DESCRIPTION: The DDS_ResourceLimitsQosPolicy::max_samples resource-limit limits the maximum number of samples a DDS_DataWriter can allocate and maintain state for at any given time. Every time a write operation is called, a sample is allocated from the cache and filled in with user-data.

A sample allocated from the pool controlled by this resourece-limit can be reused based on the following rules:

If the DDS_DataWriter is using DDS_BEST_EFFORT_RELIABILITY_QOS effort the sample is returned for reuse after the transport returns from the write call.
If the datawriter is using DDS_RELIABLE_RELIABILITY_QOS and DDS_VOLATILE_DURABILITY_QOS , the sample is returned when all known datareaders have acknowledged the sample or the datawriter has given up on delivering the sample (controlled by DDS_RtpsReliableWriterProtocol_t::max_heartbeat_retries), whichever happens first.
If the datawriter is using DDS_RELIABLE_RELIABILITY_QOS and not using DDS_VOLATILE_DURABILITY_QOS, the sample is returned to the pool for reuse only if the history depth is exceeded and the DDS_HistoryQosPolicy::kind is set to DDS_KEEP_LAST_HISTORY_QOS

: For reliable communication the value of this resource-limit determines the maximum number of samples a DDS_DataWriter can keep in unacknowledged state before reusing potentially unacknowledged samples (for DDS_KEEP_LAST_HISTORY_QOS). For reliable data the value should take into account the data-rate, the DDS_RtpsReliableWriterProtocol_t::heartbeat_period and DDS_RtpsReliableWriterProtocol_t::heartbeats_per_max_samples.