the RTI Persistence Service.
The Persistence Service can configure itself based on the QoS of your application's com.rti.dds.publication.DataWriter and com.rti.dds.subscription.DataReader entities. For each transient or persistent com.rti.dds.topic.Topic, the built-in fictitious Persistence Service com.rti.dds.subscription.DataReader and com.rti.dds.publication.DataWriter have their QoS configured from the QoS of your application's com.rti.dds.publication.DataWriter and com.rti.dds.subscription.DataReader entities that communicate on that com.rti.dds.topic.Topic.
For a given com.rti.dds.topic.Topic, the usual request/offered semantics apply to the matching between any com.rti.dds.publication.DataWriter in the domain that writes the com.rti.dds.topic.Topic and the built-in transient/persistent com.rti.dds.subscription.DataReader for that com.rti.dds.topic.Topic; similarly for the built-in transient/persistent com.rti.dds.publication.DataWriter for a com.rti.dds.topic.Topic and any com.rti.dds.subscription.DataReader for the com.rti.dds.topic.Topic. As a consequence, a com.rti.dds.publication.DataWriter that has an incompatible QoS will not send its data to the RTI Persistence Service, and a com.rti.dds.subscription.DataReader that has an incompatible QoS will not get data from it.
Incompatibilities between local com.rti.dds.subscription.DataReader and com.rti.dds.publication.DataWriter entities and the corresponding fictitious built-in transient/persistent entities cause the com.rti.dds.infrastructure.StatusKind.StatusKind.REQUESTED_INCOMPATIBLE_QOS_STATUS and com.rti.dds.infrastructure.StatusKind.StatusKind.OFFERED_INCOMPATIBLE_QOS_STATUS to change and the corresponding Listener invocations and/or signaling of com.rti.dds.infrastructure.Condition objects as they would with your application's own entities.
The value of com.rti.dds.infrastructure.DurabilityServiceQosPolicy.service_cleanup_delay controls when RTI Persistence Service is able to remove all information regarding a data instances.
Information on a data instance is maintained until the following conditions are met:
1. The instance has been explicitly disposed (instance_state = NOT_ALIVE_DISPOSED),
and
2. All samples for the disposed instance have been acknowledged, including the dispose sample itself,
and
3. A time interval longer that com.rti.dds.infrastructure.DurabilityServiceQosPolicy.service_cleanup_delay has elapsed since the moment RTI Connext detected that the previous two conditions were met. (Note: Only values of zero or com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE are currently supported for the service_cleanup_delay)
The utility of com.rti.dds.infrastructure.DurabilityServiceQosPolicy.service_cleanup_delay is apparent in the situation where an application disposes an instance and it crashes before it has a chance to complete additional tasks related to the disposition. Upon restart, the application may ask for initial data to regain its state and the delay introduced by the service_cleanup_delay will allow the restarted application to receive the information on the disposed instance and complete the interrupted tasks.
The value offered is considered compatible with the value requested if and only if the inequality offered kind >= requested kind evaluates to 'TRUE'. For the purposes of this inequality, the values of DURABILITY kind are considered ordered such that com.rti.dds.infrastructure.DurabilityQosPolicyKind.DurabilityQosPolicyKind.VOLATILE_DURABILITY_QOS < com.rti.dds.infrastructure.DurabilityQosPolicyKind.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS < com.rti.dds.infrastructure.DurabilityQosPolicyKind.DurabilityQosPolicyKind.TRANSIENT_DURABILITY_QOS < com.rti.dds.infrastructure.DurabilityQosPolicyKind.DurabilityQosPolicyKind.PERSISTENT_DURABILITY_QOS.
The kind of durability.
[default] com.rti.dds.infrastructure.DurabilityQosPolicyKind.DurabilityQosPolicyKind.VOLATILE_DURABILITY_QOS
boolean direct_communication |
<<extension>> Indicates whether or not a TRANSIENT or PERSISTENT com.rti.dds.subscription.DataReader should receive samples directly from a TRANSIENT or PERSISTENT com.rti.dds.publication.DataWriter
When direct_communication is set to com.rti.dds.infrastructure.true, a TRANSIENT or PERSISTENT com.rti.dds.subscription.DataReader will receive samples from both the original com.rti.dds.publication.DataWriter configured with TRANSIENT or PERSISTENT durability and the com.rti.dds.publication.DataWriter created by the persistence service. This peer-to-peer communication pattern provides low latency between end-points.
If the same sample is received from the original com.rti.dds.publication.DataWriter and the persistence service, the middleware will discard the duplicate.
When direct_communication is set to com.rti.dds.infrastructure.false, a TRANSIENT or PERSISTENT com.rti.dds.subscription.DataReader will only receive samples from the com.rti.dds.publication.DataWriter created by the persistence service. This brokered communication pattern provides a way to guarantee eventual consistency.
[default] com.rti.dds.infrastructure.true
int writer_depth |
<<extension>> Indicates the number of samples per instance that a durable com.rti.dds.publication.DataWriter will send to a late-joining com.rti.dds.subscription.DataReader.
The default value, com.rti.dds.infrastructure.DurabilityQosPolicy.AUTO_WRITER_DEPTH, makes this parameter equal to the following:
The writer_depth
must be <= com.rti.dds.infrastructure.HistoryQosPolicy.depth.
writer_depth
applies only to non-volatile DataWriters (those for which the kind is TRANSIENT_LOCAL, TRANSIENT, or PERSISTENT).
When com.rti.dds.infrastructure.BatchQosPolicy.enable is set to true, writer_depth
acts as a minimum number of samples per instance that will be sent to late joiners, as opposed to the maximum. As long as a batch contains a single sample that falls within the writer_depth
for the instance to which it belongs, then the entire batch will be sent. This means that batches sent to late-joining DataReaders may contain more samples per instance than is specified by the writer_depth
QoS setting.
When a DataWriter responds to a TopicQuery, the samples that are evaluated against the TopicQuery filter are only those samples that fall within the writer_depth
, not the com.rti.dds.infrastructure.HistoryQosPolicy.depth.
Setting writer_depth
on the DataReader side will be ignored.
[default] com.rti.dds.infrastructure.DurabilityQosPolicy.AUTO_WRITER_DEPTH