2019-10-02 11:09:27 +02:00
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# //CycloneDDS
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Children: [Domain](#cycloneddsdomain)
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CycloneDDS configuration
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## //CycloneDDS/Domain
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Attributes: [Id](#cycloneddsdomainid)
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2019-10-03 13:40:27 +02:00
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Children: [Compatibility](#cycloneddsdomaincompatibility), [Discovery](#cycloneddsdomaindiscovery), [General](#cycloneddsdomaingeneral), [Internal](#cycloneddsdomaininternal), [Partitioning](#cycloneddsdomainpartitioning), [SSL](#cycloneddsdomainssl), [Sizing](#cycloneddsdomainsizing), [TCP](#cycloneddsdomaintcp), [ThreadPool](#cycloneddsdomainthreadpool), [Threads](#cycloneddsdomainthreads), [Tracing](#cycloneddsdomaintracing)
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2019-10-02 11:09:27 +02:00
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The General element specifying Domain related settings.
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## //CycloneDDS/Domain[@Id]
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Text
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Domain id this configuration applies to, or "any" if it applies to all
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domain ids.
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The default value is: "any".
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### //CycloneDDS/Domain/Compatibility
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Children: [AssumeRtiHasPmdEndpoints](#cycloneddsdomaincompatibilityassumertihaspmdendpoints), [ExplicitlyPublishQosSetToDefault](#cycloneddsdomaincompatibilityexplicitlypublishqossettodefault), [ManySocketsMode](#cycloneddsdomaincompatibilitymanysocketsmode), [StandardsConformance](#cycloneddsdomaincompatibilitystandardsconformance)
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The Compatibility elements allows specifying various settings related to
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compatability with standards and with other DDSI implementations.
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#### //CycloneDDS/Domain/Compatibility/AssumeRtiHasPmdEndpoints
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Boolean
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This option assumes ParticipantMessageData endpoints required by the
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liveliness protocol are present in RTI participants even when not
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properly advertised by the participant discovery protocol.
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The default value is: "false".
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#### //CycloneDDS/Domain/Compatibility/ExplicitlyPublishQosSetToDefault
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Boolean
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This element specifies whether QoS settings set to default values are
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explicitly published in the discovery protocol. Implementations are to
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use the default value for QoS settings not published, which allows a
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significant reduction of the amount of data that needs to be exchanged
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for the discovery protocol, but this requires all implementations to
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adhere to the default values specified by the specifications.
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When interoperability is required with an implementation that does not
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follow the specifications in this regard, setting this option to true
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will help.
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The default value is: "false".
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#### //CycloneDDS/Domain/Compatibility/ManySocketsMode
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One of: false, true, single, none, many
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This option specifies whether a network socket will be created for each
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domain participant on a host. The specification seems to assume that each
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participant has a unique address, and setting this option will ensure
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this to be the case. This is not the defeault.
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Disabling it slightly improves performance and reduces network traffic
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somewhat. It also causes the set of port numbers needed by Cyclone DDS to
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become predictable, which may be useful for firewall and NAT
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configuration.
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The default value is: "single".
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#### //CycloneDDS/Domain/Compatibility/StandardsConformance
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One of: lax, strict, pedantic
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This element sets the level of standards conformance of this instance of
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the Cyclone DDS Service. Stricter conformance typically means less
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interoperability with other implementations. Currently three modes are
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defined:
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* pedantic: very strictly conform to the specification, ultimately for
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compliancy testing, but currently of little value because it adheres even to
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what will most likely turn out to be editing errors in the DDSI standard.
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Arguably, as long as no errata have been published it is the current text
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that is in effect, and that is what pedantic currently does.
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* strict: a slightly less strict view of the standard than does pedantic: it
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follows the established behaviour where the standard is obviously in error.
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* lax: attempt to provide the smoothest possible interoperability, anticipating
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future revisions of elements in the standard in areas that other
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implementations do not adhere to, even though there is no good reason not to.
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The default setting is "lax".
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The default value is: "lax".
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### //CycloneDDS/Domain/Discovery
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Children: [DSGracePeriod](#cycloneddsdomaindiscoverydsgraceperiod), [DefaultMulticastAddress](#cycloneddsdomaindiscoverydefaultmulticastaddress), [EnableTopicDiscovery](#cycloneddsdomaindiscoveryenabletopicdiscovery), [MaxAutoParticipantIndex](#cycloneddsdomaindiscoverymaxautoparticipantindex), [ParticipantIndex](#cycloneddsdomaindiscoveryparticipantindex), [Peers](#cycloneddsdomaindiscoverypeers), [Ports](#cycloneddsdomaindiscoveryports), [SPDPInterval](#cycloneddsdomaindiscoveryspdpinterval), [SPDPMulticastAddress](#cycloneddsdomaindiscoveryspdpmulticastaddress)
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The Discovery element allows specifying various parameters related to the
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discovery of peers.
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#### //CycloneDDS/Domain/Discovery/DSGracePeriod
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Number-with-unit
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This setting controls for how long endpoints discovered via a Cloud
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discovery service will survive after the discovery service disappeared,
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allowing reconnect without loss of data when the discovery service
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restarts (or another instance takes over).
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Valid values are finite durations with an explicit unit or the keyword
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'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, day.
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The default value is: "30 s".
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#### //CycloneDDS/Domain/Discovery/DefaultMulticastAddress
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Text
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This element specifies the default multicast address for all traffic
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other than participant discovery packets. It defaults to
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Discovery/SPDPMulticastAddress.
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The default value is: "auto".
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#### //CycloneDDS/Domain/Discovery/EnableTopicDiscovery
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Boolean
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Do not use.
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The default value is: "true".
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#### //CycloneDDS/Domain/Discovery/MaxAutoParticipantIndex
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Integer
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This element specifies the maximum DDSI participant index selected by
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this instance of the Cyclone DDS service if the
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Discovery/ParticipantIndex is "auto".
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The default value is: "9".
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#### //CycloneDDS/Domain/Discovery/ParticipantIndex
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Text
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This element specifies the DDSI participant index used by this instance
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of the Cyclone DDS service for discovery purposes. Only one such
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participant id is used, independent of the number of actual
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DomainParticipants on the node. It is either:
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* auto: which will attempt to automatically determine an available participant
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index (see also Discovery/MaxAutoParticipantIndex), or
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* a non-negative integer less than 120, or
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* none:, which causes it to use arbitrary port numbers for unicast sockets
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which entirely removes the constraints on the participant index but makes
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unicast discovery impossible.
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The default is auto. The participant index is part of the port number
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calculation and if predictable port numbers are needed and fixing the
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participant index has no adverse effects, it is recommended that the
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second be option be used.
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The default value is: "none".
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#### //CycloneDDS/Domain/Discovery/Peers
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Children: [Group](#cycloneddsdomaindiscoverypeersgroup), [Peer](#cycloneddsdomaindiscoverypeerspeer)
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This element statically configures addresses for discovery.
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Valid values are finite durations with an explicit unit or the keyword
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'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, day.
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##### //CycloneDDS/Domain/Discovery/Peers/Group
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Children: [Peer](#cycloneddsdomaindiscoverypeersgrouppeer)
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This element statically configures a fault tolerant group of addresses
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for discovery. Each member of the group is tried in sequence until one
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succeeds.
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###### //CycloneDDS/Domain/Discovery/Peers/Group/Peer
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Attributes: [Address](#cycloneddsdomaindiscoverypeersgrouppeeraddress)
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This element statically configures an addresses for discovery.
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###### //CycloneDDS/Domain/Discovery/Peers/Group/Peer[@Address]
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Text
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This element specifies an IP address to which discovery packets must be
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sent, in addition to the default multicast address (see also
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General/AllowMulticast). Both a hostnames and a numerical IP address is
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accepted; the hostname or IP address may be suffixed with :PORT to
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explicitly set the port to which it must be sent. Multiple Peers may be
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specified.
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##### //CycloneDDS/Domain/Discovery/Peers/Peer
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Attributes: [Address](#cycloneddsdomaindiscoverypeerspeeraddress)
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This element statically configures an addresses for discovery.
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##### //CycloneDDS/Domain/Discovery/Peers/Peer[@Address]
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Text
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This element specifies an IP address to which discovery packets must be
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sent, in addition to the default multicast address (see also
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General/AllowMulticast). Both a hostnames and a numerical IP address is
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accepted; the hostname or IP address may be suffixed with :PORT to
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explicitly set the port to which it must be sent. Multiple Peers may be
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specified.
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#### //CycloneDDS/Domain/Discovery/Ports
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Children: [Base](#cycloneddsdomaindiscoveryportsbase), [DomainGain](#cycloneddsdomaindiscoveryportsdomaingain), [MulticastDataOffset](#cycloneddsdomaindiscoveryportsmulticastdataoffset), [MulticastMetaOffset](#cycloneddsdomaindiscoveryportsmulticastmetaoffset), [ParticipantGain](#cycloneddsdomaindiscoveryportsparticipantgain), [UnicastDataOffset](#cycloneddsdomaindiscoveryportsunicastdataoffset), [UnicastMetaOffset](#cycloneddsdomaindiscoveryportsunicastmetaoffset)
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The Ports element allows specifying various parameters related to the
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port numbers used for discovery. These all have default values specified
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by the DDSI 2.1 specification and rarely need to be changed.
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##### //CycloneDDS/Domain/Discovery/Ports/Base
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Integer
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This element specifies the base port number (refer to the DDSI 2.1
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specification, section 9.6.1, constant PB).
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The default value is: "7400".
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##### //CycloneDDS/Domain/Discovery/Ports/DomainGain
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Integer
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This element specifies the domain gain, relating domain ids to sets of
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port numbers (refer to the DDSI 2.1 specification, section 9.6.1,
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constant DG).
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The default value is: "250".
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##### //CycloneDDS/Domain/Discovery/Ports/MulticastDataOffset
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Integer
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This element specifies the port number for multicast data traffic (refer
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to the DDSI 2.1 specification, section 9.6.1, constant d2).
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The default value is: "1".
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##### //CycloneDDS/Domain/Discovery/Ports/MulticastMetaOffset
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Integer
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This element specifies the port number for multicast meta traffic (refer
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to the DDSI 2.1 specification, section 9.6.1, constant d0).
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The default value is: "0".
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##### //CycloneDDS/Domain/Discovery/Ports/ParticipantGain
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Integer
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This element specifies the participant gain, relating p0, articipant
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index to sets of port numbers (refer to the DDSI 2.1 specification,
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section 9.6.1, constant PG).
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The default value is: "2".
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##### //CycloneDDS/Domain/Discovery/Ports/UnicastDataOffset
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Integer
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This element specifies the port number for unicast data traffic (refer to
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the DDSI 2.1 specification, section 9.6.1, constant d3).
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The default value is: "11".
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##### //CycloneDDS/Domain/Discovery/Ports/UnicastMetaOffset
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Integer
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This element specifies the port number for unicast meta traffic (refer to
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the DDSI 2.1 specification, section 9.6.1, constant d1).
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The default value is: "10".
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#### //CycloneDDS/Domain/Discovery/SPDPInterval
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Number-with-unit
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This element specifies the interval between spontaneous transmissions of
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participant discovery packets.
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The unit must be specified explicitly. Recognised units: ns, us, ms, s,
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min, hr, day.
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The default value is: "30 s".
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#### //CycloneDDS/Domain/Discovery/SPDPMulticastAddress
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Text
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This element specifies the multicast address that is used as the
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destination for the participant discovery packets. In IPv4 mode the
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default is the (standardised) 239.255.0.1, in IPv6 mode it becomes
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ff02::ffff:239.255.0.1, which is a non-standardised link-local multicast
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address.
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The default value is: "239.255.0.1".
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### //CycloneDDS/Domain/General
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Children: [AllowMulticast](#cycloneddsdomaingeneralallowmulticast), [DontRoute](#cycloneddsdomaingeneraldontroute), [EnableMulticastLoopback](#cycloneddsdomaingeneralenablemulticastloopback), [ExternalNetworkAddress](#cycloneddsdomaingeneralexternalnetworkaddress), [ExternalNetworkMask](#cycloneddsdomaingeneralexternalnetworkmask), [FragmentSize](#cycloneddsdomaingeneralfragmentsize), [MaxMessageSize](#cycloneddsdomaingeneralmaxmessagesize), [MulticastRecvNetworkInterfaceAddresses](#cycloneddsdomaingeneralmulticastrecvnetworkinterfaceaddresses), [MulticastTimeToLive](#cycloneddsdomaingeneralmulticasttimetolive), [NetworkInterfaceAddress](#cycloneddsdomaingeneralnetworkinterfaceaddress), [PreferMulticast](#cycloneddsdomaingeneralprefermulticast), [Transport](#cycloneddsdomaingeneraltransport), [UseIPv6](#cycloneddsdomaingeneraluseipv6)
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The General element specifies overall Cyclone DDS service settings.
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#### //CycloneDDS/Domain/General/AllowMulticast
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One of:
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* Keyword: default
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* Comma-separated list of: false, spdp, asm, ssm, true
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This element controls whether Cyclone DDS uses multicasts for data
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traffic.
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It is a comma-separated list of some of the following keywords: "spdp",
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"asm", "ssm", or either of "false" or "true", or "default".
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* spdp: enables the use of ASM (any-source multicast) for participant
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discovery, joining the multicast group on the discovery socket, transmitting
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SPDP messages to this group, but never advertising nor using any multicast
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address in any discovery message, thus forcing unicast communications for all
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endpoint discovery and user data.
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* asm: enables the use of ASM for all traffic, including receiving SPDP but not
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transmitting SPDP messages via multicast
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* ssm: enables the use of SSM (source-specific multicast) for all non-SPDP
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traffic (if supported)
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When set to "false" all multicasting is disabled. The default, "true"
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enables full use of multicasts. Listening for multicasts can be
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controlled by General/MulticastRecvNetworkInterfaceAddresses.
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"default" maps on spdp if the network is a WiFi network, on true if it is
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a wired network
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The default value is: "default".
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#### //CycloneDDS/Domain/General/DontRoute
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Boolean
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This element allows setting the SO_DONTROUTE option for outgoing packets,
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to bypass the local routing tables. This is generally useful only when
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the routing tables cannot be trusted, which is highly unusual.
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The default value is: "false".
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#### //CycloneDDS/Domain/General/EnableMulticastLoopback
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Boolean
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This element specifies whether Cyclone DDS allows IP multicast packets to
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be visible to all DDSI participants in the same node, including itself.
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It must be "true" for intra-node multicast communications, but if a node
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runs only a single Cyclone DDS service and does not host any other
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DDSI-capable programs, it should be set to "false" for improved
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performance.
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The default value is: "true".
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#### //CycloneDDS/Domain/General/ExternalNetworkAddress
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Text
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This element allows explicitly overruling the network address Cyclone DDS
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advertises in the discovery protocol, which by default is the address of
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the preferred network interface (General/NetworkInterfaceAddress), to
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allow Cyclone DDS to communicate across a Network Address Translation
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(NAT) device.
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The default value is: "auto".
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#### //CycloneDDS/Domain/General/ExternalNetworkMask
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Text
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This element specifies the network mask of the external network address.
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This element is relevant only when an external network address
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(General/ExternalNetworkAddress) is explicitly configured. In this case
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locators received via the discovery protocol that are within the same
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external subnet (as defined by this mask) will be translated to an
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internal address by replacing the network portion of the external address
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with the corresponding portion of the preferred network interface
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address. This option is IPv4-only.
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The default value is: "0.0.0.0".
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#### //CycloneDDS/Domain/General/FragmentSize
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Number-with-unit
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This element specifies the size of DDSI sample fragments generated by
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Cyclone DDS. Samples larger than FragmentSize are fragmented into
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fragments of FragmentSize bytes each, except the last one, which may be
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smaller. The DDSI spec mandates a minimum fragment size of 1025 bytes,
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but Cyclone DDS will do whatever size is requested, accepting fragments
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of which the size is at least the minimum of 1025 and FragmentSize.
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The unit must be specified explicitly. Recognised units: B (bytes), kB &
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KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
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(2<sup>30</sup> bytes).
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The default value is: "1280 B".
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#### //CycloneDDS/Domain/General/MaxMessageSize
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Number-with-unit
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This element specifies the maximum size of the UDP payload that Cyclone
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DDS will generate. Cyclone DDS will try to maintain this limit within the
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bounds of the DDSI specification, which means that in some cases
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(especially for very low values of MaxMessageSize) larger payloads may
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sporadically be observed (currently up to 1192 B).
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On some networks it may be necessary to set this item to keep the
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packetsize below the MTU to prevent IP fragmentation. In those cases, it
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is generally advisable to also consider reducing Internal/FragmentSize.
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The unit must be specified explicitly. Recognised units: B (bytes), kB &
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KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
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(2<sup>30</sup> bytes).
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The default value is: "4096 B".
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#### //CycloneDDS/Domain/General/MulticastRecvNetworkInterfaceAddresses
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Text
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This element specifies on which network interfaces Cyclone DDS listens to
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multicasts. The following options are available:
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* all: listen for multicasts on all multicast-capable interfaces; or
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* any: listen for multicasts on the operating system default interface; or
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* preferred: listen for multicasts on the preferred interface
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(General/NetworkInterfaceAddress); or
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* none: does not listen for multicasts on any interface; or
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* a comma-separated list of network addresses: configures Cyclone DDS to listen
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for multicasts on all of the listed addresses.
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If Cyclone DDS is in IPv6 mode and the address of the preferred network
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interface is a link-local address, "all" is treated as a synonym for
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"preferred" and a comma-separated list is treated as "preferred" if it
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contains the preferred interface and as "none" if not.
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The default value is: "preferred".
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#### //CycloneDDS/Domain/General/MulticastTimeToLive
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Integer
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This element specifies the time-to-live setting for outgoing multicast
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packets.
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The default value is: "32".
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#### //CycloneDDS/Domain/General/NetworkInterfaceAddress
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Text
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This element specifies the preferred network interface for use by Cyclone
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DDS. The preferred network interface determines the IP address that
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Cyclone DDS advertises in the discovery protocol (but see also
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General/ExternalNetworkAddress), and is also the only interface over
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which multicasts are transmitted. The interface can be identified by its
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IP address, network interface name or network portion of the address. If
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the value "auto" is entered here, Cyclone DDS will select what it
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considers the most suitable interface.
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The default value is: "auto".
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#### //CycloneDDS/Domain/General/PreferMulticast
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Boolean
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When false (default) Cyclone DDS uses unicast for data whenever there a
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single unicast suffices. Setting this to true makes it prefer
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multicasting data, falling back to unicast only when no multicast address
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is available.
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The default value is: "false".
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#### //CycloneDDS/Domain/General/Transport
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One of: default, udp, udp6, tcp, tcp6, raweth
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This element allows selecting the transport to be used (udp, udp6, tcp,
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tcp6, raweth)
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The default value is: "default".
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#### //CycloneDDS/Domain/General/UseIPv6
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One of: false, true, default
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Deprecated (use Transport instead)
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The default value is: "default".
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### //CycloneDDS/Domain/Internal
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Children: [AccelerateRexmitBlockSize](#cycloneddsdomaininternalacceleraterexmitblocksize), [AssumeMulticastCapable](#cycloneddsdomaininternalassumemulticastcapable), [AutoReschedNackDelay](#cycloneddsdomaininternalautoreschednackdelay), [BuiltinEndpointSet](#cycloneddsdomaininternalbuiltinendpointset), [ControlTopic](#cycloneddsdomaininternalcontroltopic), [DDSI2DirectMaxThreads](#cycloneddsdomaininternalddsi2directmaxthreads), [DefragReliableMaxSamples](#cycloneddsdomaininternaldefragreliablemaxsamples), [DefragUnreliableMaxSamples](#cycloneddsdomaininternaldefragunreliablemaxsamples), [DeliveryQueueMaxSamples](#cycloneddsdomaininternaldeliveryqueuemaxsamples), [EnableExpensiveChecks](#cycloneddsdomaininternalenableexpensivechecks), [GenerateKeyhash](#cycloneddsdomaininternalgeneratekeyhash), [HeartbeatInterval](#cycloneddsdomaininternalheartbeatinterval), [LateAckMode](#cycloneddsdomaininternallateackmode), [LeaseDuration](#cycloneddsdomaininternalleaseduration), [LivelinessMonitoring](#cycloneddsdomaininternallivelinessmonitoring), [MaxParticipants](#cycloneddsdomaininternalmaxparticipants), [MaxQueuedRexmitBytes](#cycloneddsdomaininternalmaxqueuedrexmitbytes), [MaxQueuedRexmitMessages](#cycloneddsdomaininternalmaxqueuedrexmitmessages), [MaxSampleSize](#cycloneddsdomaininternalmaxsamplesize), [MeasureHbToAckLatency](#cycloneddsdomaininternalmeasurehbtoacklatency), [MinimumSocketReceiveBufferSize](#cycloneddsdomaininternalminimumsocketreceivebuffersize), [MinimumSocketSendBufferSize](#cycloneddsdomaininternalminimumsocketsendbuffersize), [MonitorPort](#cycloneddsdomaininternalmonitorport), [MultipleReceiveThreads](#cycloneddsdomaininternalmultiplereceivethreads), [NackDelay](#cycloneddsdomaininternalnackdelay), [PreEmptiveAckDelay](#cycloneddsdomaininternalpreemptiveackdelay), [PrimaryReorderMaxSamples](#cycloneddsdomaininternalprimaryreordermaxsamples), [PrioritizeRetransmit](#cycloneddsdomaininternalprioritizeretransmit), [RediscoveryBlacklistDuration](#cycloneddsdomaininternalrediscoveryblacklistduration), [RetransmitMerging](#cycloneddsdomaininternalretransmitmerging), [RetransmitMergingPeriod](#cycloneddsdomaininternalretransmitmergingperiod), [RetryOnRejectBestEffort](#cycloneddsdomaininternalretryonrejectbesteffort), [SPDPResponseMaxDelay](#cycloneddsdomaininternalspdpresponsemaxdelay), [ScheduleTimeRounding](#cycloneddsdomaininternalscheduletimerounding), [SecondaryReorderMaxSamples](#cycloneddsdomaininternalsecondaryreordermaxsamples), [SendAsync](#cycloneddsdomaininternalsendasync), [SquashParticipants](#cycloneddsdomaininternalsquashparticipants), [SynchronousDeliveryLatencyBound](#cycloneddsdomaininternalsynchronousdeliverylatencybound), [SynchronousDeliveryPriorityThreshold](#cycloneddsdomaininternalsynchronousdeliveryprioritythreshold), [Test](#cycloneddsdomaininternaltest), [UnicastResponseToSPDPMessages](#cycloneddsdomaininternalunicastresponsetospdpmessages), [UseMulticastIfMreqn](#cycloneddsdomaininternalusemulticastifmreqn), [Watermarks](#cycloneddsdomaininternalwatermarks), [WriteBatch](#cycloneddsdomaininternalwritebatch), [WriterLingerDuration](#cycloneddsdomaininternalwriterlingerduration)
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2019-10-02 11:09:27 +02:00
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The Internal elements deal with a variety of settings that evolving and
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that are not necessarily fully supported. For the vast majority of the
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Internal settings, the functionality per-se is supported, but the right
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to change the way the options control the functionality is reserved. This
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includes renaming or moving options.
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#### //CycloneDDS/Domain/Internal/AccelerateRexmitBlockSize
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Integer
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Proxy readers that are assumed to sill be retrieving historical data get
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this many samples retransmitted when they NACK something, even if some of
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these samples have sequence numbers outside the set covered by the NACK.
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The default value is: "0".
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#### //CycloneDDS/Domain/Internal/AssumeMulticastCapable
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Text
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This element controls which network interfaces are assumed to be capable
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of multicasting even when the interface flags returned by the operating
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system state it is not (this provides a workaround for some platforms).
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It is a comma-separated lists of patterns (with ? and * wildcards)
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against which the interface names are matched.
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The default value is: "".
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#### //CycloneDDS/Domain/Internal/AutoReschedNackDelay
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Number-with-unit
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This setting controls the interval with which a reader will continue
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NACK'ing missing samples in the absence of a response from the writer, as
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a protection mechanism against writers incorrectly stopping the sending
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of HEARTBEAT messages.
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Valid values are finite durations with an explicit unit or the keyword
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'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, day.
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The default value is: "1 s".
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#### //CycloneDDS/Domain/Internal/BuiltinEndpointSet
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One of: full, writers, minimal
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This element controls which participants will have which built-in
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endpoints for the discovery and liveliness protocols. Valid values are:
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* full: all participants have all endpoints;
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* writers: all participants have the writers, but just one has the readers;
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* minimal: only one participant has built-in endpoints.
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The default is writers, as this is thought to be compliant and reasonably
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efficient. Minimal may or may not be compliant but is most efficient, and
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full is inefficient but certain to be compliant. See also
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Internal/ConservativeBuiltinReaderStartup.
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The default value is: "writers".
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#### //CycloneDDS/Domain/Internal/ControlTopic
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The ControlTopic element allows configured whether Cyclone DDS provides a
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special control interface via a predefined topic or not.
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#### //CycloneDDS/Domain/Internal/DDSI2DirectMaxThreads
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Integer
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This element sets the maximum number of extra threads for an
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experimental, undocumented and unsupported direct mode.
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The default value is: "1".
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#### //CycloneDDS/Domain/Internal/DefragReliableMaxSamples
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Integer
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This element sets the maximum number of samples that can be defragmented
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simultaneously for a reliable writer. This has to be large enough to
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handle retransmissions of historical data in addition to new samples.
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The default value is: "16".
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#### //CycloneDDS/Domain/Internal/DefragUnreliableMaxSamples
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This element sets the maximum number of samples that can be defragmented
|
|
|
|
|
simultaneously for a best-effort writers.
|
|
|
|
|
|
|
|
|
|
The default value is: "4".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/DeliveryQueueMaxSamples
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This element controls the Maximum size of a delivery queue, expressed in
|
|
|
|
|
samples. Once a delivery queue is full, incoming samples destined for
|
|
|
|
|
that queue are dropped until space becomes available again.
|
|
|
|
|
|
|
|
|
|
The default value is: "256".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/EnableExpensiveChecks
|
|
|
|
|
One of:
|
|
|
|
|
* Comma-separated list of: whc, rhc, all
|
|
|
|
|
* Or empty
|
|
|
|
|
|
|
|
|
|
This element enables expensive checks in builds with assertions enabled
|
|
|
|
|
and is ignored otherwise. Recognised categories are:
|
|
|
|
|
|
|
|
|
|
* whc: writer history cache checking
|
|
|
|
|
|
|
|
|
|
* rhc: reader history cache checking
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
In addition, there is the keyword all that enables all checks.
|
|
|
|
|
|
|
|
|
|
The default value is: "".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/GenerateKeyhash
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
When true, include keyhashes in outgoing data for topics with keys.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/HeartbeatInterval
|
2019-11-01 14:48:37 +01:00
|
|
|
Attributes: [max](#cycloneddsdomaininternalheartbeatintervalmax), [min](#cycloneddsdomaininternalheartbeatintervalmin), [minsched](#cycloneddsdomaininternalheartbeatintervalminsched)
|
|
|
|
|
|
2019-10-02 11:09:27 +02:00
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This elemnents allows configuring the base interval for sending writer
|
|
|
|
|
heartbeats and the bounds within it can vary.
|
|
|
|
|
|
|
|
|
|
Valid values are finite durations with an explicit unit or the keyword
|
|
|
|
|
'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "100 ms".
|
|
|
|
|
|
|
|
|
|
|
2019-11-01 14:48:37 +01:00
|
|
|
#### //CycloneDDS/Domain/Internal/HeartbeatInterval[@max]
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This attribute sets the maximum interval for periodic heartbeats.
|
|
|
|
|
|
|
|
|
|
Valid values are finite durations with an explicit unit or the keyword
|
|
|
|
|
'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "8 s".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/HeartbeatInterval[@min]
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This attribute sets the minimum interval that must have passed since the
|
|
|
|
|
most recent heartbeat from a writer, before another asynchronous (not
|
|
|
|
|
directly related to writing) will be sent.
|
|
|
|
|
|
|
|
|
|
Valid values are finite durations with an explicit unit or the keyword
|
|
|
|
|
'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "5 ms".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/HeartbeatInterval[@minsched]
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This attribute sets the minimum interval for periodic heartbeats. Other
|
|
|
|
|
events may still cause heartbeats to go out.
|
|
|
|
|
|
|
|
|
|
Valid values are finite durations with an explicit unit or the keyword
|
|
|
|
|
'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "20 ms".
|
|
|
|
|
|
|
|
|
|
|
2019-10-02 11:09:27 +02:00
|
|
|
#### //CycloneDDS/Domain/Internal/LateAckMode
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
Ack a sample only when it has been delivered, instead of when committed
|
|
|
|
|
to delivering it.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/LeaseDuration
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This setting controls the default participant lease duration.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: ns, us, ms, s,
|
|
|
|
|
min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "10 s".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/LivelinessMonitoring
|
2019-11-01 14:48:37 +01:00
|
|
|
Attributes: [Interval](#cycloneddsdomaininternallivelinessmonitoringinterval), [StackTraces](#cycloneddsdomaininternallivelinessmonitoringstacktraces)
|
|
|
|
|
|
2019-10-02 11:09:27 +02:00
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element controls whether or not implementation should internally
|
|
|
|
|
monitor its own liveliness. If liveliness monitoring is enabled, stack
|
|
|
|
|
traces can be dumped automatically when some thread appears to have
|
|
|
|
|
stopped making progress.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
2019-11-01 14:48:37 +01:00
|
|
|
#### //CycloneDDS/Domain/Internal/LivelinessMonitoring[@Interval]
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This element controls the interval at which to check whether threads have
|
|
|
|
|
been making progress.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: ns, us, ms, s,
|
|
|
|
|
min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "1s".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/LivelinessMonitoring[@StackTraces]
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element controls whether or not to write stack traces to the Cyclone
|
|
|
|
|
DDS trace when a thread fails to make progress (on select platforms
|
|
|
|
|
only).
|
|
|
|
|
|
|
|
|
|
The default value is: "true".
|
|
|
|
|
|
|
|
|
|
|
2019-10-02 11:09:27 +02:00
|
|
|
#### //CycloneDDS/Domain/Internal/MaxParticipants
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This elements configures the maximum number of DCPS domain participants
|
|
|
|
|
this Cyclone DDS instance is willing to service. 0 is unlimited.
|
|
|
|
|
|
|
|
|
|
The default value is: "0".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/MaxQueuedRexmitBytes
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This setting limits the maximum number of bytes queued for
|
|
|
|
|
retransmission. The default value of 0 is unlimited unless an
|
|
|
|
|
AuxiliaryBandwidthLimit has been set, in which case it becomes NackDelay
|
|
|
|
|
* AuxiliaryBandwidthLimit. It must be large enough to contain the largest
|
|
|
|
|
sample that may need to be retransmitted.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: B (bytes), kB &
|
|
|
|
|
KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
|
|
|
|
|
(2<sup>30</sup> bytes).
|
|
|
|
|
|
|
|
|
|
The default value is: "50 kB".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/MaxQueuedRexmitMessages
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This settings limits the maximum number of samples queued for
|
|
|
|
|
retransmission.
|
|
|
|
|
|
|
|
|
|
The default value is: "200".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/MaxSampleSize
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This setting controls the maximum (CDR) serialised size of samples that
|
|
|
|
|
Cyclone DDS will forward in either direction. Samples larger than this
|
|
|
|
|
are discarded with a warning.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: B (bytes), kB &
|
|
|
|
|
KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
|
|
|
|
|
(2<sup>30</sup> bytes).
|
|
|
|
|
|
|
|
|
|
The default value is: "2147483647 B".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/MeasureHbToAckLatency
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element enables heartbeat-to-ack latency among Cyclone DDS services
|
|
|
|
|
by prepending timestamps to Heartbeat and AckNack messages and
|
|
|
|
|
calculating round trip times. This is non-standard behaviour. The
|
|
|
|
|
measured latencies are quite noisy and are currently not used anywhere.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/MinimumSocketReceiveBufferSize
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This setting controls the minimum size of socket receive buffers. The
|
|
|
|
|
operating system provides some size receive buffer upon creation of the
|
|
|
|
|
socket, this option can be used to increase the size of the buffer beyond
|
|
|
|
|
that initially provided by the operating system. If the buffer size
|
|
|
|
|
cannot be increased to the specified size, an error is reported.
|
|
|
|
|
|
|
|
|
|
The default setting is the word "default", which means Cyclone DDS will
|
|
|
|
|
attempt to increase the buffer size to 1MB, but will silently accept a
|
|
|
|
|
smaller buffer should that attempt fail.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: B (bytes), kB &
|
|
|
|
|
KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
|
|
|
|
|
(2<sup>30</sup> bytes).
|
|
|
|
|
|
|
|
|
|
The default value is: "default".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/MinimumSocketSendBufferSize
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This setting controls the minimum size of socket send buffers. This
|
|
|
|
|
setting can only increase the size of the send buffer, if the operating
|
|
|
|
|
system by default creates a larger buffer, it is left unchanged.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: B (bytes), kB &
|
|
|
|
|
KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
|
|
|
|
|
(2<sup>30</sup> bytes).
|
|
|
|
|
|
|
|
|
|
The default value is: "64 KiB".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/MonitorPort
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This element allows configuring a service that dumps a text description
|
|
|
|
|
of part the internal state to TCP clients. By default (-1), this is
|
|
|
|
|
disabled; specifying 0 means a kernel-allocated port is used; a positive
|
|
|
|
|
number is used as the TCP port number.
|
|
|
|
|
|
|
|
|
|
The default value is: "-1".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/MultipleReceiveThreads
|
2019-11-01 14:48:37 +01:00
|
|
|
Attributes: [maxretries](#cycloneddsdomaininternalmultiplereceivethreadsmaxretries)
|
|
|
|
|
|
2019-10-02 11:09:27 +02:00
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element controls whether all traffic is handled by a single receive
|
|
|
|
|
thread or whether multiple receive threads may be used to improve
|
|
|
|
|
latency. Currently multiple receive threads are only used for
|
|
|
|
|
connectionless transport (e.g., UDP) and ManySocketsMode not set to
|
|
|
|
|
single (the default).
|
|
|
|
|
|
|
|
|
|
The default value is: "true".
|
|
|
|
|
|
|
|
|
|
|
2019-11-01 14:48:37 +01:00
|
|
|
#### //CycloneDDS/Domain/Internal/MultipleReceiveThreads[@maxretries]
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
Receive threads dedicated to a single socket can only be triggered for
|
|
|
|
|
termination by sending a packet. Reception of any packet will do, so
|
|
|
|
|
termination failure due to packet loss is exceedingly unlikely, but to
|
|
|
|
|
eliminate all risks, it will retry as many times as specified by this
|
|
|
|
|
attribute before aborting.
|
|
|
|
|
|
|
|
|
|
The default value is: "4294967295".
|
|
|
|
|
|
|
|
|
|
|
2019-10-02 11:09:27 +02:00
|
|
|
#### //CycloneDDS/Domain/Internal/NackDelay
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This setting controls the delay between receipt of a HEARTBEAT indicating
|
|
|
|
|
missing samples and a NACK (ignored when the HEARTBEAT requires an
|
|
|
|
|
answer). However, no NACK is sent if a NACK had been scheduled already
|
|
|
|
|
for a response earlier than the delay requests: then that NACK will
|
|
|
|
|
incorporate the latest information.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: ns, us, ms, s,
|
|
|
|
|
min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "10 ms".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/PreEmptiveAckDelay
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This setting controls the delay between the discovering a remote writer
|
|
|
|
|
and sending a pre-emptive AckNack to discover the range of data
|
|
|
|
|
available.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: ns, us, ms, s,
|
|
|
|
|
min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "10 ms".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/PrimaryReorderMaxSamples
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This element sets the maximum size in samples of a primary re-order
|
|
|
|
|
administration. Each proxy writer has one primary re-order administration
|
|
|
|
|
to buffer the packet flow in case some packets arrive out of order. Old
|
|
|
|
|
samples are forwarded to secondary re-order administrations associated
|
|
|
|
|
with readers in need of historical data.
|
|
|
|
|
|
|
|
|
|
The default value is: "128".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/PrioritizeRetransmit
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element controls whether retransmits are prioritized over new data,
|
|
|
|
|
speeding up recovery.
|
|
|
|
|
|
|
|
|
|
The default value is: "true".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/RediscoveryBlacklistDuration
|
2019-11-01 14:48:37 +01:00
|
|
|
Attributes: [enforce](#cycloneddsdomaininternalrediscoveryblacklistdurationenforce)
|
|
|
|
|
|
2019-10-02 11:09:27 +02:00
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This element controls for how long a remote participant that was
|
|
|
|
|
previously deleted will remain on a blacklist to prevent rediscovery,
|
|
|
|
|
giving the software on a node time to perform any cleanup actions it
|
|
|
|
|
needs to do. To some extent this delay is required internally by Cyclone
|
|
|
|
|
DDS, but in the default configuration with the 'enforce' attribute set to
|
|
|
|
|
false, Cyclone DDS will reallow rediscovery as soon as it has cleared its
|
|
|
|
|
internal administration. Setting it to too small a value may result in
|
|
|
|
|
the entry being pruned from the blacklist before Cyclone DDS is ready, it
|
|
|
|
|
is therefore recommended to set it to at least several seconds.
|
|
|
|
|
|
|
|
|
|
Valid values are finite durations with an explicit unit or the keyword
|
|
|
|
|
'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "10s".
|
|
|
|
|
|
|
|
|
|
|
2019-11-01 14:48:37 +01:00
|
|
|
#### //CycloneDDS/Domain/Internal/RediscoveryBlacklistDuration[@enforce]
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This attribute controls whether the configured time during which recently
|
|
|
|
|
deleted participants will not be rediscovered (i.e., "black listed") is
|
|
|
|
|
enforced and following complete removal of the participant in Cyclone
|
|
|
|
|
DDS, or whether it can be rediscovered earlier provided all traces of
|
|
|
|
|
that participant have been removed already.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
2019-10-02 11:09:27 +02:00
|
|
|
#### //CycloneDDS/Domain/Internal/RetransmitMerging
|
|
|
|
|
One of: never, adaptive, always
|
|
|
|
|
|
|
|
|
|
This elements controls the addressing and timing of retransmits. Possible
|
|
|
|
|
values are:
|
|
|
|
|
|
|
|
|
|
* never: retransmit only to the NACK-ing reader;
|
|
|
|
|
|
|
|
|
|
* adaptive: attempt to combine retransmits needed for reliability, but send
|
|
|
|
|
historical (transient-local) data to the requesting reader only;
|
|
|
|
|
|
|
|
|
|
* always: do not distinguish between different causes, always try to merge.
|
|
|
|
|
|
|
|
|
|
The default is never. See also Internal/RetransmitMergingPeriod.
|
|
|
|
|
|
|
|
|
|
The default value is: "never".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/RetransmitMergingPeriod
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This setting determines the size of the time window in which a NACK of
|
|
|
|
|
some sample is ignored because a retransmit of that sample has been
|
|
|
|
|
multicasted too recently. This setting has no effect on unicasted
|
|
|
|
|
retransmits.
|
|
|
|
|
|
|
|
|
|
See also Internal/RetransmitMerging.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: ns, us, ms, s,
|
|
|
|
|
min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "5 ms".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/RetryOnRejectBestEffort
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
Whether or not to locally retry pushing a received best-effort sample
|
|
|
|
|
into the reader caches when resource limits are reached.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/SPDPResponseMaxDelay
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
Maximum pseudo-random delay in milliseconds between discovering a remote
|
|
|
|
|
participant and responding to it.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: ns, us, ms, s,
|
|
|
|
|
min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "0 ms".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/ScheduleTimeRounding
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This setting allows the timing of scheduled events to be rounded up so
|
|
|
|
|
that more events can be handled in a single cycle of the event queue. The
|
|
|
|
|
default is 0 and causes no rounding at all, i.e. are scheduled exactly,
|
|
|
|
|
whereas a value of 10ms would mean that events are rounded up to the
|
|
|
|
|
nearest 10 milliseconds.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: ns, us, ms, s,
|
|
|
|
|
min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "0 ms".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/SecondaryReorderMaxSamples
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This element sets the maximum size in samples of a secondary re-order
|
|
|
|
|
administration. The secondary re-order administration is per reader in
|
|
|
|
|
need of historical data.
|
|
|
|
|
|
|
|
|
|
The default value is: "128".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/SendAsync
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element controls whether the actual sending of packets occurs on the
|
|
|
|
|
same thread that prepares them, or is done asynchronously by another
|
|
|
|
|
thread.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/SquashParticipants
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element controls whether Cyclone DDS advertises all the domain
|
|
|
|
|
participants it serves in DDSI (when set to false), or rather only one
|
|
|
|
|
domain participant (the one corresponding to the Cyclone DDS process;
|
|
|
|
|
when set to true). In the latter case Cyclone DDS becomes the virtual
|
|
|
|
|
owner of all readers and writers of all domain participants, dramatically
|
|
|
|
|
reducing discovery traffic (a similar effect can be obtained by setting
|
|
|
|
|
Internal/BuiltinEndpointSet to "minimal" but with less loss of
|
|
|
|
|
information).
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/SynchronousDeliveryLatencyBound
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This element controls whether samples sent by a writer with QoS settings
|
|
|
|
|
transport_priority >= SynchronousDeliveryPriorityThreshold and a
|
|
|
|
|
latency_budget at most this element's value will be delivered
|
|
|
|
|
synchronously from the "recv" thread, all others will be delivered
|
|
|
|
|
asynchronously through delivery queues. This reduces latency at the
|
|
|
|
|
expense of aggregate bandwidth.
|
|
|
|
|
|
|
|
|
|
Valid values are finite durations with an explicit unit or the keyword
|
|
|
|
|
'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "inf".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/SynchronousDeliveryPriorityThreshold
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This element controls whether samples sent by a writer with QoS settings
|
|
|
|
|
latency_budget <= SynchronousDeliveryLatencyBound and transport_priority
|
|
|
|
|
greater than or equal to this element's value will be delivered
|
|
|
|
|
synchronously from the "recv" thread, all others will be delivered
|
|
|
|
|
asynchronously through delivery queues. This reduces latency at the
|
|
|
|
|
expense of aggregate bandwidth.
|
|
|
|
|
|
|
|
|
|
The default value is: "0".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/Test
|
|
|
|
|
Children: [XmitLossiness](#cycloneddsdomaininternaltestxmitlossiness)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Testing options.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Internal/Test/XmitLossiness
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This element controls the fraction of outgoing packets to drop, specified
|
|
|
|
|
as samples per thousand.
|
|
|
|
|
|
|
|
|
|
The default value is: "0".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/UnicastResponseToSPDPMessages
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element controls whether the response to a newly discovered
|
|
|
|
|
participant is sent as a unicasted SPDP packet, instead of rescheduling
|
|
|
|
|
the periodic multicasted one. There is no known benefit to setting this
|
|
|
|
|
to false.
|
|
|
|
|
|
|
|
|
|
The default value is: "true".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/UseMulticastIfMreqn
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
Do not use.
|
|
|
|
|
|
|
|
|
|
The default value is: "0".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/Watermarks
|
|
|
|
|
Children: [WhcAdaptive](#cycloneddsdomaininternalwatermarkswhcadaptive), [WhcHigh](#cycloneddsdomaininternalwatermarkswhchigh), [WhcHighInit](#cycloneddsdomaininternalwatermarkswhchighinit), [WhcLow](#cycloneddsdomaininternalwatermarkswhclow)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Watermarks for flow-control.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Internal/Watermarks/WhcAdaptive
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element controls whether Cyclone DDS will adapt the high-water mark
|
|
|
|
|
to current traffic conditions, based on retransmit requests and transmit
|
|
|
|
|
pressure.
|
|
|
|
|
|
|
|
|
|
The default value is: "true".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Internal/Watermarks/WhcHigh
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This element sets the maximum allowed high-water mark for the Cyclone DDS
|
|
|
|
|
WHCs, expressed in bytes. A writer is suspended when the WHC reaches this
|
|
|
|
|
size.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: B (bytes), kB &
|
|
|
|
|
KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
|
|
|
|
|
(2<sup>30</sup> bytes).
|
|
|
|
|
|
|
|
|
|
The default value is: "100 kB".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Internal/Watermarks/WhcHighInit
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This element sets the initial level of the high-water mark for the
|
|
|
|
|
Cyclone DDS WHCs, expressed in bytes.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: B (bytes), kB &
|
|
|
|
|
KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
|
|
|
|
|
(2<sup>30</sup> bytes).
|
|
|
|
|
|
|
|
|
|
The default value is: "30 kB".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Internal/Watermarks/WhcLow
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This element sets the low-water mark for the Cyclone DDS WHCs, expressed
|
|
|
|
|
in bytes. A suspended writer resumes transmitting when its Cyclone DDS
|
|
|
|
|
WHC shrinks to this size.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: B (bytes), kB &
|
|
|
|
|
KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
|
|
|
|
|
(2<sup>30</sup> bytes).
|
|
|
|
|
|
|
|
|
|
The default value is: "1 kB".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/WriteBatch
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element enables the batching of write operations. By default each
|
|
|
|
|
write operation writes through the write cache and out onto the
|
|
|
|
|
transport. Enabling write batching causes multiple small write operations
|
|
|
|
|
to be aggregated within the write cache into a single larger write. This
|
|
|
|
|
gives greater throughput at the expense of latency. Currently there is no
|
|
|
|
|
mechanism for the write cache to automatically flush itself, so that if
|
|
|
|
|
write batching is enabled, the application may havee to use the
|
|
|
|
|
dds_write_flush function to ensure thta all samples are written.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Internal/WriterLingerDuration
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This setting controls the maximum duration for which actual deletion of a
|
|
|
|
|
reliable writer with unacknowledged data in its history will be postponed
|
|
|
|
|
to provide proper reliable transmission.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: ns, us, ms, s,
|
|
|
|
|
min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "1 s".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### //CycloneDDS/Domain/Partitioning
|
|
|
|
|
Children: [IgnoredPartitions](#cycloneddsdomainpartitioningignoredpartitions), [NetworkPartitions](#cycloneddsdomainpartitioningnetworkpartitions), [PartitionMappings](#cycloneddsdomainpartitioningpartitionmappings)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The Partitioning element specifies Cyclone DDS network partitions and how
|
|
|
|
|
DCPS partition/topic combinations are mapped onto the network partitions.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Partitioning/IgnoredPartitions
|
|
|
|
|
Children: [IgnoredPartition](#cycloneddsdomainpartitioningignoredpartitionsignoredpartition)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The IgnoredPartitions element specifies DCPS partition/topic combinations
|
|
|
|
|
that are not distributed over the network.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Partitioning/IgnoredPartitions/IgnoredPartition
|
|
|
|
|
Attributes: [DCPSPartitionTopic](#cycloneddsdomainpartitioningignoredpartitionsignoredpartitiondcpspartitiontopic)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
This element can be used to prevent certain combinations of DCPS
|
|
|
|
|
partition and topic from being transmitted over the network. Cyclone DDS
|
|
|
|
|
will complete ignore readers and writers for which all DCPS partitions as
|
|
|
|
|
well as their topic is ignored, not even creating DDSI readers and
|
|
|
|
|
writers to mirror the DCPS ones.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Partitioning/IgnoredPartitions/IgnoredPartition[@DCPSPartitionTopic]
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
This attribute specifies a partition and a topic expression, separated by
|
|
|
|
|
a single '.', that are used to determine if a given partition and topic
|
|
|
|
|
will be ignored or not. The expressions may use the usual wildcards '*'
|
|
|
|
|
and '?'. Cyclone DDS will consider an wildcard DCPS partition to match an
|
|
|
|
|
expression iff there exists a string that satisfies both expressions.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Partitioning/NetworkPartitions
|
|
|
|
|
Children: [NetworkPartition](#cycloneddsdomainpartitioningnetworkpartitionsnetworkpartition)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The NetworkPartitions element specifies the Cyclone DDS network
|
|
|
|
|
partitions.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Partitioning/NetworkPartitions/NetworkPartition
|
|
|
|
|
Attributes: [Address](#cycloneddsdomainpartitioningnetworkpartitionsnetworkpartitionaddress), [Connected](#cycloneddsdomainpartitioningnetworkpartitionsnetworkpartitionconnected), [Name](#cycloneddsdomainpartitioningnetworkpartitionsnetworkpartitionname)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
This element defines a Cyclone DDS network partition.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Partitioning/NetworkPartitions/NetworkPartition[@Address]
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
This attribute specifies the multicast addresses associated with the
|
|
|
|
|
network partition as a comma-separated list. Readers matching this
|
|
|
|
|
network partition (cf. Partitioning/PartitionMappings) will listen for
|
|
|
|
|
multicasts on all of these addresses and advertise them in the discovery
|
|
|
|
|
protocol. The writers will select the most suitable address from the
|
|
|
|
|
addresses advertised by the readers.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Partitioning/NetworkPartitions/NetworkPartition[@Connected]
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This attribute is a placeholder.
|
|
|
|
|
|
|
|
|
|
The default value is: "true".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Partitioning/NetworkPartitions/NetworkPartition[@Name]
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
This attribute specifies the name of this Cyclone DDS network partition.
|
|
|
|
|
Two network partitions cannot have the same name.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Partitioning/PartitionMappings
|
|
|
|
|
Children: [PartitionMapping](#cycloneddsdomainpartitioningpartitionmappingspartitionmapping)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The PartitionMappings element specifies the mapping from DCPS
|
|
|
|
|
partition/topic combinations to Cyclone DDS network partitions.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Partitioning/PartitionMappings/PartitionMapping
|
|
|
|
|
Attributes: [DCPSPartitionTopic](#cycloneddsdomainpartitioningpartitionmappingspartitionmappingdcpspartitiontopic), [NetworkPartition](#cycloneddsdomainpartitioningpartitionmappingspartitionmappingnetworkpartition)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
This element defines a mapping from a DCPS partition/topic combination to
|
|
|
|
|
a Cyclone DDS network partition. This allows partitioning data flows by
|
|
|
|
|
using special multicast addresses for part of the data and possibly also
|
|
|
|
|
encrypting the data flow.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Partitioning/PartitionMappings/PartitionMapping[@DCPSPartitionTopic]
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
This attribute specifies a partition and a topic expression, separated by
|
|
|
|
|
a single '.', that are used to determine if a given partition and topic
|
|
|
|
|
maps to the Cyclone DDS network partition named by the NetworkPartition
|
|
|
|
|
attribute in this PartitionMapping element. The expressions may use the
|
|
|
|
|
usual wildcards '*' and '?'. Cyclone DDS will consider a wildcard DCPS
|
|
|
|
|
partition to match an expression if there exists a string that satisfies
|
|
|
|
|
both expressions.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Partitioning/PartitionMappings/PartitionMapping[@NetworkPartition]
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
This attribute specifies which Cyclone DDS network partition is to be
|
|
|
|
|
used for DCPS partition/topic combinations matching the
|
|
|
|
|
DCPSPartitionTopic attribute within this PartitionMapping element.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### //CycloneDDS/Domain/SSL
|
|
|
|
|
Children: [CertificateVerification](#cycloneddsdomainsslcertificateverification), [Ciphers](#cycloneddsdomainsslciphers), [Enable](#cycloneddsdomainsslenable), [EntropyFile](#cycloneddsdomainsslentropyfile), [KeyPassphrase](#cycloneddsdomainsslkeypassphrase), [KeystoreFile](#cycloneddsdomainsslkeystorefile), [MinimumTLSVersion](#cycloneddsdomainsslminimumtlsversion), [SelfSignedCertificates](#cycloneddsdomainsslselfsignedcertificates), [VerifyClient](#cycloneddsdomainsslverifyclient)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The SSL element allows specifying various parameters related to using
|
|
|
|
|
SSL/TLS for DDSI over TCP.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/SSL/CertificateVerification
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
If disabled this allows SSL connections to occur even if an X509
|
|
|
|
|
certificate fails verification.
|
|
|
|
|
|
|
|
|
|
The default value is: "true".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/SSL/Ciphers
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
The set of ciphers used by SSL/TLS
|
|
|
|
|
|
|
|
|
|
The default value is: "ALL:!ADH:!LOW:!EXP:!MD5:@STRENGTH".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/SSL/Enable
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This enables SSL/TLS for TCP.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/SSL/EntropyFile
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
The SSL/TLS random entropy file name.
|
|
|
|
|
|
|
|
|
|
The default value is: "".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/SSL/KeyPassphrase
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
The SSL/TLS key pass phrase for encrypted keys.
|
|
|
|
|
|
|
|
|
|
The default value is: "secret".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/SSL/KeystoreFile
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
The SSL/TLS key and certificate store file name. The keystore must be in
|
|
|
|
|
PEM format.
|
|
|
|
|
|
|
|
|
|
The default value is: "keystore".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/SSL/MinimumTLSVersion
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
The minimum TLS version that may be negotiated, valid values are 1.2 and
|
|
|
|
|
1.3.
|
|
|
|
|
|
|
|
|
|
The default value is: "1.3".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/SSL/SelfSignedCertificates
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This enables the use of self signed X509 certificates.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/SSL/VerifyClient
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This enables an SSL server checking the X509 certificate of a connecting
|
|
|
|
|
client.
|
|
|
|
|
|
|
|
|
|
The default value is: "true".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### //CycloneDDS/Domain/Sizing
|
|
|
|
|
Children: [ReceiveBufferChunkSize](#cycloneddsdomainsizingreceivebufferchunksize), [ReceiveBufferSize](#cycloneddsdomainsizingreceivebuffersize)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The Sizing element specifies a variety of configuration settings dealing
|
|
|
|
|
with expected system sizes, buffer sizes, &c.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Sizing/ReceiveBufferChunkSize
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This element specifies the size of one allocation unit in the receive
|
|
|
|
|
buffer. Must be greater than the maximum packet size by a modest amount
|
|
|
|
|
(too large packets are dropped). Each allocation is shrunk immediately
|
|
|
|
|
after processing a message, or freed straightaway.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: B (bytes), kB &
|
|
|
|
|
KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
|
|
|
|
|
(2<sup>30</sup> bytes).
|
|
|
|
|
|
|
|
|
|
The default value is: "128 KiB".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Sizing/ReceiveBufferSize
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This element sets the size of a single receive buffer. Many receive
|
|
|
|
|
buffers may be needed. The minimum workable size a little bit larger than
|
|
|
|
|
Sizing/ReceiveBufferChunkSize, and the value used is taken as the
|
|
|
|
|
configured value and the actual minimum workable size.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: B (bytes), kB &
|
|
|
|
|
KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
|
|
|
|
|
(2<sup>30</sup> bytes).
|
|
|
|
|
|
|
|
|
|
The default value is: "1 MiB".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### //CycloneDDS/Domain/TCP
|
|
|
|
|
Children: [AlwaysUsePeeraddrForUnicast](#cycloneddsdomaintcpalwaysusepeeraddrforunicast), [Enable](#cycloneddsdomaintcpenable), [NoDelay](#cycloneddsdomaintcpnodelay), [Port](#cycloneddsdomaintcpport), [ReadTimeout](#cycloneddsdomaintcpreadtimeout), [WriteTimeout](#cycloneddsdomaintcpwritetimeout)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The TCP element allows specifying various parameters related to running
|
|
|
|
|
DDSI over TCP.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/TCP/AlwaysUsePeeraddrForUnicast
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
Setting this to true means the unicast addresses in SPDP packets will be
|
|
|
|
|
ignored and the peer address from the TCP connection will be used
|
|
|
|
|
instead. This may help work around incorrectly advertised addresses when
|
|
|
|
|
using TCP.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/TCP/Enable
|
|
|
|
|
One of: false, true, default
|
|
|
|
|
|
|
|
|
|
This element enables the optional TCP transport - deprecated, use
|
|
|
|
|
General/Transport instead.
|
|
|
|
|
|
|
|
|
|
The default value is: "default".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/TCP/NoDelay
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element enables the TCP_NODELAY socket option, preventing multiple
|
|
|
|
|
DDSI messages being sent in the same TCP request. Setting this option
|
|
|
|
|
typically optimises latency over throughput.
|
|
|
|
|
|
|
|
|
|
The default value is: "true".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/TCP/Port
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This element specifies the TCP port number on which Cyclone DDS accepts
|
|
|
|
|
connections. If the port is set it is used in entity locators, published
|
|
|
|
|
with DDSI discovery. Dynamically allocated if zero. Disabled if -1 or not
|
|
|
|
|
configured. If disabled other DDSI services will not be able to establish
|
|
|
|
|
connections with the service, the service can only communicate by
|
|
|
|
|
establishing connections to other services.
|
|
|
|
|
|
|
|
|
|
The default value is: "-1".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/TCP/ReadTimeout
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This element specifies the timeout for blocking TCP read operations. If
|
|
|
|
|
this timeout expires then the connection is closed.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: ns, us, ms, s,
|
|
|
|
|
min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "2 s".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/TCP/WriteTimeout
|
|
|
|
|
Number-with-unit
|
|
|
|
|
|
|
|
|
|
This element specifies the timeout for blocking TCP write operations. If
|
|
|
|
|
this timeout expires then the connection is closed.
|
|
|
|
|
|
|
|
|
|
The unit must be specified explicitly. Recognised units: ns, us, ms, s,
|
|
|
|
|
min, hr, day.
|
|
|
|
|
|
|
|
|
|
The default value is: "2 s".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### //CycloneDDS/Domain/ThreadPool
|
|
|
|
|
Children: [Enable](#cycloneddsdomainthreadpoolenable), [ThreadMax](#cycloneddsdomainthreadpoolthreadmax), [Threads](#cycloneddsdomainthreadpoolthreads)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The ThreadPool element allows specifying various parameters related to
|
|
|
|
|
using a thread pool to send DDSI messages to multiple unicast addresses
|
|
|
|
|
(TCP or UDP).
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/ThreadPool/Enable
|
|
|
|
|
Boolean
|
|
|
|
|
|
|
|
|
|
This element enables the optional thread pool.
|
|
|
|
|
|
|
|
|
|
The default value is: "false".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/ThreadPool/ThreadMax
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This elements configures the maximum number of threads in the thread
|
|
|
|
|
pool.
|
|
|
|
|
|
|
|
|
|
The default value is: "8".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/ThreadPool/Threads
|
|
|
|
|
Integer
|
|
|
|
|
|
|
|
|
|
This elements configures the initial number of threads in the thread
|
|
|
|
|
pool.
|
|
|
|
|
|
|
|
|
|
The default value is: "4".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### //CycloneDDS/Domain/Threads
|
|
|
|
|
Children: [Thread](#cycloneddsdomainthreadsthread)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
This element is used to set thread properties.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Threads/Thread
|
|
|
|
|
Attributes: [Name](#cycloneddsdomainthreadsthreadname)
|
|
|
|
|
|
|
|
|
|
Children: [Scheduling](#cycloneddsdomainthreadsthreadscheduling), [StackSize](#cycloneddsdomainthreadsthreadstacksize)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
This element is used to set thread properties.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### //CycloneDDS/Domain/Threads/Thread[@Name]
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
The Name of the thread for which properties are being set. The following
|
|
|
|
|
threads exist:
|
|
|
|
|
|
|
|
|
|
* gc: garbage collector thread involved in deleting entities;
|
|
|
|
|
|
|
|
|
|
* recv: receive thread, taking data from the network and running the protocol
|
|
|
|
|
state machine;
|
|
|
|
|
|
|
|
|
|
* dq.builtins: delivery thread for DDSI-builtin data, primarily for discovery;
|
|
|
|
|
|
|
|
|
|
* lease: DDSI liveliness monitoring;
|
|
|
|
|
|
|
|
|
|
* tev: general timed-event handling, retransmits and discovery;
|
|
|
|
|
|
|
|
|
|
* xmit.CHAN: transmit thread for channel CHAN;
|
|
|
|
|
|
|
|
|
|
* dq.CHAN: delivery thread for channel CHAN;
|
|
|
|
|
|
|
|
|
|
* tev.CHAN: timed-even thread for channel CHAN.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##### //CycloneDDS/Domain/Threads/Thread/Scheduling
|
|
|
|
|
Children: [Class](#cycloneddsdomainthreadsthreadschedulingclass), [Priority](#cycloneddsdomainthreadsthreadschedulingpriority)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
This element configures the scheduling properties of the thread.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
###### //CycloneDDS/Domain/Threads/Thread/Scheduling/Class
|
|
|
|
|
One of: realtime, timeshare, default
|
|
|
|
|
|
|
|
|
|
This element specifies the thread scheduling class (realtime, timeshare
|
|
|
|
|
or default). The user may need special privileges from the underlying
|
|
|
|
|
operating system to be able to assign some of the privileged scheduling
|
|
|
|
|
classes.
|
|
|
|
|
|
|
|
|
|
The default value is: "default".
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
###### //CycloneDDS/Domain/Threads/Thread/Scheduling/Priority
|
|
|
|
|
Text
|
|
|
|
|
|
|
|
|
|
This element specifies the thread priority (decimal integer or default).
|
|
|
|
|
Only priorities that are supported by the underlying operating system can
|
|
|
|
|
be assigned to this element. The user may need special privileges from
|
|
|
|
|
the underlying operating system to be able to assign some of the
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privileged priorities.
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The default value is: "default".
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##### //CycloneDDS/Domain/Threads/Thread/StackSize
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Number-with-unit
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This element configures the stack size for this thread. The default value
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default leaves the stack size at the operating system default.
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The unit must be specified explicitly. Recognised units: B (bytes), kB &
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KiB (2^10 bytes), MB & MiB (2<sup>20</sup> bytes), GB & GiB
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(2<sup>30</sup> bytes).
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The default value is: "default".
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### //CycloneDDS/Domain/Tracing
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Children: [AppendToFile](#cycloneddsdomaintracingappendtofile), [Category](#cycloneddsdomaintracingcategory), [OutputFile](#cycloneddsdomaintracingoutputfile), [PacketCaptureFile](#cycloneddsdomaintracingpacketcapturefile), [Verbosity](#cycloneddsdomaintracingverbosity)
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The Tracing element controls the amount and type of information that is
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written into the tracing log by the DDSI service. This is useful to track
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the DDSI service during application development.
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#### //CycloneDDS/Domain/Tracing/AppendToFile
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Boolean
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This option specifies whether the output is to be appended to an existing
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log file. The default is to create a new log file each time, which is
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generally the best option if a detailed log is generated.
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The default value is: "false".
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#### //CycloneDDS/Domain/Tracing/Category
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One of:
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* Comma-separated list of: fatal, error, warning, info, config, discovery, data, radmin, timing, traffic, topic, tcp, plist, whc, throttle, rhc, content, trace
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* Or empty
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This element enables individual logging categories. These are enabled in
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addition to those enabled by Tracing/Verbosity. Recognised categories
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are:
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* fatal: all fatal errors, errors causing immediate termination
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* error: failures probably impacting correctness but not necessarily causing
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immediate termination
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* warning: abnormal situations that will likely not impact correctness
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* config: full dump of the configuration
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* info: general informational notices
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* discovery: all discovery activity
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* data: include data content of samples in traces
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* radmin: receive buffer administration
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* timing: periodic reporting of CPU loads per thread
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* traffic: periodic reporting of total outgoing data
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* whc: tracing of writer history cache changes
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* tcp: tracing of TCP-specific activity
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* topic: tracing of topic definitions
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* >i>plist: tracing of discovery parameter list interpretation
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In addition, there is the keyword trace that enables all but radmin,
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topic, plist and whc.
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The categorisation of tracing output is incomplete and hence most of the
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verbosity levels and categories are not of much use in the current
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release. This is an ongoing process and here we describe the target
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situation rather than the current situation. Currently, the most useful
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is trace.
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The default value is: "".
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#### //CycloneDDS/Domain/Tracing/OutputFile
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Text
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This option specifies where the logging is printed to. Note that stdout
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and stderr are treated as special values, representing "standard out" and
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"standard error" respectively. No file is created unless logging
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categories are enabled using the Tracing/Verbosity or
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Tracing/EnabledCategory settings.
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The default value is: "cyclonedds.log".
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#### //CycloneDDS/Domain/Tracing/PacketCaptureFile
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Text
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This option specifies the file to which received and sent packets will be
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logged in the "pcap" format suitable for analysis using common networking
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tools, such as WireShark. IP and UDP headers are ficitious, in particular
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the destination address of received packets. The TTL may be used to
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distinguish between sent and received packets: it is 255 for sent packets
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and 128 for received ones. Currently IPv4 only.
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The default value is: "".
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#### //CycloneDDS/Domain/Tracing/Verbosity
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One of: finest, finer, fine, config, info, warning, severe, none
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This element enables standard groups of categories, based on a desired
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verbosity level. This is in addition to the categories enabled by the
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Tracing/Category setting. Recognised verbosity levels and the categories
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they map to are:
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* none: no Cyclone DDS log
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* severe: error and fatal
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* warning: severe + warning
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* info: warning + info
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* config: info + config
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* fine: config + discovery
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* finer: fine + traffic and timing
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* finest: finer + trace
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While none prevents any message from being written to a Cyclone DDS log
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file.
|
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The categorisation of tracing output is incomplete and hence most of the
|
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|
|
|
verbosity levels and categories are not of much use in the current
|
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|
|
release. This is an ongoing process and here we describe the target
|
|
|
|
|
situation rather than the current situation. Currently, the most useful
|
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verbosity levels are config, fine and finest.
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The default value is: "none".
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