RTI Connext DDS Micro C++ API
Version 3.0.3
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<<cert>> QoS related to the reliable writer protocol defined in RTPS. More...
#include <dds_c_infrastructure.h>
Public Attributes | |
struct DDS_Duration_t | heartbeat_period |
The period at which to send heartbeats. | |
DDS_Long | heartbeats_per_max_samples |
The number of heartbeats per send queue. | |
DDS_Long | max_send_window |
The maximum size of a reliable send window. | |
DDS_Long | max_heartbeat_retries |
The maximum number of heartbeat retries before marking a remote reader as inactive. |
<<cert>> QoS related to the reliable writer protocol defined in RTPS.
It is used to configure a reliable writer according to RTPS protocol.
struct DDS_Duration_t DDS_RtpsReliableWriterProtocol_t::heartbeat_period |
The period at which to send heartbeats.
A reliable writer will send periodic heartbeat at this rate.
[default] 3.0 seconds
[range] [1 nanosec,1 year]
DDS_Long DDS_RtpsReliableWriterProtocol_t::heartbeats_per_max_samples |
The number of heartbeats per send queue.
A piggyback heartbeat will be sent every [DDS_ResourceLimitsQosPolicy::max_samples/heartbeats_per_max_samples] number of samples.
If set to zero, no piggyback heartbeat will be sent. If DDS_ResourceLimitsQosPolicy::max_samples is DDS_LENGTH_UNLIMITED, 100 million is assumed as the maximum value in the calculation.
[default] 1
[range] [0, 100 million]
DDS_Long DDS_RtpsReliableWriterProtocol_t::max_send_window |
The maximum size of a reliable send window.
A reliable DataWriter may maintain a send window of samples in-flight that have not been acknowledged by its DataReaders. The max_send_window is the maximum number of unacknowledged samples in-flight. When the window is at max_send_window, subsequent writes will pass but not publish any data over the network.
[default] DDS_LENGTH_UNLIMITED, meaning the window will be as large as resource limits allow
[range] [1, 256] of DDS_LENGTH_UNLIMITED
DDS_Long DDS_RtpsReliableWriterProtocol_t::max_heartbeat_retries |
The maximum number of heartbeat retries before marking a remote reader as inactive.
When a remote reader has not acked all the samples the reliable writer has in its queue, and max_heartbeat_retries number of periodic heartbeats has been sent without receiving any ack/nack back, the remote reader will be marked as inactive (not alive) and be ignored until it resumes sending ack/nack.
[default] DDS_LENGTH_UNLIMITED
[range] [1, 1 million] or DDS_LENGTH_UNLIMITED