Merge branch 'master' into merge6

Signed-off-by: Martin Bremmer <martin.bremmer@adlinktech.com>
2019-12-13 12:59:37 +01:00 · 2019-12-13 12:59:37 +01:00 · 660d495746
commit 660d495746
parent f2f0205f25 fc8d844519
124 changed files with 5049 additions and 1672 deletions
--- a/etc/cyclonedds.rnc
+++ b/etc/cyclonedds.rnc
@ -1,3 +1,4 @@
+default namespace = "https://cdds.io/config"
 namespace a = "http://relaxng.org/ns/compatibility/annotations/1.0"
 grammar {
  start =
@ -79,7 +80,319 @@ though there is no good reason not to.</li></ul>
        element StandardsConformance {
          "lax"|"strict"|"pedantic"
        }?
-      }?
+      }*
+      & [ a:documentation [ xml:lang="en" """
+<p>This element is used to configure Cyclone DDS with the DDS Security
+specification plugins and settings.</p>""" ] ]
+      element DDSSecurity {
+        [ a:documentation [ xml:lang="en" """
+<p>This element configures the Access Control plugin of the DDS Security
+specification.</p>""" ] ]
+        element AccessControl {
+          [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.access_control_properties.governance), pf_string,
+BLURB("<p>URI to the shared Governance Document signed by the Permissions
+CA in S/MIME format</p>
+
+<p>URI schemes: file, data</p><br>
+
+<p>Examples file URIs:</p>
+
+<p><Governance>file:governance.smime</Governance></p>
+
+<p><Governance>file:/home/myuser/governance.smime</Governance></p><br>
+
+<p><Governance><![CDATA[data:,MIME-Version: 1.0</p>
+
+<p>Content-Type: multipart/signed;
+protocol="application/x-pkcs7-signature"; micalg="sha-256";
+boundary="----F9A8A198D6F08E1285A292ADF14DD04F"</p>
+
+<p>This is an S/MIME signed message </p>
+
+<p>------F9A8A198D6F08E1285A292ADF14DD04F</p>
+
+<p><?xml version="1.0" encoding="UTF-8"?></p>
+
+<p><dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"</p>
+
+<p>xsi:noNamespaceSchemaLocation="omg_shared_ca_governance.xsd"></p>
+
+<p><domain_access_rules></p>
+
+<p> . . . </p>
+
+<p></domain_access_rules></p>
+
+<p></dds></p>
+
+<p>...</p>
+
+<p>------F9A8A198D6F08E1285A292ADF14DD04F</p>
+
+<p>Content-Type: application/x-pkcs7-signature; name="smime.p7s"</p>
+
+<p>Content-Transfer-Encoding: base64</p>
+
+<p>Content-Disposition: attachment; filename="smime.p7s"</p>
+
+<p>MIIDuAYJKoZIhv ...al5s=</p>
+
+<p>------F9A8A198D6F08E1285A292ADF14DD04F-]]</Governance></p>""" ] ]
+          element Governance {
+            empty
+          }?
+          & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.access_control_plugin), pf_string, BLURB("<p>This element
+specifies the library to be loaded as the DDS Security Access Control
+plugin.</p>""" ] ]
+          element Library {
+            [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.access_control_plugin.library_finalize), pf_string,
+BLURB("<p>This element names the finalization function of Access Control
+plugin. This function is called to let the plugin release its
+resources.</p>""" ] ]
+            element finalizeFunction {
+              empty
+            }?
+            & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.access_control_plugin.library_init), pf_string,
+BLURB("<p>This element names the initialization function of Access
+Control plugin. This function is called after loading the plugin library
+for instantiation purposes. Init function must return an object that
+implements DDS Security Access Control interface.</p>""" ] ]
+            element initFunction {
+              empty
+            }?
+            & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.access_control_plugin.library_path), pf_string,
+BLURB("<p>This element points to the path of Access Control plugin
+library.</p>
+
+<p>It can be either absolute path excluding file extension (
+/usr/lib/dds_security_ac ) or single file without extension (
+dds_security_ac ).</p>
+
+<p>If single file is supplied, the library located by way of the current
+working directory, or LD_LIBRARY_PATH for Unix systems, and PATH for
+Windows systems.</p>""" ] ]
+            element path {
+              empty
+            }?
+          }?
+          & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.access_control_properties.permissions), pf_string,
+BLURB("<p>URI to the DomainParticipant permissions document signed by the
+Permissions CA in S/MIME format</p>
+
+<p>The permissions document specifies the permissions to be applied to a
+domain.</p><br>
+
+<p>Example file URIs:</p>
+
+<p><Permissions>file:permissions_document.p7s</Permissions></p>
+
+<p><Permissions>file:/path_to/permissions_document.p7s</Permissions></p>
+
+<p>Example data URI:</p>
+
+<p><Permissions><![CDATA[data:,.........]]</Permissions></p>""" ] ]
+          element Permissions {
+            empty
+          }?
+          & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.access_control_properties.permissions_ca), pf_string,
+BLURB("<p>URI to a X509 certificate for the PermissionsCA in PEM
+format.</p>
+
+<p>Supported URI schemes: file, data</p>
+
+<p>The file and data schemas shall refer to a X.509 v3 certificate (see
+X.509 v3 ITU-T Recommendation X.509 (2005) [39]) in PEM format.</p><br>
+
+<p>Examples:</p><br>
+
+<p><PermissionsCA>file:permissions_ca.pem</PermissionsCA></p>
+
+<p><PermissionsCA>file:/home/myuser/permissions_ca.pem</PermissionsCA></p><br>
+
+<p><PermissionsCA>data:<strong>,</strong>-----BEGIN CERTIFICATE-----</p>
+
+<p>MIIC3DCCAcQCCQCWE5x+Z ... PhovK0mp2ohhRLYI0ZiyYQ==</p>
+
+<p>-----END CERTIFICATE-----</PermissionsCA></p>""" ] ]
+          element PermissionsCA {
+            empty
+          }?
+        }?
+        & [ a:documentation [ xml:lang="en" """
+<p>This element configures the Authentication plugin of the DDS Security
+specification.</p>""" ] ]
+        element Authentication {
+          [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.authentication_properties.identity_ca), pf_string,
+BLURB("<p>URI to the X509 certificate [39] of the Identity CA that is the
+signer of Identity Certificate.</p>
+
+<p>Supported URI schemes: file, data</p>
+
+<p>The file and data schemas shall refer to a X.509 v3 certificate (see
+X.509 v3 ITU-T Recommendation X.509 (2005) [39]) in PEM format.</p>
+
+<p>Examples:</p>
+
+<p><IdentityCA>file:identity_ca.pem</IdentityCA></p>
+
+<p><IdentityCA>data:,-----BEGIN CERTIFICATE-----<br>
+
+MIIC3DCCAcQCCQCWE5x+Z...PhovK0mp2ohhRLYI0ZiyYQ==<br>
+
+-----END CERTIFICATE-----</IdentityCA></p>""" ] ]
+          element IdentityCA {
+            empty
+          }?
+          & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.authentication_properties.identity_certificate), pf_string,
+BLURB("<p>Identity certificate that will be used for identifying all
+participants in the OSPL instance.<br>The content is URI to a X509
+certificate signed by the IdentityCA in PEM format containing the signed
+public key.</p>
+
+<p>Supported URI schemes: file, data</p>
+
+<p>Examples:</p>
+
+<p><IdentityCertificate>file:participant1_identity_cert.pem</IdentityCertificate></p>
+
+<p><IdentityCertificate>data:,-----BEGIN CERTIFICATE-----<br>
+
+MIIDjjCCAnYCCQDCEu9...6rmT87dhTo=<br>
+
+-----END CERTIFICATE-----</IdentityCertificate></p>""" ] ]
+          element IdentityCertificate {
+            empty
+          }?
+          & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.authentication_plugin), pf_string, BLURB("<p>This element
+specifies the library to be loaded as the DDS Security Access Control
+plugin.</p>""" ] ]
+          element Library {
+            [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.authentication_plugin.library_finalize), pf_string,
+BLURB("<p>This element names the finalization function of Authentication
+plugin. This function is called to let the plugin release its
+resources.</p>""" ] ]
+            element finalizeFunction {
+              empty
+            }?
+            & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.authentication_plugin.library_init), pf_string,
+BLURB("<p>This element names the initialization function of
+Authentication plugin. This function is called after loading the plugin
+library for instantiation purposes. Init function must return an object
+that implements DDS Security Authentication interface.</p>""" ] ]
+            element initFunction {
+              empty
+            }?
+            & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.authentication_plugin.library_path), pf_string,
+BLURB("<p>This element points to the path of Authentication plugin
+library.</p>
+
+<p>It can be either absolute path excluding file extension (
+/usr/lib/dds_security_auth ) or single file without extension (
+dds_security_auth ).</p>
+
+<p>If single file is supplied, the library located by way of the current
+working directory, or LD_LIBRARY_PATH for Unix systems, and PATH for
+Windows systems.</p>""" ] ]
+            element path {
+              empty
+            }?
+          }?
+          & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.authentication_properties.password), pf_string, BLURB("<p>A
+password used to decrypt the private_key.</p>
+
+The value of the password property shall be interpreted as the Base64
+encoding of the AES-128 key that shall be used to decrypt the private_key
+using AES128-CBC.</p>
+
+If the password property is not present, then the value supplied in the
+private_key property must contain the unencrypted private key. </p>""" ] ]
+          element Password {
+            empty
+          }?
+          & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.authentication_properties.private_key), pf_string,
+BLURB("<p>URI to access the private Private Key for all of the
+participants in the OSPL federation.</p>
+
+<p>Supported URI schemes: file, data</p>
+
+<p>Examples:</p>
+
+<p><PrivateKey>file:identity_ca_private_key.pem</PrivateKey></p>
+
+<p><PrivateKey>data:,-----BEGIN RSA PRIVATE KEY-----<br>
+
+MIIEpAIBAAKCAQEA3HIh...AOBaaqSV37XBUJg==<br>
+
+-----END RSA PRIVATE KEY-----</PrivateKey></p>""" ] ]
+          element PrivateKey {
+            empty
+          }?
+          & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.authentication_properties.trusted_ca_dir), pf_string,
+BLURB("<p>Trusted CA Directory which contains trusted CA certificates as
+separated files.</p>""" ] ]
+          element TrustedCADirectory {
+            empty
+          }?
+        }?
+        & [ a:documentation [ xml:lang="en" """
+<p>This element configures the Cryptographic plugin of the DDS Security
+specification.</p>""" ] ]
+        element Cryptographic {
+          [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.cryptography_plugin), pf_string, BLURB("<p>This element
+specifies the library to be loaded as the DDS Security Cryptographic
+plugin.</p>""" ] ]
+          element Library {
+            [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.cryptography_plugin.library_finalize), pf_string,
+BLURB("<p>This element names the finalization function of Cryptographic
+plugin. This function is called to let the plugin release its
+resources.</p>""" ] ]
+            element finalizeFunction {
+              empty
+            }?
+            & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.cryptography_plugin.library_init), pf_string, BLURB("<p>This
+element names the initialization function of Cryptographic plugin. This
+function is called after loading the plugin library for instantiation
+purposes. Init function must return an object that implements DDS
+Security Cryptographic interface.</p>""" ] ]
+            element initFunction {
+              empty
+            }?
+            & [ a:documentation [ xml:lang="en" """
+RELOFF (cfg.cryptography_plugin.library_path), pf_string, BLURB("<p>This
+element points to the path of Cryptographic plugin library.</p>
+
+<p>It can be either absolute path excluding file extension (
+/usr/lib/dds_security_crypto ) or single file without extension (
+dds_security_crypto ).</p>
+
+<p>If single file is supplied, the library located by way of the current
+working directory, or LD_LIBRARY_PATH for Unix systems, and PATH for
+Windows systems.</p>""" ] ]
+            element path {
+              empty
+            }?
+          }?
+        }?
+      }*
      & [ a:documentation [ xml:lang="en" """
 <p>The Discovery element allows specifying various parameters related to
 the discovery of peers.</p>""" ] ]
@ -110,6 +423,15 @@ Discovery/SPDPMulticastAddress.</p><p>The default value is:
          xsd:boolean
        }?
        & [ a:documentation [ xml:lang="en" """
+<p>An override for the domain id, to be used in discovery and for
+determining the port number mapping. This allows creating multiple
+domains in a single process while making them appear as a single domain
+on the network. The value "default" disables the override.</p><p>The
+default value is: &quot;default&quot;.</p>""" ] ]
+        element ExternalDomainId {
+          text
+        }?
+        & [ a:documentation [ xml:lang="en" """
 <p>This element specifies the maximum DDSI participant index selected by
 this instance of the Cyclone DDS service if the
 Discovery/ParticipantIndex is "auto".</p><p>The default value is:
@ -202,7 +524,7 @@ constant DG).</p><p>The default value is: &quot;250&quot;.</p>""" ] ]
            xsd:integer
          }?
          & [ a:documentation [ xml:lang="en" """
-<p>This element specifies the port number for multicast meta traffic
+<p>This element specifies the port number for multicast data traffic
 (refer to the DDSI 2.1 specification, section 9.6.1, constant
 d2).</p><p>The default value is: &quot;1&quot;.</p>""" ] ]
          element MulticastDataOffset {
@ -224,7 +546,7 @@ section 9.6.1, constant PG).</p><p>The default value is:
            xsd:integer
          }?
          & [ a:documentation [ xml:lang="en" """
-<p>This element specifies the port number for unicast meta traffic (refer
+<p>This element specifies the port number for unicast data traffic (refer
 to the DDSI 2.1 specification, section 9.6.1, constant d3).</p><p>The
 default value is: &quot;11&quot;.</p>""" ] ]
          element UnicastDataOffset {
@ -256,7 +578,13 @@ address.</p><p>The default value is: &quot;239.255.0.1&quot;.</p>""" ] ]
        element SPDPMulticastAddress {
          text
        }?
-      }?
+        & [ a:documentation [ xml:lang="en" """
+<p>String extension for domain id that remote participants must match to
+be discovered.</p><p>The default value is: &quot;&quot;.</p>""" ] ]
+        element Tag {
+          text
+        }?
+      }*
      & [ a:documentation [ xml:lang="en" """
 <p>The General element specifies overall Cyclone DDS service
 settings.</p>""" ] ]
@ -558,7 +886,37 @@ heartbeats and the bounds within it can vary.</p>
 'inf' for infinity. Recognised units: ns, us, ms, s, min, hr,
 day.</p><p>The default value is: &quot;100 ms&quot;.</p>""" ] ]
        element HeartbeatInterval {
-          duration_inf
+          [ a:documentation [ xml:lang="en" """
+<p>This attribute sets the maximum interval for periodic heartbeats.</p>
+
+<p>Valid values are finite durations with an explicit unit or the keyword
+'inf' for infinity. Recognised units: ns, us, ms, s, min, hr,
+day.</p><p>The default value is: &quot;8 s&quot;.</p>""" ] ]
+          attribute max {
+            duration_inf
+          }?
+          & [ a:documentation [ xml:lang="en" """
+<p>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.</p>
+
+<p>Valid values are finite durations with an explicit unit or the keyword
+'inf' for infinity. Recognised units: ns, us, ms, s, min, hr,
+day.</p><p>The default value is: &quot;5 ms&quot;.</p>""" ] ]
+          attribute min {
+            duration_inf
+          }?
+          & [ a:documentation [ xml:lang="en" """
+<p>This attribute sets the minimum interval for periodic heartbeats.
+Other events may still cause heartbeats to go out.</p>
+
+<p>Valid values are finite durations with an explicit unit or the keyword
+'inf' for infinity. Recognised units: ns, us, ms, s, min, hr,
+day.</p><p>The default value is: &quot;20 ms&quot;.</p>""" ] ]
+          attribute minsched {
+            duration_inf
+          }?
+          & duration_inf
        }?
        & [ a:documentation [ xml:lang="en" """
 <p>Ack a sample only when it has been delivered, instead of when
@ -582,7 +940,23 @@ traces can be dumped automatically when some thread appears to have
 stopped making progress.</p><p>The default value is:
 &quot;false&quot;.</p>""" ] ]
        element LivelinessMonitoring {
-          xsd:boolean
+          [ a:documentation [ xml:lang="en" """
+<p>This element controls the interval at which to check whether threads
+have been making progress.</p>
+
+<p>The unit must be specified explicitly. Recognised units: ns, us, ms,
+s, min, hr, day.</p><p>The default value is: &quot;1s&quot;.</p>""" ] ]
+          attribute Interval {
+            duration
+          }?
+          & [ a:documentation [ xml:lang="en" """
+<p>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).</p><p>The default value is: &quot;true&quot;.</p>""" ] ]
+          attribute StackTraces {
+            xsd:boolean
+          }?
+          & xsd:boolean
        }?
        & [ a:documentation [ xml:lang="en" """
 <p>This elements configures the maximum number of DCPS domain
@ -678,7 +1052,17 @@ latency. Currently multiple receive threads are only used for
 connectionless transport (e.g., UDP) and ManySocketsMode not set to
 single (the default).</p><p>The default value is: &quot;true&quot;.</p>""" ] ]
        element MultipleReceiveThreads {
-          xsd:boolean
+          [ a:documentation [ xml:lang="en" """
+<p>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.</p><p>The default value is:
+&quot;4294967295&quot;.</p>""" ] ]
+          attribute maxretries {
+            xsd:integer
+          }?
+          & xsd:boolean
        }?
        & [ a:documentation [ xml:lang="en" """
 <p>This setting controls the delay between receipt of a HEARTBEAT
@ -734,7 +1118,17 @@ is therefore recommended to set it to at least several seconds.</p>
 'inf' for infinity. Recognised units: ns, us, ms, s, min, hr,
 day.</p><p>The default value is: &quot;10s&quot;.</p>""" ] ]
        element RediscoveryBlacklistDuration {
-          duration_inf
+          [ a:documentation [ xml:lang="en" """
+<p>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.</p><p>The default
+value is: &quot;false&quot;.</p>""" ] ]
+          attribute enforce {
+            xsd:boolean
+          }?
+          & duration_inf
        }?
        & [ a:documentation [ xml:lang="en" """
 <p>This elements controls the addressing and timing of retransmits.
@ -939,7 +1333,7 @@ s, min, hr, day.</p><p>The default value is: &quot;1 s&quot;.</p>""" ] ]
        element WriterLingerDuration {
          duration
        }?
-      }?
+      }*
      & [ a:documentation [ xml:lang="en" """
 <p>The Partitioning element specifies Cyclone DDS network partitions and
 how DCPS partition/topic combinations are mapped onto the network
@ -1029,7 +1423,7 @@ DCPSPartitionTopic attribute within this PartitionMapping element.</p>""" ] ]
            }
          }*
        }*
-      }?
+      }*
      & [ a:documentation [ xml:lang="en" """
 <p>The SSL element allows specifying various parameters related to using
 SSL/TLS for DDSI over TCP.</p>""" ] ]
@ -1089,7 +1483,7 @@ connecting client.</p><p>The default value is: &quot;true&quot;.</p>""" ] ]
        element VerifyClient {
          xsd:boolean
        }?
-      }?
+      }*
      & [ a:documentation [ xml:lang="en" """
 <p>The Sizing element specifies a variety of configuration settings
 dealing with expected system sizes, buffer sizes, &c.</p>""" ] ]
@ -1120,7 +1514,7 @@ MiB&quot;.</p>""" ] ]
        element ReceiveBufferSize {
          memsize
        }?
-      }?
+      }*
      & [ a:documentation [ xml:lang="en" """
 <p>The TCP element allows specifying various parameters related to
 running DDSI over TCP.</p>""" ] ]
@ -1177,7 +1571,7 @@ s, min, hr, day.</p><p>The default value is: &quot;2 s&quot;.</p>""" ] ]
        element WriteTimeout {
          duration
        }?
-      }?
+      }*
      & [ a:documentation [ xml:lang="en" """
 <p>The ThreadPool element allows specifying various parameters related to
 using a thread pool to send DDSI messages to multiple unicast addresses
@ -1201,7 +1595,7 @@ pool.</p><p>The default value is: &quot;4&quot;.</p>""" ] ]
        element Threads {
          xsd:integer
        }?
-      }?
+      }*
      & [ a:documentation [ xml:lang="en" """
 <p>This element is used to set thread properties.</p>""" ] ]
      element Threads {
@ -1270,7 +1664,7 @@ default.</p>
            memsize
          }?
        }*
-      }?
+      }*
      & [ a:documentation [ xml:lang="en" """
 <p>The Tracing element controls the amount and type of information that
 is written into the tracing log by the DDSI service. This is useful to
@ -1387,8 +1781,8 @@ verbosity levels are <i>config</i>, <i>fine</i> and
        element Verbosity {
          "finest"|"finer"|"fine"|"config"|"info"|"warning"|"severe"|"none"
        }?
-      }?
-    }?
+      }*
+    }*
  }
  bandwidth = xsd:token { pattern = "0|(\d+(\.\d*)?([Ee][\-+]?\d+)?|\.\d+([Ee][\-+]?\d+)?) *([kMG]i?)?[Bb][p/]s" }
  duration = xsd:token { pattern = "0|(\d+(\.\d*)?([Ee][\-+]?\d+)?|\.\d+([Ee][\-+]?\d+)?) *([num]?s|min|hr|day)" }
--- a/etc/cyclonedds.xsd
+++ b/etc/cyclonedds.xsd
@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" elementFormDefault="qualified">
+<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" elementFormDefault="qualified" targetNamespace="https://cdds.io/config" xmlns:config="https://cdds.io/config">
  <xs:element name="CycloneDDS">
    <xs:annotation>
      <xs:documentation>
@ -7,7 +7,7 @@ CycloneDDS configuration</xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:sequence>
-        <xs:element minOccurs="0" ref="Domain"/>
+        <xs:element minOccurs="0" ref="config:Domain"/>
      </xs:sequence>
    </xs:complexType>
  </xs:element>
@ -18,15 +18,15 @@ CycloneDDS configuration</xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="Compatibility"/>
-        <xs:element minOccurs="0" ref="Discovery"/>
-        <xs:element minOccurs="0" ref="General"/>
-        <xs:element minOccurs="0" ref="Internal"/>
-        <xs:element minOccurs="0" ref="Partitioning"/>
-        <xs:element minOccurs="0" ref="SSL"/>
-        <xs:element minOccurs="0" ref="Sizing"/>
-        <xs:element minOccurs="0" ref="TCP"/>
-        <xs:element minOccurs="0" ref="ThreadPool"/>
+        <xs:element minOccurs="0" ref="config:Compatibility"/>
+        <xs:element minOccurs="0" ref="config:Discovery"/>
+        <xs:element minOccurs="0" ref="config:General"/>
+        <xs:element minOccurs="0" ref="config:Internal"/>
+        <xs:element minOccurs="0" ref="config:Partitioning"/>
+        <xs:element minOccurs="0" ref="config:SSL"/>
+        <xs:element minOccurs="0" ref="config:Sizing"/>
+        <xs:element minOccurs="0" ref="config:TCP"/>
+        <xs:element minOccurs="0" ref="config:ThreadPool"/>
        <xs:element minOccurs="0" name="Threads">
          <xs:annotation>
            <xs:documentation>
@ -34,11 +34,11 @@ CycloneDDS configuration</xs:documentation>
          </xs:annotation>
          <xs:complexType>
            <xs:sequence>
-              <xs:element minOccurs="0" maxOccurs="unbounded" ref="Thread"/>
+              <xs:element minOccurs="0" maxOccurs="unbounded" ref="config:Thread"/>
            </xs:sequence>
          </xs:complexType>
        </xs:element>
-        <xs:element minOccurs="0" ref="Tracing"/>
+        <xs:element minOccurs="0" ref="config:Tracing"/>
      </xs:all>
      <xs:attribute name="Id">
        <xs:annotation>
@ -57,10 +57,10 @@ to compatability with standards and with other DDSI implementations.&lt;/p&gt;</
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="AssumeRtiHasPmdEndpoints"/>
-        <xs:element minOccurs="0" ref="ExplicitlyPublishQosSetToDefault"/>
-        <xs:element minOccurs="0" ref="ManySocketsMode"/>
-        <xs:element minOccurs="0" ref="StandardsConformance"/>
+        <xs:element minOccurs="0" ref="config:AssumeRtiHasPmdEndpoints"/>
+        <xs:element minOccurs="0" ref="config:ExplicitlyPublishQosSetToDefault"/>
+        <xs:element minOccurs="0" ref="config:ManySocketsMode"/>
+        <xs:element minOccurs="0" ref="config:StandardsConformance"/>
      </xs:all>
    </xs:complexType>
  </xs:element>
@ -154,19 +154,21 @@ the discovery of peers.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="DSGracePeriod"/>
-        <xs:element minOccurs="0" ref="DefaultMulticastAddress"/>
-        <xs:element minOccurs="0" ref="EnableTopicDiscovery"/>
-        <xs:element minOccurs="0" ref="MaxAutoParticipantIndex"/>
-        <xs:element minOccurs="0" ref="ParticipantIndex"/>
-        <xs:element minOccurs="0" ref="Peers"/>
-        <xs:element minOccurs="0" ref="Ports"/>
-        <xs:element minOccurs="0" ref="SPDPInterval"/>
-        <xs:element minOccurs="0" ref="SPDPMulticastAddress"/>
+        <xs:element minOccurs="0" ref="config:DSGracePeriod"/>
+        <xs:element minOccurs="0" ref="config:DefaultMulticastAddress"/>
+        <xs:element minOccurs="0" ref="config:EnableTopicDiscovery"/>
+        <xs:element minOccurs="0" ref="config:ExternalDomainId"/>
+        <xs:element minOccurs="0" ref="config:MaxAutoParticipantIndex"/>
+        <xs:element minOccurs="0" ref="config:ParticipantIndex"/>
+        <xs:element minOccurs="0" ref="config:Peers"/>
+        <xs:element minOccurs="0" ref="config:Ports"/>
+        <xs:element minOccurs="0" ref="config:SPDPInterval"/>
+        <xs:element minOccurs="0" ref="config:SPDPMulticastAddress"/>
+        <xs:element minOccurs="0" ref="config:Tag"/>
      </xs:all>
    </xs:complexType>
  </xs:element>
-  <xs:element name="DSGracePeriod" type="duration_inf">
+  <xs:element name="DSGracePeriod" type="config:duration_inf">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting controls for how long endpoints discovered via a Cloud
@ -194,6 +196,16 @@ Discovery/SPDPMulticastAddress.&lt;/p&gt;&lt;p&gt;The default value is:
 &lt;p&gt;Do not use.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;true&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
+  <xs:element name="ExternalDomainId" type="xs:string">
+    <xs:annotation>
+      <xs:documentation>
+&lt;p&gt;An override for the domain id, to be used in discovery and for
+determining the port number mapping. This allows creating multiple
+domains in a single process while making them appear as a single domain
+on the network. The value "default" disables the override.&lt;/p&gt;&lt;p&gt;The
+default value is: &amp;quot;default&amp;quot;.&lt;/p&gt;</xs:documentation>
+    </xs:annotation>
+  </xs:element>
  <xs:element name="MaxAutoParticipantIndex" type="xs:integer">
    <xs:annotation>
      <xs:documentation>
@ -238,8 +250,8 @@ second be option be used.&lt;/p&gt;&lt;p&gt;The default value is:
    </xs:annotation>
    <xs:complexType>
      <xs:choice minOccurs="0" maxOccurs="unbounded">
-        <xs:element ref="Group"/>
-        <xs:element ref="Peer"/>
+        <xs:element ref="config:Group"/>
+        <xs:element ref="config:Peer"/>
      </xs:choice>
    </xs:complexType>
  </xs:element>
@ -252,7 +264,7 @@ succeeds.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:sequence>
-        <xs:element minOccurs="0" maxOccurs="unbounded" ref="Peer"/>
+        <xs:element minOccurs="0" maxOccurs="unbounded" ref="config:Peer"/>
      </xs:sequence>
    </xs:complexType>
  </xs:element>
@ -284,13 +296,13 @@ by the DDSI 2.1 specification and rarely need to be changed.&lt;/p&gt;</xs:docum
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="Base"/>
-        <xs:element minOccurs="0" ref="DomainGain"/>
-        <xs:element minOccurs="0" ref="MulticastDataOffset"/>
-        <xs:element minOccurs="0" ref="MulticastMetaOffset"/>
-        <xs:element minOccurs="0" ref="ParticipantGain"/>
-        <xs:element minOccurs="0" ref="UnicastDataOffset"/>
-        <xs:element minOccurs="0" ref="UnicastMetaOffset"/>
+        <xs:element minOccurs="0" ref="config:Base"/>
+        <xs:element minOccurs="0" ref="config:DomainGain"/>
+        <xs:element minOccurs="0" ref="config:MulticastDataOffset"/>
+        <xs:element minOccurs="0" ref="config:MulticastMetaOffset"/>
+        <xs:element minOccurs="0" ref="config:ParticipantGain"/>
+        <xs:element minOccurs="0" ref="config:UnicastDataOffset"/>
+        <xs:element minOccurs="0" ref="config:UnicastMetaOffset"/>
      </xs:all>
    </xs:complexType>
  </xs:element>
@ -313,7 +325,7 @@ constant DG).&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;250&amp;quot;.&l
  <xs:element name="MulticastDataOffset" type="xs:integer">
    <xs:annotation>
      <xs:documentation>
-&lt;p&gt;This element specifies the port number for multicast meta traffic
+&lt;p&gt;This element specifies the port number for multicast data traffic
 (refer to the DDSI 2.1 specification, section 9.6.1, constant
 d2).&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;1&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
@ -338,7 +350,7 @@ section 9.6.1, constant PG).&lt;/p&gt;&lt;p&gt;The default value is:
  <xs:element name="UnicastDataOffset" type="xs:integer">
    <xs:annotation>
      <xs:documentation>
-&lt;p&gt;This element specifies the port number for unicast meta traffic (refer
+&lt;p&gt;This element specifies the port number for unicast data traffic (refer
 to the DDSI 2.1 specification, section 9.6.1, constant d3).&lt;/p&gt;&lt;p&gt;The
 default value is: &amp;quot;11&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
@ -351,7 +363,7 @@ to the DDSI 2.1 specification, section 9.6.1, constant d1).&lt;/p&gt;&lt;p&gt;Th
 default value is: &amp;quot;10&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="SPDPInterval" type="duration">
+  <xs:element name="SPDPInterval" type="config:duration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element specifies the interval between spontaneous transmissions
@ -371,6 +383,13 @@ ff02::ffff:239.255.0.1, which is a non-standardised link-local multicast
 address.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;239.255.0.1&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
+  <xs:element name="Tag" type="xs:string">
+    <xs:annotation>
+      <xs:documentation>
+&lt;p&gt;String extension for domain id that remote participants must match to
+be discovered.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;&amp;quot;.&lt;/p&gt;</xs:documentation>
+    </xs:annotation>
+  </xs:element>
  <xs:element name="General">
    <xs:annotation>
      <xs:documentation>
@ -379,19 +398,19 @@ settings.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="AllowMulticast"/>
-        <xs:element minOccurs="0" ref="DontRoute"/>
-        <xs:element minOccurs="0" ref="EnableMulticastLoopback"/>
-        <xs:element minOccurs="0" ref="ExternalNetworkAddress"/>
-        <xs:element minOccurs="0" ref="ExternalNetworkMask"/>
-        <xs:element minOccurs="0" ref="FragmentSize"/>
-        <xs:element minOccurs="0" ref="MaxMessageSize"/>
-        <xs:element minOccurs="0" ref="MulticastRecvNetworkInterfaceAddresses"/>
-        <xs:element minOccurs="0" ref="MulticastTimeToLive"/>
-        <xs:element minOccurs="0" ref="NetworkInterfaceAddress"/>
-        <xs:element minOccurs="0" ref="PreferMulticast"/>
-        <xs:element minOccurs="0" ref="Transport"/>
-        <xs:element minOccurs="0" ref="UseIPv6"/>
+        <xs:element minOccurs="0" ref="config:AllowMulticast"/>
+        <xs:element minOccurs="0" ref="config:DontRoute"/>
+        <xs:element minOccurs="0" ref="config:EnableMulticastLoopback"/>
+        <xs:element minOccurs="0" ref="config:ExternalNetworkAddress"/>
+        <xs:element minOccurs="0" ref="config:ExternalNetworkMask"/>
+        <xs:element minOccurs="0" ref="config:FragmentSize"/>
+        <xs:element minOccurs="0" ref="config:MaxMessageSize"/>
+        <xs:element minOccurs="0" ref="config:MulticastRecvNetworkInterfaceAddresses"/>
+        <xs:element minOccurs="0" ref="config:MulticastTimeToLive"/>
+        <xs:element minOccurs="0" ref="config:NetworkInterfaceAddress"/>
+        <xs:element minOccurs="0" ref="config:PreferMulticast"/>
+        <xs:element minOccurs="0" ref="config:Transport"/>
+        <xs:element minOccurs="0" ref="config:UseIPv6"/>
      </xs:all>
    </xs:complexType>
  </xs:element>
@ -477,7 +496,7 @@ address. This option is IPv4-only.&lt;/p&gt;&lt;p&gt;The default value is:
 &amp;quot;0.0.0.0&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="FragmentSize" type="memsize">
+  <xs:element name="FragmentSize" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element specifies the size of DDSI sample fragments generated by
@ -493,7 +512,7 @@ of which the size is at least the minimum of 1025 and FragmentSize.&lt;/p&gt;
 B&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="MaxMessageSize" type="memsize">
+  <xs:element name="MaxMessageSize" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element specifies the maximum size of the UDP payload that
@ -616,51 +635,51 @@ reserved. This includes renaming or moving options.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="AccelerateRexmitBlockSize"/>
-        <xs:element minOccurs="0" ref="AssumeMulticastCapable"/>
-        <xs:element minOccurs="0" ref="AutoReschedNackDelay"/>
-        <xs:element minOccurs="0" ref="BuiltinEndpointSet"/>
-        <xs:element minOccurs="0" ref="ControlTopic"/>
-        <xs:element minOccurs="0" ref="DDSI2DirectMaxThreads"/>
-        <xs:element minOccurs="0" ref="DefragReliableMaxSamples"/>
-        <xs:element minOccurs="0" ref="DefragUnreliableMaxSamples"/>
-        <xs:element minOccurs="0" ref="DeliveryQueueMaxSamples"/>
-        <xs:element minOccurs="0" ref="EnableExpensiveChecks"/>
-        <xs:element minOccurs="0" ref="GenerateKeyhash"/>
-        <xs:element minOccurs="0" ref="HeartbeatInterval"/>
-        <xs:element minOccurs="0" ref="LateAckMode"/>
-        <xs:element minOccurs="0" ref="LeaseDuration"/>
-        <xs:element minOccurs="0" ref="LivelinessMonitoring"/>
-        <xs:element minOccurs="0" ref="MaxParticipants"/>
-        <xs:element minOccurs="0" ref="MaxQueuedRexmitBytes"/>
-        <xs:element minOccurs="0" ref="MaxQueuedRexmitMessages"/>
-        <xs:element minOccurs="0" ref="MaxSampleSize"/>
-        <xs:element minOccurs="0" ref="MeasureHbToAckLatency"/>
-        <xs:element minOccurs="0" ref="MinimumSocketReceiveBufferSize"/>
-        <xs:element minOccurs="0" ref="MinimumSocketSendBufferSize"/>
-        <xs:element minOccurs="0" ref="MonitorPort"/>
-        <xs:element minOccurs="0" ref="MultipleReceiveThreads"/>
-        <xs:element minOccurs="0" ref="NackDelay"/>
-        <xs:element minOccurs="0" ref="PreEmptiveAckDelay"/>
-        <xs:element minOccurs="0" ref="PrimaryReorderMaxSamples"/>
-        <xs:element minOccurs="0" ref="PrioritizeRetransmit"/>
-        <xs:element minOccurs="0" ref="RediscoveryBlacklistDuration"/>
-        <xs:element minOccurs="0" ref="RetransmitMerging"/>
-        <xs:element minOccurs="0" ref="RetransmitMergingPeriod"/>
-        <xs:element minOccurs="0" ref="RetryOnRejectBestEffort"/>
-        <xs:element minOccurs="0" ref="SPDPResponseMaxDelay"/>
-        <xs:element minOccurs="0" ref="ScheduleTimeRounding"/>
-        <xs:element minOccurs="0" ref="SecondaryReorderMaxSamples"/>
-        <xs:element minOccurs="0" ref="SendAsync"/>
-        <xs:element minOccurs="0" ref="SquashParticipants"/>
-        <xs:element minOccurs="0" ref="SynchronousDeliveryLatencyBound"/>
-        <xs:element minOccurs="0" ref="SynchronousDeliveryPriorityThreshold"/>
-        <xs:element minOccurs="0" ref="Test"/>
-        <xs:element minOccurs="0" ref="UnicastResponseToSPDPMessages"/>
-        <xs:element minOccurs="0" ref="UseMulticastIfMreqn"/>
-        <xs:element minOccurs="0" ref="Watermarks"/>
-        <xs:element minOccurs="0" ref="WriteBatch"/>
-        <xs:element minOccurs="0" ref="WriterLingerDuration"/>
+        <xs:element minOccurs="0" ref="config:AccelerateRexmitBlockSize"/>
+        <xs:element minOccurs="0" ref="config:AssumeMulticastCapable"/>
+        <xs:element minOccurs="0" ref="config:AutoReschedNackDelay"/>
+        <xs:element minOccurs="0" ref="config:BuiltinEndpointSet"/>
+        <xs:element minOccurs="0" ref="config:ControlTopic"/>
+        <xs:element minOccurs="0" ref="config:DDSI2DirectMaxThreads"/>
+        <xs:element minOccurs="0" ref="config:DefragReliableMaxSamples"/>
+        <xs:element minOccurs="0" ref="config:DefragUnreliableMaxSamples"/>
+        <xs:element minOccurs="0" ref="config:DeliveryQueueMaxSamples"/>
+        <xs:element minOccurs="0" ref="config:EnableExpensiveChecks"/>
+        <xs:element minOccurs="0" ref="config:GenerateKeyhash"/>
+        <xs:element minOccurs="0" ref="config:HeartbeatInterval"/>
+        <xs:element minOccurs="0" ref="config:LateAckMode"/>
+        <xs:element minOccurs="0" ref="config:LeaseDuration"/>
+        <xs:element minOccurs="0" ref="config:LivelinessMonitoring"/>
+        <xs:element minOccurs="0" ref="config:MaxParticipants"/>
+        <xs:element minOccurs="0" ref="config:MaxQueuedRexmitBytes"/>
+        <xs:element minOccurs="0" ref="config:MaxQueuedRexmitMessages"/>
+        <xs:element minOccurs="0" ref="config:MaxSampleSize"/>
+        <xs:element minOccurs="0" ref="config:MeasureHbToAckLatency"/>
+        <xs:element minOccurs="0" ref="config:MinimumSocketReceiveBufferSize"/>
+        <xs:element minOccurs="0" ref="config:MinimumSocketSendBufferSize"/>
+        <xs:element minOccurs="0" ref="config:MonitorPort"/>
+        <xs:element minOccurs="0" ref="config:MultipleReceiveThreads"/>
+        <xs:element minOccurs="0" ref="config:NackDelay"/>
+        <xs:element minOccurs="0" ref="config:PreEmptiveAckDelay"/>
+        <xs:element minOccurs="0" ref="config:PrimaryReorderMaxSamples"/>
+        <xs:element minOccurs="0" ref="config:PrioritizeRetransmit"/>
+        <xs:element minOccurs="0" ref="config:RediscoveryBlacklistDuration"/>
+        <xs:element minOccurs="0" ref="config:RetransmitMerging"/>
+        <xs:element minOccurs="0" ref="config:RetransmitMergingPeriod"/>
+        <xs:element minOccurs="0" ref="config:RetryOnRejectBestEffort"/>
+        <xs:element minOccurs="0" ref="config:SPDPResponseMaxDelay"/>
+        <xs:element minOccurs="0" ref="config:ScheduleTimeRounding"/>
+        <xs:element minOccurs="0" ref="config:SecondaryReorderMaxSamples"/>
+        <xs:element minOccurs="0" ref="config:SendAsync"/>
+        <xs:element minOccurs="0" ref="config:SquashParticipants"/>
+        <xs:element minOccurs="0" ref="config:SynchronousDeliveryLatencyBound"/>
+        <xs:element minOccurs="0" ref="config:SynchronousDeliveryPriorityThreshold"/>
+        <xs:element minOccurs="0" ref="config:Test"/>
+        <xs:element minOccurs="0" ref="config:UnicastResponseToSPDPMessages"/>
+        <xs:element minOccurs="0" ref="config:UseMulticastIfMreqn"/>
+        <xs:element minOccurs="0" ref="config:Watermarks"/>
+        <xs:element minOccurs="0" ref="config:WriteBatch"/>
+        <xs:element minOccurs="0" ref="config:WriterLingerDuration"/>
      </xs:all>
    </xs:complexType>
  </xs:element>
@ -684,7 +703,7 @@ wildcards) against which the interface names are matched.&lt;/p&gt;&lt;p&gt;The
 default value is: &amp;quot;&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="AutoReschedNackDelay" type="duration_inf">
+  <xs:element name="AutoReschedNackDelay" type="config:duration_inf">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting controls the interval with which a reader will continue
@ -794,7 +813,7 @@ checks.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;&amp;quot;.&lt;/p&gt;<
 keys.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;false&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="HeartbeatInterval" type="duration_inf">
+  <xs:element name="HeartbeatInterval">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This elemnents allows configuring the base interval for sending writer
@ -804,6 +823,45 @@ heartbeats and the bounds within it can vary.&lt;/p&gt;
 'inf' for infinity. Recognised units: ns, us, ms, s, min, hr,
 day.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;100 ms&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
+    <xs:complexType>
+      <xs:simpleContent>
+        <xs:extension base="config:duration_inf">
+          <xs:attribute name="max" type="config:duration_inf">
+            <xs:annotation>
+              <xs:documentation>
+&lt;p&gt;This attribute sets the maximum interval for periodic heartbeats.&lt;/p&gt;
+
+&lt;p&gt;Valid values are finite durations with an explicit unit or the keyword
+'inf' for infinity. Recognised units: ns, us, ms, s, min, hr,
+day.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;8 s&amp;quot;.&lt;/p&gt;</xs:documentation>
+            </xs:annotation>
+          </xs:attribute>
+          <xs:attribute name="min" type="config:duration_inf">
+            <xs:annotation>
+              <xs:documentation>
+&lt;p&gt;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.&lt;/p&gt;
+
+&lt;p&gt;Valid values are finite durations with an explicit unit or the keyword
+'inf' for infinity. Recognised units: ns, us, ms, s, min, hr,
+day.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;5 ms&amp;quot;.&lt;/p&gt;</xs:documentation>
+            </xs:annotation>
+          </xs:attribute>
+          <xs:attribute name="minsched" type="config:duration_inf">
+            <xs:annotation>
+              <xs:documentation>
+&lt;p&gt;This attribute sets the minimum interval for periodic heartbeats.
+Other events may still cause heartbeats to go out.&lt;/p&gt;
+
+&lt;p&gt;Valid values are finite durations with an explicit unit or the keyword
+'inf' for infinity. Recognised units: ns, us, ms, s, min, hr,
+day.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;20 ms&amp;quot;.&lt;/p&gt;</xs:documentation>
+            </xs:annotation>
+          </xs:attribute>
+        </xs:extension>
+      </xs:simpleContent>
+    </xs:complexType>
  </xs:element>
  <xs:element name="LateAckMode" type="xs:boolean">
    <xs:annotation>
@ -813,7 +871,7 @@ committed to delivering it.&lt;/p&gt;&lt;p&gt;The default value is:
 &amp;quot;false&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="LeaseDuration" type="duration">
+  <xs:element name="LeaseDuration" type="config:duration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting controls the default participant lease duration. &lt;p&gt;
@ -822,7 +880,7 @@ committed to delivering it.&lt;/p&gt;&lt;p&gt;The default value is:
 s, min, hr, day.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;10 s&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="LivelinessMonitoring" type="xs:boolean">
+  <xs:element name="LivelinessMonitoring">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element controls whether or not implementation should internally
@ -831,6 +889,30 @@ traces can be dumped automatically when some thread appears to have
 stopped making progress.&lt;/p&gt;&lt;p&gt;The default value is:
 &amp;quot;false&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
+    <xs:complexType>
+      <xs:simpleContent>
+        <xs:extension base="xs:boolean">
+          <xs:attribute name="Interval" type="config:duration">
+            <xs:annotation>
+              <xs:documentation>
+&lt;p&gt;This element controls the interval at which to check whether threads
+have been making progress.&lt;/p&gt;
+
+&lt;p&gt;The unit must be specified explicitly. Recognised units: ns, us, ms,
+s, min, hr, day.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;1s&amp;quot;.&lt;/p&gt;</xs:documentation>
+            </xs:annotation>
+          </xs:attribute>
+          <xs:attribute name="StackTraces" type="xs:boolean">
+            <xs:annotation>
+              <xs:documentation>
+&lt;p&gt;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).&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;true&amp;quot;.&lt;/p&gt;</xs:documentation>
+            </xs:annotation>
+          </xs:attribute>
+        </xs:extension>
+      </xs:simpleContent>
+    </xs:complexType>
  </xs:element>
  <xs:element name="MaxParticipants" type="xs:integer">
    <xs:annotation>
@ -840,7 +922,7 @@ participants this Cyclone DDS instance is willing to service. 0 is
 unlimited.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;0&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="MaxQueuedRexmitBytes" type="memsize">
+  <xs:element name="MaxQueuedRexmitBytes" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting limits the maximum number of bytes queued for
@ -862,7 +944,7 @@ kB&amp;quot;.&lt;/p&gt;</xs:documentation>
 retransmission.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;200&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="MaxSampleSize" type="memsize">
+  <xs:element name="MaxSampleSize" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting controls the maximum (CDR) serialised size of samples
@ -885,7 +967,7 @@ measured latencies are quite noisy and are currently not used
 anywhere.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;false&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="MinimumSocketReceiveBufferSize" type="memsize">
+  <xs:element name="MinimumSocketReceiveBufferSize" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting controls the minimum size of socket receive buffers. The
@ -904,7 +986,7 @@ a smaller buffer should that attempt fail.&lt;/p&gt;
 &amp;quot;default&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="MinimumSocketSendBufferSize" type="memsize">
+  <xs:element name="MinimumSocketSendBufferSize" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting controls the minimum size of socket send buffers. This
@ -927,7 +1009,7 @@ positive number is used as the TCP port number.&lt;/p&gt;&lt;p&gt;The default va
 is: &amp;quot;-1&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="MultipleReceiveThreads" type="xs:boolean">
+  <xs:element name="MultipleReceiveThreads">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element controls whether all traffic is handled by a single
@ -936,8 +1018,25 @@ latency. Currently multiple receive threads are only used for
 connectionless transport (e.g., UDP) and ManySocketsMode not set to
 single (the default).&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;true&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
+    <xs:complexType>
+      <xs:simpleContent>
+        <xs:extension base="xs:boolean">
+          <xs:attribute name="maxretries" type="xs:integer">
+            <xs:annotation>
+              <xs:documentation>
+&lt;p&gt;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.&lt;/p&gt;&lt;p&gt;The default value is:
+&amp;quot;4294967295&amp;quot;.&lt;/p&gt;</xs:documentation>
+            </xs:annotation>
+          </xs:attribute>
+        </xs:extension>
+      </xs:simpleContent>
+    </xs:complexType>
  </xs:element>
-  <xs:element name="NackDelay" type="duration">
+  <xs:element name="NackDelay" type="config:duration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting controls the delay between receipt of a HEARTBEAT
@ -950,7 +1049,7 @@ that NACK will incorporate the latest information.&lt;/p&gt;
 s, min, hr, day.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;10 ms&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="PreEmptiveAckDelay" type="duration">
+  <xs:element name="PreEmptiveAckDelay" type="config:duration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting controls the delay between the discovering a remote
@ -980,7 +1079,7 @@ data, speeding up recovery.&lt;/p&gt;&lt;p&gt;The default value is:
 &amp;quot;true&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="RediscoveryBlacklistDuration" type="duration_inf">
+  <xs:element name="RediscoveryBlacklistDuration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element controls for how long a remote participant that was
@ -997,6 +1096,23 @@ is therefore recommended to set it to at least several seconds.&lt;/p&gt;
 'inf' for infinity. Recognised units: ns, us, ms, s, min, hr,
 day.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;10s&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
+    <xs:complexType>
+      <xs:simpleContent>
+        <xs:extension base="config:duration_inf">
+          <xs:attribute name="enforce" type="xs:boolean">
+            <xs:annotation>
+              <xs:documentation>
+&lt;p&gt;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.&lt;/p&gt;&lt;p&gt;The default
+value is: &amp;quot;false&amp;quot;.&lt;/p&gt;</xs:documentation>
+            </xs:annotation>
+          </xs:attribute>
+        </xs:extension>
+      </xs:simpleContent>
+    </xs:complexType>
  </xs:element>
  <xs:element name="RetransmitMerging">
    <xs:annotation>
@ -1025,7 +1141,7 @@ Internal/RetransmitMergingPeriod.&lt;/p&gt;&lt;p&gt;The default value is:
      </xs:restriction>
    </xs:simpleType>
  </xs:element>
-  <xs:element name="RetransmitMergingPeriod" type="duration">
+  <xs:element name="RetransmitMergingPeriod" type="config:duration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting determines the size of the time window in which a NACK of
@ -1047,7 +1163,7 @@ into the reader caches when resource limits are reached.&lt;/p&gt;&lt;p&gt;The
 default value is: &amp;quot;false&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="SPDPResponseMaxDelay" type="duration">
+  <xs:element name="SPDPResponseMaxDelay" type="config:duration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;Maximum pseudo-random delay in milliseconds between discovering a
@ -1057,7 +1173,7 @@ remote participant and responding to it.&lt;/p&gt;
 s, min, hr, day.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;0 ms&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="ScheduleTimeRounding" type="duration">
+  <xs:element name="ScheduleTimeRounding" type="config:duration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting allows the timing of scheduled events to be rounded up so
@ -1099,7 +1215,7 @@ by setting Internal/BuiltinEndpointSet to "minimal" but with less loss of
 information).&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;false&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="SynchronousDeliveryLatencyBound" type="duration_inf">
+  <xs:element name="SynchronousDeliveryLatencyBound" type="config:duration_inf">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element controls whether samples sent by a writer with QoS
@ -1133,7 +1249,7 @@ the expense of aggregate bandwidth.&lt;/p&gt;&lt;p&gt;The default value is:
    </xs:annotation>
    <xs:complexType>
      <xs:sequence>
-        <xs:element minOccurs="0" ref="XmitLossiness"/>
+        <xs:element minOccurs="0" ref="config:XmitLossiness"/>
      </xs:sequence>
    </xs:complexType>
  </xs:element>
@ -1167,10 +1283,10 @@ to &lt;i&gt;false&lt;/i&gt;.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;t
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="WhcAdaptive"/>
-        <xs:element minOccurs="0" ref="WhcHigh"/>
-        <xs:element minOccurs="0" ref="WhcHighInit"/>
-        <xs:element minOccurs="0" ref="WhcLow"/>
+        <xs:element minOccurs="0" ref="config:WhcAdaptive"/>
+        <xs:element minOccurs="0" ref="config:WhcHigh"/>
+        <xs:element minOccurs="0" ref="config:WhcHighInit"/>
+        <xs:element minOccurs="0" ref="config:WhcLow"/>
      </xs:all>
    </xs:complexType>
  </xs:element>
@ -1182,7 +1298,7 @@ mark to current traffic conditions, based on retransmit requests and
 transmit pressure.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;true&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="WhcHigh" type="memsize">
+  <xs:element name="WhcHigh" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element sets the maximum allowed high-water mark for the Cyclone
@ -1195,7 +1311,7 @@ this size.&lt;/p&gt;
 kB&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="WhcHighInit" type="memsize">
+  <xs:element name="WhcHighInit" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element sets the initial level of the high-water mark for the
@ -1207,7 +1323,7 @@ Cyclone DDS WHCs, expressed in bytes.&lt;/p&gt;
 kB&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="WhcLow" type="memsize">
+  <xs:element name="WhcLow" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element sets the low-water mark for the Cyclone DDS WHCs,
@ -1233,7 +1349,7 @@ dds_write_flush function to ensure thta all samples are
 written.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;false&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="WriterLingerDuration" type="duration">
+  <xs:element name="WriterLingerDuration" type="config:duration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This setting controls the maximum duration for which actual deletion
@ -1253,9 +1369,9 @@ partitions.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:choice minOccurs="0" maxOccurs="unbounded">
-        <xs:element ref="IgnoredPartitions"/>
-        <xs:element ref="NetworkPartitions"/>
-        <xs:element ref="PartitionMappings"/>
+        <xs:element ref="config:IgnoredPartitions"/>
+        <xs:element ref="config:NetworkPartitions"/>
+        <xs:element ref="config:PartitionMappings"/>
      </xs:choice>
    </xs:complexType>
  </xs:element>
@ -1267,7 +1383,7 @@ combinations that are not distributed over the network.&lt;/p&gt;</xs:documentat
    </xs:annotation>
    <xs:complexType>
      <xs:sequence>
-        <xs:element minOccurs="0" maxOccurs="unbounded" ref="IgnoredPartition"/>
+        <xs:element minOccurs="0" maxOccurs="unbounded" ref="config:IgnoredPartition"/>
      </xs:sequence>
    </xs:complexType>
  </xs:element>
@ -1302,7 +1418,7 @@ partitions.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:sequence>
-        <xs:element minOccurs="0" maxOccurs="unbounded" ref="NetworkPartition"/>
+        <xs:element minOccurs="0" maxOccurs="unbounded" ref="config:NetworkPartition"/>
      </xs:sequence>
    </xs:complexType>
  </xs:element>
@ -1347,7 +1463,7 @@ partition/topic combinations to Cyclone DDS network partitions.&lt;/p&gt;</xs:do
    </xs:annotation>
    <xs:complexType>
      <xs:sequence>
-        <xs:element minOccurs="0" maxOccurs="unbounded" ref="PartitionMapping"/>
+        <xs:element minOccurs="0" maxOccurs="unbounded" ref="config:PartitionMapping"/>
      </xs:sequence>
    </xs:complexType>
  </xs:element>
@ -1390,8 +1506,8 @@ SSL/TLS for DDSI over TCP.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="CertificateVerification"/>
-        <xs:element minOccurs="0" ref="Ciphers"/>
+        <xs:element minOccurs="0" ref="config:CertificateVerification"/>
+        <xs:element minOccurs="0" ref="config:Ciphers"/>
        <xs:element minOccurs="0" name="Enable" type="xs:boolean">
          <xs:annotation>
            <xs:documentation>
@ -1399,12 +1515,12 @@ SSL/TLS for DDSI over TCP.&lt;/p&gt;</xs:documentation>
 &amp;quot;false&amp;quot;.&lt;/p&gt;</xs:documentation>
          </xs:annotation>
        </xs:element>
-        <xs:element minOccurs="0" ref="EntropyFile"/>
-        <xs:element minOccurs="0" ref="KeyPassphrase"/>
-        <xs:element minOccurs="0" ref="KeystoreFile"/>
-        <xs:element minOccurs="0" ref="MinimumTLSVersion"/>
-        <xs:element minOccurs="0" ref="SelfSignedCertificates"/>
-        <xs:element minOccurs="0" ref="VerifyClient"/>
+        <xs:element minOccurs="0" ref="config:EntropyFile"/>
+        <xs:element minOccurs="0" ref="config:KeyPassphrase"/>
+        <xs:element minOccurs="0" ref="config:KeystoreFile"/>
+        <xs:element minOccurs="0" ref="config:MinimumTLSVersion"/>
+        <xs:element minOccurs="0" ref="config:SelfSignedCertificates"/>
+        <xs:element minOccurs="0" ref="config:VerifyClient"/>
      </xs:all>
    </xs:complexType>
  </xs:element>
@ -1473,12 +1589,12 @@ dealing with expected system sizes, buffer sizes, &amp;c.&lt;/p&gt;</xs:document
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="ReceiveBufferChunkSize"/>
-        <xs:element minOccurs="0" ref="ReceiveBufferSize"/>
+        <xs:element minOccurs="0" ref="config:ReceiveBufferChunkSize"/>
+        <xs:element minOccurs="0" ref="config:ReceiveBufferSize"/>
      </xs:all>
    </xs:complexType>
  </xs:element>
-  <xs:element name="ReceiveBufferChunkSize" type="memsize">
+  <xs:element name="ReceiveBufferChunkSize" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element specifies the size of one allocation unit in the receive
@ -1492,7 +1608,7 @@ after processing a message, or freed straightaway.&lt;/p&gt;
 KiB&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="ReceiveBufferSize" type="memsize">
+  <xs:element name="ReceiveBufferSize" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element sets the size of a single receive buffer. Many receive
@ -1514,7 +1630,7 @@ running DDSI over TCP.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="AlwaysUsePeeraddrForUnicast"/>
+        <xs:element minOccurs="0" ref="config:AlwaysUsePeeraddrForUnicast"/>
        <xs:element minOccurs="0" name="Enable">
          <xs:annotation>
            <xs:documentation>
@ -1530,10 +1646,10 @@ General/Transport instead.&lt;/p&gt;&lt;p&gt;The default value is:
            </xs:restriction>
          </xs:simpleType>
        </xs:element>
-        <xs:element minOccurs="0" ref="NoDelay"/>
-        <xs:element minOccurs="0" ref="Port"/>
-        <xs:element minOccurs="0" ref="ReadTimeout"/>
-        <xs:element minOccurs="0" ref="WriteTimeout"/>
+        <xs:element minOccurs="0" ref="config:NoDelay"/>
+        <xs:element minOccurs="0" ref="config:Port"/>
+        <xs:element minOccurs="0" ref="config:ReadTimeout"/>
+        <xs:element minOccurs="0" ref="config:WriteTimeout"/>
      </xs:all>
    </xs:complexType>
  </xs:element>
@ -1567,7 +1683,7 @@ by establishing connections to other services.&lt;/p&gt;&lt;p&gt;The default val
 is: &amp;quot;-1&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="ReadTimeout" type="duration">
+  <xs:element name="ReadTimeout" type="config:duration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element specifies the timeout for blocking TCP read operations.
@ -1577,7 +1693,7 @@ If this timeout expires then the connection is closed.&lt;/p&gt;
 s, min, hr, day.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;2 s&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="WriteTimeout" type="duration">
+  <xs:element name="WriteTimeout" type="config:duration">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element specifies the timeout for blocking TCP write operations.
@ -1603,7 +1719,7 @@ using a thread pool to send DDSI messages to multiple unicast addresses
 is: &amp;quot;false&amp;quot;.&lt;/p&gt;</xs:documentation>
          </xs:annotation>
        </xs:element>
-        <xs:element minOccurs="0" ref="ThreadMax"/>
+        <xs:element minOccurs="0" ref="config:ThreadMax"/>
        <xs:element minOccurs="0" name="Threads" type="xs:integer">
          <xs:annotation>
            <xs:documentation>
@ -1628,8 +1744,8 @@ pool.&lt;/p&gt;&lt;p&gt;The default value is: &amp;quot;8&amp;quot;.&lt;/p&gt;</
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="Scheduling"/>
-        <xs:element minOccurs="0" ref="StackSize"/>
+        <xs:element minOccurs="0" ref="config:Scheduling"/>
+        <xs:element minOccurs="0" ref="config:StackSize"/>
      </xs:all>
      <xs:attribute name="Name" use="required">
        <xs:annotation>
@ -1667,8 +1783,8 @@ discovery;&lt;/li&gt;
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="Class"/>
-        <xs:element minOccurs="0" ref="Priority"/>
+        <xs:element minOccurs="0" ref="config:Class"/>
+        <xs:element minOccurs="0" ref="config:Priority"/>
      </xs:all>
    </xs:complexType>
  </xs:element>
@ -1700,7 +1816,7 @@ assign some of the privileged priorities.&lt;/p&gt;&lt;p&gt;The default value is
 &amp;quot;default&amp;quot;.&lt;/p&gt;</xs:documentation>
    </xs:annotation>
  </xs:element>
-  <xs:element name="StackSize" type="memsize">
+  <xs:element name="StackSize" type="config:memsize">
    <xs:annotation>
      <xs:documentation>
 &lt;p&gt;This element configures the stack size for this thread. The default
@ -1722,11 +1838,11 @@ track the DDSI service during application development.&lt;/p&gt;</xs:documentati
    </xs:annotation>
    <xs:complexType>
      <xs:all>
-        <xs:element minOccurs="0" ref="AppendToFile"/>
-        <xs:element minOccurs="0" ref="Category"/>
-        <xs:element minOccurs="0" ref="OutputFile"/>
-        <xs:element minOccurs="0" ref="PacketCaptureFile"/>
-        <xs:element minOccurs="0" ref="Verbosity"/>
+        <xs:element minOccurs="0" ref="config:AppendToFile"/>
+        <xs:element minOccurs="0" ref="config:Category"/>
+        <xs:element minOccurs="0" ref="config:OutputFile"/>
+        <xs:element minOccurs="0" ref="config:PacketCaptureFile"/>
+        <xs:element minOccurs="0" ref="config:Verbosity"/>
      </xs:all>
    </xs:complexType>
  </xs:element>