Settings for discovery configuration. More...
Public Attributes | |
| final Duration_t | participant_liveliness_lease_duration |
| The liveliness lease duration for the participant. More... | |
| final Duration_t | participant_liveliness_assert_period |
| The period to assert liveliness for the participant. More... | |
| final Duration_t | participant_announcement_period |
| The period at which a participant announces itself to potential peers when using the Simple Participant Discovery Protocol 2.0 (SPDP2). More... | |
| RemoteParticipantPurgeKind | remote_participant_purge_kind |
| The participant's behavior for maintaining knowledge of remote participants (and their contained entities) with which discovery communication has been lost. More... | |
| final Duration_t | max_liveliness_loss_detection_period |
| The maximum amount of time between when a remote entity stops maintaining its liveliness and when the matched local entity realizes that fact. More... | |
| int | initial_participant_announcements |
| The number of initial announcements sent when a participant is first enabled. More... | |
| int | new_remote_participant_announcements |
| The number of participant announcements sent when a remote participant is newly discovered. More... | |
| final Duration_t | min_initial_participant_announcement_period |
| The minimum period between initial announcements when a participant is first enabled or when a remote participant is newly discovered. More... | |
| final Duration_t | max_initial_participant_announcement_period |
| The maximum period between initial announcements when a participant is first enabled or when a remote participant is newly discovered. More... | |
| final BuiltinTopicReaderResourceLimits_t | participant_reader_resource_limits |
| Resource limits. More... | |
| final BuiltinTopicReaderResourceLimits_t | publication_reader_resource_limits |
| Resource limits. More... | |
| final BuiltinTopicReaderResourceLimits_t | subscription_reader_resource_limits |
| Resource limits. More... | |
| final RtpsReliableWriterProtocol_t | publication_writer |
| RTPS protocol-related configuration settings for the RTPS reliable writer associated with a built-in publication writer. More... | |
| final WriterDataLifecycleQosPolicy | publication_writer_data_lifecycle |
| Writer data lifecycle settings for a built-in publication writer. More... | |
| final RtpsReliableWriterProtocol_t | subscription_writer |
| RTPS protocol-related configuration settings for the RTPS reliable writer associated with a built-in subscription writer. More... | |
| final WriterDataLifecycleQosPolicy | subscription_writer_data_lifecycle |
| Writer data lifecycle settings for a built-in subscription writer. More... | |
| final RtpsReliableReaderProtocol_t | publication_reader |
| RTPS protocol-related configuration settings for the RTPS reliable reader associated with a built-in publication reader. More... | |
| final RtpsReliableReaderProtocol_t | subscription_reader |
| RTPS protocol-related configuration settings for the RTPS reliable reader associated with a built-in subscription reader. More... | |
| int | builtin_discovery_plugins |
| Mask of built-in discovery plugin kinds. More... | |
| int | enabled_builtin_channels |
| The mask specifying which built-in channels should be enabled. More... | |
| ReliabilityQosPolicyKind | participant_message_reader_reliability_kind |
| Reliability policy for a built-in participant message reader. More... | |
| final RtpsReliableReaderProtocol_t | participant_message_reader |
| RTPS reliable reader protocol-related configuration settings for a built-in participant message reader. This parameter only has effect if com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.participant_message_reader_reliability_kind is set to com.rti.dds.infrastructure.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS. More... | |
| final RtpsReliableWriterProtocol_t | participant_message_writer |
| RTPS protocol-related configuration settings for the RTPS reliable writer associated with the built-in participant message writer. This parameter only has effect if the matching participant message reader is configured with com.rti.dds.infrastructure.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS com.rti.dds.infrastructure.ReliabilityQosPolicyKind. More... | |
| final PublishModeQosPolicy | publication_writer_publish_mode |
| Publish mode policy for the built-in publication writer. More... | |
| final PublishModeQosPolicy | subscription_writer_publish_mode |
| Publish mode policy for the built-in subscription writer. More... | |
| final AsynchronousPublisherQosPolicy | asynchronous_publisher |
| Asynchronous publishing settings for the discovery com.rti.dds.publication.Publisher and all entities that are created by it. More... | |
| final Duration_t | default_domain_announcement_period |
| The period to announce a participant to the default domain 0. More... | |
| boolean | ignore_default_domain_announcements |
| Used to ignore the announcements received by a participant on the default domain 0 corresponding to participants running on domains IDs other than 0. More... | |
| final RtpsReliableWriterProtocol_t | service_request_writer |
| RTPS protocol-related configuration settings for the RTPS reliable writer associated with the built-in com.rti.dds.topic.builtin.ServiceRequest writer. More... | |
| final WriterDataLifecycleQosPolicy | service_request_writer_data_lifecycle |
| Writer data lifecycle settings for a built-in com.rti.dds.topic.builtin.ServiceRequest writer. More... | |
| final PublishModeQosPolicy | service_request_writer_publish_mode |
| Publish mode policy for the built-in service request writer. More... | |
| final RtpsReliableReaderProtocol_t | service_request_reader |
| RTPS reliable reader protocol-related configuration settings for a built-in com.rti.dds.topic.builtin.ServiceRequest reader. More... | |
| final Duration_t | locator_reachability_assert_period |
| Period at which this DomainParticipant will assert the locators discovered from other DomainParticipants. More... | |
| final Duration_t | locator_reachability_lease_duration |
| The time period after which other DomainParticipants can consider one of their locators as "unreachable" if they do not receive a REACHABILITY PING from this DomainParticipant. More... | |
| final Duration_t | locator_reachability_change_detection_period |
| Period at which this DomainParticipant will check if its locators are reachable from other DomainParticipants. More... | |
| final RtpsReliableWriterProtocol_t | secure_volatile_writer |
| RTPS protocol-related configuration settings for the RTPS reliable writer associated with the built-in secure volatile writer. More... | |
| final PublishModeQosPolicy | secure_volatile_writer_publish_mode |
| Publish mode policy for the built-in secure volatile writer. More... | |
| final RtpsReliableReaderProtocol_t | secure_volatile_reader |
| RTPS reliable reader protocol-related configuration settings for the built-in secure volatile reader. More... | |
| int | endpoint_type_object_lb_serialization_threshold = 0 |
| Option to reduce the size required to propagate a TypeObject in Simple Endpoint Discovery. More... | |
| final Duration_t | dns_tracker_polling_period |
| Duration that specifies the period used by the DNS tracker to poll the DNS service and check for changes in the hostnames. More... | |
| final BuiltinTopicReaderResourceLimits_t | participant_configuration_reader_resource_limits |
| Resource limits for the built-in topic participant configuration reader. More... | |
| final RtpsReliableWriterProtocol_t | participant_configuration_writer |
| RTPS protocol-related configuration settings for the RTPS reliable writer associated with a built-in participant configuration writer. More... | |
| final WriterDataLifecycleQosPolicy | participant_configuration_writer_data_lifecycle |
| Writer data lifecycle settings for a built-in participant configuration writer. More... | |
| final RtpsReliableReaderProtocol_t | participant_configuration_reader |
| RTPS protocol-related configuration settings for the RTPS reliable reader associated with a built-in participant configuration reader. More... | |
| final PublishModeQosPolicy | participant_configuration_writer_publish_mode |
| Publish mode policy for the built-in participant configuration writer. More... | |
 Public Attributes inherited from QosPolicy | |
| final QosPolicyId_t | id |
| The ID of this QoS policy. More... | |
| final String | policy_name |
| The name of this QoS policy. More... | |
Detailed Description
Settings for discovery configuration.
<<extension>> This QoS policy controls the amount of delay in discovering entities in the system and the amount of discovery traffic in the network.
The amount of network traffic required by the discovery process can vary widely, based on how your application has chosen to configure the middleware's network addressing (e.g., unicast vs. multicast, multicast TTL, etc.), the size of the system, whether all applications are started at the same time or whether start times are staggered, and other factors. Your application can use this policy to make tradeoffs between discovery completion time and network bandwidth utilization. In addition, you can introduce random back-off periods into the discovery process to decrease the probability of network contention when many applications start simultaneously.
- Properties:
- RxO = N/A
Changeable = NO
Member Data Documentation
◆ participant_liveliness_lease_duration
| final Duration_t participant_liveliness_lease_duration |
The liveliness lease duration for the participant.
This is the same as the expiration time of the DomainParticipant as defined in the RTPS protocol.
If the participant has not refreshed its own liveliness to other participants at least once within this period, it may be considered as stale by other participants in the network.
Should be strictly greater than com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.participant_liveliness_assert_period.
[default] 100 seconds
[range] [1 nanosec,1 year], > participant_liveliness_assert_period
◆ participant_liveliness_assert_period
| final Duration_t participant_liveliness_assert_period |
The period to assert liveliness for the participant.
The period at which the participant will refresh its liveliness to all the peers.
Should be strictly less than com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.participant_liveliness_lease_duration.
[default] 30 seconds
[range] [1 nanosec,1 year], < participant_liveliness_lease_duration
◆ participant_announcement_period
| final Duration_t participant_announcement_period |
The period at which a participant announces itself to potential peers when using the Simple Participant Discovery Protocol 2.0 (SPDP2).
The com.rti.dds.infrastructure.DiscoveryQosPolicy.initial_peers list com.rti.dds.domain.DomainParticipant.add_peer API are used to configure a set of potential peers that a DomainParticipant may discover. The com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.participant_announcement_period configures how frequently a DomainParticipant will announce itself to the subset of the configured potential peers that it has not matched with yet. Once a DomainParticipant matches with a DomainParticipant at one of configured potential peer locators, it will no longer announce itself to that locator at this period unless liveliness is lost.
This QoS policy is only supported when using the Simple Participant Discovery Protocol 2.0 (SPDP2). Setting this value when using the Simple Participant Discovery Protocol (SPDP) or other participant discovery protocols is not supported and will result in an error.
[default] com.rti.dds.infrastructure.Duration_t.AUTO (Takes the value of com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.participant_liveliness_lease_duration)
[range] [1 nanosec,1 year]
◆ remote_participant_purge_kind
| RemoteParticipantPurgeKind remote_participant_purge_kind |
The participant's behavior for maintaining knowledge of remote participants (and their contained entities) with which discovery communication has been lost.
Most users will not need to change this value from its default, com.rti.dds.infrastructure.RemoteParticipantPurgeKind.LIVELINESS_BASED_REMOTE_PARTICIPANT_PURGE. However, com.rti.dds.infrastructure.RemoteParticipantPurgeKind.NO_REMOTE_PARTICIPANT_PURGE may be a good choice if the following conditions apply:
- Discovery communication with a remote participant may be lost while data communication remains intact. Such will not typically be the case if discovery takes place over the Simple Discovery Protocol, but may be the case if the RTI Enterprise Discovery Service is used.
- Extensive and prolonged lack of discovery communication between participants is not expected to be common, either because participant loss itself is expected to be rare, or because participants may be lost sporadically but will typically return again.
- Maintaining inter-participant liveliness is problematic, perhaps because a participant has no writers with the appropriate com.rti.dds.infrastructure.LivelinessQosPolicyKind.
[default] com.rti.dds.infrastructure.RemoteParticipantPurgeKind.LIVELINESS_BASED_REMOTE_PARTICIPANT_PURGE
◆ max_liveliness_loss_detection_period
| final Duration_t max_liveliness_loss_detection_period |
The maximum amount of time between when a remote entity stops maintaining its liveliness and when the matched local entity realizes that fact.
Notification of the loss of liveliness of a remote entity may come more quickly than this duration, depending on the liveliness contract between the local and remote entities and the capabilities of the discovery mechanism in use. For example, a com.rti.dds.subscription.DataReader will learn of the loss of liveliness of a matched com.rti.dds.publication.DataWriter within the reader's offered liveliness lease duration.
Shortening this duration will increase the responsiveness of entities to communication failures. However, it will also increase the CPU usage of the application, as the liveliness of remote entities will be examined more frequently.
[default] 60 seconds
[range] [1 nanosec, 1 year]
◆ initial_participant_announcements
| int initial_participant_announcements |
The number of initial announcements sent when a participant is first enabled.
[default] 5
[range] [1,1 million]
◆ new_remote_participant_announcements
| int new_remote_participant_announcements |
The number of participant announcements sent when a remote participant is newly discovered.
These announcements are only sent to the newly discovered remote participant, they are not also broadcast to the initial_peers list.
[default] 2
[range] [0,1 million]
◆ min_initial_participant_announcement_period
| final Duration_t min_initial_participant_announcement_period |
The minimum period between initial announcements when a participant is first enabled or when a remote participant is newly discovered.
A random delay between this and com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.max_initial_participant_announcement_period is introduced in between initial announcements when a new remote participant is discovered.
The setting of com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.min_initial_participant_announcement_period must be consistent with com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.max_initial_participant_announcement_period. For these two values to be consistent, they must verify that:
com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.min_initial_participant_announcement_period <= com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.max_initial_participant_announcement_period.
[default] 10 milliseconds
[range] [1 nanosec,1 year]
◆ max_initial_participant_announcement_period
| final Duration_t max_initial_participant_announcement_period |
The maximum period between initial announcements when a participant is first enabled or when a remote participant is newly discovered.
A random delay between com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.min_initial_participant_announcement_period and this is introduced in between initial announcements when a new remote participant is discovered.
The setting of com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.max_initial_participant_announcement_period must be consistent with com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.min_initial_participant_announcement_period. For these two values to be consistent, they must verify that:
com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.min_initial_participant_announcement_period <= com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.max_initial_participant_announcement_period.
[default] 1 second
[range] [1 nanosec,1 year]
◆ participant_reader_resource_limits
| final BuiltinTopicReaderResourceLimits_t participant_reader_resource_limits |
Resource limits.
Resource limit of the built-in topic participant reader. For details, see com.rti.dds.infrastructure.BuiltinTopicReaderResourceLimits_t.
◆ publication_reader_resource_limits
| final BuiltinTopicReaderResourceLimits_t publication_reader_resource_limits |
Resource limits.
Resource limit of the built-in topic publication reader. For details, see com.rti.dds.infrastructure.BuiltinTopicReaderResourceLimits_t.
◆ subscription_reader_resource_limits
| final BuiltinTopicReaderResourceLimits_t subscription_reader_resource_limits |
Resource limits.
Resource limit of the built-in topic subscription reader. For details, see com.rti.dds.infrastructure.BuiltinTopicReaderResourceLimits_t.
◆ publication_writer
| final RtpsReliableWriterProtocol_t publication_writer |
RTPS protocol-related configuration settings for the RTPS reliable writer associated with a built-in publication writer.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableWriterProtocol_t
[default]
low_watermark 0;
high_watermark 1;
heartbeat_period 3.0 seconds;
fast_heartbeat_period 3.0 seconds;
late_joiner_heartbeat_period 3.0 seconds;
virtual_heartbeat_period com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE;
samples_per_virtual_heartbeat com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_heartbeat_retries 10;
inactivate_nonprogressing_readers com.rti.dds.infrastructure.false;
heartbeats_per_max_samples 8;
min_nack_response_delay 0.0 seconds;
max_nack_response_delay 0.0 seconds;
nack_suppression_duration 0.0 seconds;
max_bytes_per_nack_response 131072 bytes;
disable_positive_acks_min_sample_keep_duration 1.0 milliseconds;
disable_positive_acks_max_sample_keep_duration 1.0 seconds;
disable_positive_acks_enable_adaptive_sample_keep_duration com.rti.dds.infrastructure.true;
disable_positive_acks_decrease_sample_keep_duration_factor 95;
disable_positive_acks_increase_sample_keep_duration_factor 150;
min_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
send_window_update_period 3s;
send_window_increase_factor 105;
send_window_decrease_factor 50;
enable_multicast_periodic_heartbeat com.rti.dds.infrastructure.false;
multicast_resend_threshold 2 readers;
disable_repair_piggyback_heartbeat com.rti.dds.infrastructure.false;
◆ publication_writer_data_lifecycle
| final WriterDataLifecycleQosPolicy publication_writer_data_lifecycle |
Writer data lifecycle settings for a built-in publication writer.
For details, refer to the com.rti.dds.infrastructure.WriterDataLifecycleQosPolicy. com.rti.dds.infrastructure.WriterDataLifecycleQosPolicy.autodispose_unregistered_instances will always be forced to com.rti.dds.infrastructure.true.
◆ subscription_writer
| final RtpsReliableWriterProtocol_t subscription_writer |
RTPS protocol-related configuration settings for the RTPS reliable writer associated with a built-in subscription writer.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableWriterProtocol_t
[default]
low_watermark 0;
high_watermark 1;
heartbeat_period 3.0 seconds;
fast_heartbeat_period 3.0 seconds;
late_joiner_heartbeat_period 3.0 seconds;
virtual_heartbeat_period com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE;
samples_per_virtual_heartbeat com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_heartbeat_retries 10;
inactivate_nonprogressing_readers com.rti.dds.infrastructure.false;
heartbeats_per_max_samples 8;
min_nack_response_delay 0.0 seconds;
max_nack_response_delay 0.0 seconds;
nack_suppression_duration 0.0 seconds;
max_bytes_per_nack_response 131072 bytes;
disable_positive_acks_min_sample_keep_duration 1.0 milliseconds;
disable_positive_acks_max_sample_keep_duration 1.0 seconds;
disable_positive_acks_enable_adaptive_sample_keep_duration com.rti.dds.infrastructure.true;
disable_positive_acks_decrease_sample_keep_duration_factor 95;
disable_positive_acks_increase_sample_keep_duration_factor 150;
min_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
send_window_update_period 3s;
send_window_increase_factor 105;
send_window_decrease_factor 50;
enable_multicast_periodic_heartbeat com.rti.dds.infrastructure.false;
multicast_resend_threshold 2 readers;
disable_repair_piggyback_heartbeat com.rti.dds.infrastructure.false;
◆ subscription_writer_data_lifecycle
| final WriterDataLifecycleQosPolicy subscription_writer_data_lifecycle |
Writer data lifecycle settings for a built-in subscription writer.
For details, refer to the com.rti.dds.infrastructure.WriterDataLifecycleQosPolicy. com.rti.dds.infrastructure.WriterDataLifecycleQosPolicy.autodispose_unregistered_instances will always be forced to com.rti.dds.infrastructure.true.
◆ publication_reader
| final RtpsReliableReaderProtocol_t publication_reader |
RTPS protocol-related configuration settings for the RTPS reliable reader associated with a built-in publication reader.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableReaderProtocol_t
[default]
min_heartbeat_response_delay 0.0 seconds;
max_heartbeat_response_delay 0.0 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;
◆ subscription_reader
| final RtpsReliableReaderProtocol_t subscription_reader |
RTPS protocol-related configuration settings for the RTPS reliable reader associated with a built-in subscription reader.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableReaderProtocol_t
[default]
min_heartbeat_response_delay 0.0 seconds;
max_heartbeat_response_delay 0.0 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;
◆ builtin_discovery_plugins
| int builtin_discovery_plugins |
Mask of built-in discovery plugin kinds.
There are several built-in discovery plugins. This mask enables the different plugins. Any plugin not enabled will not be created.
[default] com.rti.dds.infrastructure.DiscoveryConfigBuiltinPluginKind.SDP
◆ enabled_builtin_channels
| int enabled_builtin_channels |
The mask specifying which built-in channels should be enabled.
While there are a number of built-in channels that are used by Connext DDS, the only built-in channel which can currently be enabled or disabled is the Service Request Channel. This channel is used by the Locator Reachability and Topic Query features. If you are not using these features and wish to reduce network traffic and endpoint resource usage, you may disable the service request channel with this QoS.
[default] com.rti.dds.infrastructure.DiscoveryConfigBuiltinChannelKind.DiscoveryConfigBuiltinChannelKind.SERVICE_REQUEST_CHANNEL
◆ participant_message_reader_reliability_kind
| ReliabilityQosPolicyKind participant_message_reader_reliability_kind |
Reliability policy for a built-in participant message reader.
For details, refer to the com.rti.dds.infrastructure.ReliabilityQosPolicyKind.
[default] com.rti.dds.infrastructure.ReliabilityQosPolicyKind.BEST_EFFORT_RELIABILITY_QOS
◆ participant_message_reader
| final RtpsReliableReaderProtocol_t participant_message_reader |
RTPS reliable reader protocol-related configuration settings for a built-in participant message reader. This parameter only has effect if com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.participant_message_reader_reliability_kind is set to com.rti.dds.infrastructure.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableReaderProtocol_t
[default]
min_heartbeat_response_delay 0.0 seconds;
max_heartbeat_response_delay 0.0 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;
◆ participant_message_writer
| final RtpsReliableWriterProtocol_t participant_message_writer |
RTPS protocol-related configuration settings for the RTPS reliable writer associated with the built-in participant message writer. This parameter only has effect if the matching participant message reader is configured with com.rti.dds.infrastructure.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS com.rti.dds.infrastructure.ReliabilityQosPolicyKind.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableWriterProtocol_t
[default]
low_watermark 0;
high_watermark 1;
heartbeat_period 1.0 seconds;
fast_heartbeat_period 1.0 seconds;
late_joiner_heartbeat_period 1.0 seconds;
virtual_heartbeat_period com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE;
samples_per_virtual_heartbeat com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_heartbeat_retries 10;
inactivate_nonprogressing_readers com.rti.dds.infrastructure.false;
heartbeats_per_max_samples 1;
min_nack_response_delay 0.0 seconds;
max_nack_response_delay 0.0 seconds;
nack_suppression_duration 0.0 seconds;
max_bytes_per_nack_response 9216 bytes;
disable_positive_acks_min_sample_keep_duration 1.0 milliseconds;
disable_positive_acks_max_sample_keep_duration 1.0 seconds;
disable_positive_acks_enable_adaptive_sample_keep_duration com.rti.dds.infrastructure.true;
disable_positive_acks_decrease_sample_keep_duration_factor 95;
disable_positive_acks_increase_sample_keep_duration_factor 150;
min_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
send_window_update_period 1s;
send_window_increase_factor 105;
send_window_decrease_factor 50;
enable_multicast_periodic_heartbeat com.rti.dds.infrastructure.false;
multicast_resend_threshold 2 readers;
disable_repair_piggyback_heartbeat com.rti.dds.infrastructure.false;
◆ publication_writer_publish_mode
| final PublishModeQosPolicy publication_writer_publish_mode |
Publish mode policy for the built-in publication writer.
Determines whether the Discovery built-in publication com.rti.dds.publication.DataWriter publishes data synchronously or asynchronously and how.
◆ subscription_writer_publish_mode
| final PublishModeQosPolicy subscription_writer_publish_mode |
Publish mode policy for the built-in subscription writer.
Determines whether the Discovery built-in subscription com.rti.dds.publication.DataWriter publishes data synchronously or asynchronously and how.
◆ asynchronous_publisher
| final AsynchronousPublisherQosPolicy asynchronous_publisher |
Asynchronous publishing settings for the discovery com.rti.dds.publication.Publisher and all entities that are created by it.
◆ default_domain_announcement_period
| final Duration_t default_domain_announcement_period |
The period to announce a participant to the default domain 0.
The period at which a participant will announce itself to the default domain 0 using the default UDPv4 multicast group address for discovery traffic on that domain.
For domain 0, the default discovery multicast address is 239.255.0.1:7400.
To disable announcement to the default domain, set this period to com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE.
When this period is set to a value other than com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE and com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.ignore_default_domain_announcements is set to com.rti.dds.infrastructure.false, you can get information about participants running in different domains by creating a participant in domain 0 and implementing the on_data_available callback in the com.rti.dds.domain.builtin.ParticipantBuiltinTopicData built-in DataReader's listener.
You can learn the domain ID associated with a participant by looking at the field builtin.ParticipantBuiltinTopicData.domain_id.
[default] 30 seconds
[range] [1 nanosec,1 year] or com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE
- See also
- builtin.ParticipantBuiltinTopicData.domain_id
- com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.ignore_default_domain_announcements
◆ ignore_default_domain_announcements
| boolean ignore_default_domain_announcements |
Used to ignore the announcements received by a participant on the default domain 0 corresponding to participants running on domains IDs other than 0.
This setting only applies to participants running on the default domain 0 and using the default port mapping.
When this setting is set to com.rti.dds.infrastructure.true, a participant running on the default domain 0 will ignore announcements from participants running on different domain IDs.
When this setting is set to com.rti.dds.infrastructure.false, a participant running on the default domain 0 will provide announcements from participants running on different domain IDs to the application via the com.rti.dds.domain.builtin.ParticipantBuiltinTopicData built-in DataReader.
[default] com.rti.dds.infrastructure.true
- See also
- builtin.ParticipantBuiltinTopicData.domain_id
- com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.default_domain_announcement_period
◆ service_request_writer
| final RtpsReliableWriterProtocol_t service_request_writer |
RTPS protocol-related configuration settings for the RTPS reliable writer associated with the built-in com.rti.dds.topic.builtin.ServiceRequest writer.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableWriterProtocol_t
[default]
low_watermark 0;
high_watermark 1;
heartbeat_period 3.0 seconds;
fast_heartbeat_period 3.0 seconds;
late_joiner_heartbeat_period 3.0 seconds;
virtual_heartbeat_period com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE;
samples_per_virtual_heartbeat com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_heartbeat_retries 10;
inactivate_nonprogressing_readers com.rti.dds.infrastructure.false;
heartbeats_per_max_samples 8;
min_nack_response_delay 0.0 seconds;
max_nack_response_delay 0.0 seconds;
nack_suppression_duration 0.0 seconds;
max_bytes_per_nack_response 131072 bytes;
disable_positive_acks_min_sample_keep_duration 1.0 milliseconds;
disable_positive_acks_max_sample_keep_duration 1.0 seconds;
disable_positive_acks_enable_adaptive_sample_keep_duration com.rti.dds.infrastructure.true;
disable_positive_acks_decrease_sample_keep_duration_factor 95;
disable_positive_acks_increase_sample_keep_duration_factor 150;
min_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
send_window_update_period 3s;
send_window_increase_factor 105;
send_window_decrease_factor 50;
enable_multicast_periodic_heartbeat com.rti.dds.infrastructure.false;
multicast_resend_threshold 2 readers;
disable_repair_piggyback_heartbeat com.rti.dds.infrastructure.false;
◆ service_request_writer_data_lifecycle
| final WriterDataLifecycleQosPolicy service_request_writer_data_lifecycle |
Writer data lifecycle settings for a built-in com.rti.dds.topic.builtin.ServiceRequest writer.
For details, refer to the com.rti.dds.infrastructure.WriterDataLifecycleQosPolicy.
◆ service_request_writer_publish_mode
| final PublishModeQosPolicy service_request_writer_publish_mode |
Publish mode policy for the built-in service request writer.
Determines whether the Discovery built-in service request com.rti.dds.publication.DataWriter publishes data synchronously or asynchronously and how.
◆ service_request_reader
| final RtpsReliableReaderProtocol_t service_request_reader |
RTPS reliable reader protocol-related configuration settings for a built-in com.rti.dds.topic.builtin.ServiceRequest reader.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableReaderProtocol_t
[default]
min_heartbeat_response_delay 0.0 seconds;
max_heartbeat_response_delay 0.0 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;
◆ locator_reachability_assert_period
| final Duration_t locator_reachability_assert_period |
Period at which this DomainParticipant will assert the locators discovered from other DomainParticipants.
This setting configures the period at which this com.rti.dds.domain.DomainParticipant will ping all the locators that it has discovered from other DomainParticipants. This period should be strictly less than com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.locator_reachability_lease_duration.
If com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.locator_reachability_lease_duration is com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE this parameter is ignored. The DomainParticipant will not assert remote locators.
[default] 20 seconds
[range] [1 nanosec,1 year]
◆ locator_reachability_lease_duration
| final Duration_t locator_reachability_lease_duration |
The time period after which other DomainParticipants can consider one of their locators as "unreachable" if they do not receive a REACHABILITY PING from this DomainParticipant.
For the purpose of this explanation, we will use 'local' to refer to the DomainParticipant in which we configure locator_reachability_lease_duration and 'remote' to refer to the other DomainParticipants communicating with the local DomainParticipant.
This setting configures a timeout announced to the remote DomainParticipants. This timeout is used by the remote DomainParticipants as the maximum period by which a remote locator must be asserted by the local DomainParticipant (through a REACHABILITY PING message) before considering this locator as "unreachable" from the local DomainParticipant.
When a remote DomainParticipant detects that one of its locators is not reachable from the local DomainParticipant, it will notify the local DomainParticipant of this event. From that moment on, and until notified otherwise, the local DomainParticipant will not send RTPS messages to remote DomainParticipants using this locator.
If this value is set to com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE, the local DomainParticipant will send RTPS messages to a remote DomainParticipant on the locators announced by the remote DomainParticipant, regardless of whether or not the remote DomainParticipant can be reached using these locators.
[default] com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE
[range] [1 nanosec,1 year] or com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE
◆ locator_reachability_change_detection_period
| final Duration_t locator_reachability_change_detection_period |
Period at which this DomainParticipant will check if its locators are reachable from other DomainParticipants.
This setting determines the maximum period at which this DomainParticipant will check to see if its locators are reachable from other DomainParticipants according to the other DomainParticipants' com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.locator_reachability_lease_duration value.
If com.rti.dds.infrastructure.DiscoveryConfigQosPolicy.locator_reachability_lease_duration is com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE this parameter is ignored. The DomainParticipant will not schedule an event to see if its locators are reachable from other DomainParticipants.
[default] 60 seconds
[range] [1 nanosec,1 year]
◆ secure_volatile_writer
| final RtpsReliableWriterProtocol_t secure_volatile_writer |
RTPS protocol-related configuration settings for the RTPS reliable writer associated with the built-in secure volatile writer.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableWriterProtocol_t
[default]
low_watermark 0;
high_watermark 1;
heartbeat_period 1.0 second;
fast_heartbeat_period 250.0 milliseconds;
late_joiner_heartbeat_period 1.0 second;
virtual_heartbeat_period com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE;
samples_per_virtual_heartbeat com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_heartbeat_retries com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
inactivate_nonprogressing_readers com.rti.dds.infrastructure.false;
heartbeats_per_max_samples 1;
min_nack_response_delay 0.0 seconds;
max_nack_response_delay 0.0 seconds;
nack_suppression_duration 0.0 seconds;
max_bytes_per_nack_response 9216 bytes;
disable_positive_acks_min_sample_keep_duration 1.0 millisecond;
disable_positive_acks_max_sample_keep_duration 1.0 second;
disable_positive_acks_enable_adaptive_sample_keep_duration com.rti.dds.infrastructure.true;
disable_positive_acks_decrease_sample_keep_duration_factor 95;
disable_positive_acks_increase_sample_keep_duration_factor 150;
min_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
send_window_update_period 1.0 second;
send_window_increase_factor 105;
send_window_decrease_factor 50;
enable_multicast_periodic_heartbeat com.rti.dds.infrastructure.false;
multicast_resend_threshold 2 readers;
disable_repair_piggyback_heartbeat com.rti.dds.infrastructure.false;
◆ secure_volatile_writer_publish_mode
| final PublishModeQosPolicy secure_volatile_writer_publish_mode |
Publish mode policy for the built-in secure volatile writer.
Determines whether the built-in secure volatile com.rti.dds.publication.DataWriter publishes data synchronously or asynchronously and how.
◆ secure_volatile_reader
| final RtpsReliableReaderProtocol_t secure_volatile_reader |
RTPS reliable reader protocol-related configuration settings for the built-in secure volatile reader.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableReaderProtocol_t
[default]
min_heartbeat_response_delay 0.0 seconds;
max_heartbeat_response_delay 0.0 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;
◆ endpoint_type_object_lb_serialization_threshold
| int endpoint_type_object_lb_serialization_threshold = 0 |
Option to reduce the size required to propagate a TypeObject in Simple Endpoint Discovery.
Minimum size (in bytes) of the serialized TypeObject that will trigger the serialization of a TypeObjectLb instead of the regular TypeObject.
For example, setting this property to 1000 will trigger the serialization of the TypeObjectLb for TypeObjects whose serialized size is greater than 1000 Bytes.
The sentinel value -1 disables TypeObject compression.
[default] 0. The default value 0 enables TypeObject compression by always sending TypeObjectLb.
[range] [-1, 2147483647]
◆ dns_tracker_polling_period
| final Duration_t dns_tracker_polling_period |
Duration that specifies the period used by the DNS tracker to poll the DNS service and check for changes in the hostnames.
RTI Connext allows the use of hostnames instead of IP addresses when configuring initial peers for specific transports (e.g.: UDPv4 and UDPv6). The DNS tracker keeps the IP addresses of these hostnames updated. The DNS tracker builds a list of hostnames from the initial peers of a DomainParticipant, queries the DNS for those hostnames, and updates the resolved IP addresses when the IP addresses change. The frequency of these queries is defined by the DNS tracker polling period. When the period is set to com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE, the tracker is disabled.
RTI Connext keeps information regarding the hostnames of peers if they are part of the com.rti.dds.infrastructure.DiscoveryQosPolicy.initial_peers. The information regarding peers added through the com.rti.dds.domain.DomainParticipant.add_peer operation is kept only if the DNS tracker has been enabled before adding a peer.
[default] com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE
[range] [1 second,1 year], com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE
◆ participant_configuration_reader_resource_limits
| final BuiltinTopicReaderResourceLimits_t participant_configuration_reader_resource_limits |
Resource limits for the built-in topic participant configuration reader.
For details, see com.rti.dds.infrastructure.BuiltinTopicReaderResourceLimits_t.
◆ participant_configuration_writer
| final RtpsReliableWriterProtocol_t participant_configuration_writer |
RTPS protocol-related configuration settings for the RTPS reliable writer associated with a built-in participant configuration writer.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableWriterProtocol_t
[default]
low_watermark 0;
high_watermark 1;
heartbeat_period 3.0 seconds;
fast_heartbeat_period 3.0 seconds;
late_joiner_heartbeat_period 3.0 seconds;
virtual_heartbeat_period com.rti.dds.infrastructure.Duration_t.DURATION_INFINITE;
samples_per_virtual_heartbeat com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_heartbeat_retries 10;
inactivate_nonprogressing_readers com.rti.dds.infrastructure.false;
heartbeats_per_max_samples 8;
min_nack_response_delay 0.0 seconds;
max_nack_response_delay 0.0 seconds;
nack_suppression_duration 0.0 seconds;
max_bytes_per_nack_response 131072 bytes;
disable_positive_acks_min_sample_keep_duration 1.0 milliseconds;
disable_positive_acks_max_sample_keep_duration 1.0 seconds;
disable_positive_acks_enable_adaptive_sample_keep_duration com.rti.dds.infrastructure.true;
disable_positive_acks_decrease_sample_keep_duration_factor 95;
disable_positive_acks_increase_sample_keep_duration_factor 150;
min_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
max_send_window_size com.rti.dds.infrastructure.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
send_window_update_period 3s;
send_window_increase_factor 105;
send_window_decrease_factor 50;
enable_multicast_periodic_heartbeat com.rti.dds.infrastructure.false;
multicast_resend_threshold 2 readers;
disable_repair_piggyback_heartbeat com.rti.dds.infrastructure.false;
◆ participant_configuration_writer_data_lifecycle
| final WriterDataLifecycleQosPolicy participant_configuration_writer_data_lifecycle |
Writer data lifecycle settings for a built-in participant configuration writer.
For details, refer to the com.rti.dds.infrastructure.WriterDataLifecycleQosPolicy. com.rti.dds.infrastructure.WriterDataLifecycleQosPolicy.autodispose_unregistered_instances will always be forced to com.rti.dds.infrastructure.true.
◆ participant_configuration_reader
| final RtpsReliableReaderProtocol_t participant_configuration_reader |
RTPS protocol-related configuration settings for the RTPS reliable reader associated with a built-in participant configuration reader.
For details, refer to the com.rti.dds.infrastructure.RtpsReliableReaderProtocol_t
[default]
min_heartbeat_response_delay 0.0 seconds;
max_heartbeat_response_delay 0.0 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;
◆ participant_configuration_writer_publish_mode
| final PublishModeQosPolicy participant_configuration_writer_publish_mode |
Publish mode policy for the built-in participant configuration writer.
Determines whether the Discovery built-in participant configuration com.rti.dds.publication.DataWriter publishes data synchronously or asynchronously and how.