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Refs #21077: Review 2
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Signed-off-by: cferreiragonz <[email protected]>
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cferreiragonz committed Jun 19, 2024
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Showing 1 changed file with 38 additions and 35 deletions.
73 changes: 38 additions & 35 deletions code/DDSCodeTester.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3970,6 +3970,9 @@ class CustomizedDataReaderListener : public DataReaderListener
void dds_qos_examples()
{
// Taken out of the examples to avoid bloating them
// Note that the following lines are included to make these examples compilable and more readable.
// In a real application, calling creation functions multiple times on the same pointer should
// be avoided, as this can lead to memory leaks. It is more robust to use unique_ptrs if necessary.
DomainParticipantFactory* factory_ = DomainParticipantFactory::get_instance();
DomainParticipant* participant_ = factory_->create_participant(0, PARTICIPANT_QOS_DEFAULT);
Subscriber* subscriber_ =
Expand Down Expand Up @@ -3998,7 +4001,7 @@ void dds_qos_examples()
//DDS_CHANGE_DURABILITY_QOS_POLICY
// This example uses a DataWriter, but it can also be applied to DataReader and Topic entities
DataWriterQos writer_qos;
// The DurabilityQosPolicy is default constructed with kind = VOLATILE_DURABILITY_QOS
// The DurabilityQosPolicy is constructed with kind = VOLATILE_DURABILITY_QOS by default
// Change the kind to TRANSIENT_LOCAL_DURABILITY_QOS
writer_qos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
// Use modified QoS in the creation of the corresponding entity
Expand All @@ -4011,7 +4014,7 @@ void dds_qos_examples()
// This example uses a Participant, but it can also be applied to
// DomainParticipantFactory, Publisher and Subscriber entities
DomainParticipantQos participant_qos;
// The EntityFactoryQosPolicy is default constructed with autoenable_created_entities = true
// The EntityFactoryQosPolicy is constructed with autoenable_created_entities = true by default
// Change it to false
participant_qos.entity_factory().autoenable_created_entities = false;
// Use modified QoS in the creation of the corresponding entity
Expand All @@ -4023,7 +4026,7 @@ void dds_qos_examples()
//DDS_CHANGE_GROUP_DATA_QOS_POLICY
// This example uses a Publisher, but it can also be applied to Subscriber entities
PublisherQos publisher_qos;
// The GroupDataQosPolicy is default constructed with an empty collection
// The GroupDataQosPolicy is constructed with an empty collection by default
// Collection is a private member so you need to use getters and setters to access

// Add data to the collection in initialization
Expand Down Expand Up @@ -4051,7 +4054,7 @@ void dds_qos_examples()
//DDS_CHANGE_HISTORY_QOS_POLICY
// This example uses a DataWriter, but it can also be applied to DataReader and Topic entities
DataWriterQos writer_qos;
// The HistoryQosPolicy is default constructed with kind = KEEP_LAST and depth = 1.
// The HistoryQosPolicy is constructed with kind = KEEP_LAST and depth = 1 by default
// It is possible to adjust the depth and keep the kind as KEEP_LAST
writer_qos.history().depth = 20;
// Or you can also change the kind to KEEP_ALL (depth will not be used).
Expand All @@ -4065,7 +4068,7 @@ void dds_qos_examples()
//DDS_CHANGE_LIFESPAN_QOS_POLICY
// This example uses a DataWriter, but it can also be applied to DataReader and Topic entities
DataWriterQos writer_qos;
// The LifespanQosPolicy is default constructed with duration set to infinite.
// The LifespanQosPolicy is constructed with duration set to infinite by default
// Change the duration to 5 s
writer_qos.lifespan().duration = {5, 0};
// Use modified QoS in the creation of the corresponding entity
Expand All @@ -4077,13 +4080,13 @@ void dds_qos_examples()
//DDS_CHANGE_LIVELINESS_QOS_POLICY
// This example uses a DataWriter, but it can also be applied to DataReader and Topic entities
DataWriterQos writer_qos;
// The LivelinessQosPolicy is default constructed with kind = AUTOMATIC
// The LivelinessQosPolicy is constructed with kind = AUTOMATIC by default
// Change the kind to MANUAL_BY_PARTICIPANT
writer_qos.liveliness().kind = MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;
// The LivelinessQosPolicy is default constructed with lease_duration set to infinite
// The LivelinessQosPolicy is constructed with lease_duration set to infinite by default
// Change the lease_duration to 1 second
writer_qos.liveliness().lease_duration = {1, 0};
// The LivelinessQosPolicy is default constructed with announcement_period set to infinite
// The LivelinessQosPolicy is constructed with announcement_period set to infinite by default
// Change the announcement_period to 1 ms
writer_qos.liveliness().announcement_period = {0, 1000000};
// Use modified QoS in the creation of the corresponding entity
Expand All @@ -4095,7 +4098,7 @@ void dds_qos_examples()
//DDS_CHANGE_OWNERSHIP_QOS_POLICY
// This example uses a DataWriter, but it can also be applied to DataReader and Topic entities
DataWriterQos writer_qos;
// The OwnershipQosPolicy is default constructed with kind = SHARED.
// The OwnershipQosPolicy is constructed with kind = SHARED by default
// Change the kind to EXCLUSIVE
writer_qos.ownership().kind = EXCLUSIVE_OWNERSHIP_QOS;
// Use modified QoS in the creation of the corresponding entity
Expand All @@ -4107,7 +4110,7 @@ void dds_qos_examples()
//DDS_CHANGE_OWNERSHIP_STRENGTH_QOS_POLICY
// This example only applies to DataWriter entities
DataWriterQos writer_qos;
// The OwnershipStrengthQosPolicy is default constructed with value 0
// The OwnershipStrengthQosPolicy is constructed with value 0 by default
// Change the strength to 10
writer_qos.ownership_strength().value = 10;
// Use modified QoS in the creation of the corresponding DataWriter
Expand All @@ -4119,11 +4122,11 @@ void dds_qos_examples()
//DDS_CHANGE_PARTITION_QOS_POLICY
// This example uses a Publisher, but it can also be applied to Subscriber entities
PublisherQos publisher_qos;
// The PartitionsQosPolicy is default constructed with max_size = 0
// The PartitionsQosPolicy is constructed with max_size = 0 by default
// Max_size is a private member so you need to use getters and setters to access
// Change the max_size to 20
publisher_qos.partition().set_max_size(20); // Setter function
// The PartitionsQosPolicy is default constructed with an empty list of partitions
// The PartitionsQosPolicy is constructed with an empty list of partitions by default
// Partitions is a private member so you need to use getters and setters to access

// Add new partitions in initialization
Expand All @@ -4147,10 +4150,10 @@ void dds_qos_examples()
//DDS_CHANGE_RELIABILITY_QOS_POLICY
// This example uses a DataWriter, but it can also be applied to DataReader and Topic entities
DataWriterQos writer_qos;
// The ReliabilityQosPolicy is default constructed with kind = BEST_EFFORT
// The ReliabilityQosPolicy is constructed with kind = BEST_EFFORT by default
// Change the kind to RELIABLE
writer_qos.reliability().kind = RELIABLE_RELIABILITY_QOS;
// The ReliabilityQosPolicy is default constructed with max_blocking_time = 100ms
// The ReliabilityQosPolicy is constructed with max_blocking_time = 100ms by default
// Change the max_blocking_time to 1s
writer_qos.reliability().max_blocking_time = {1, 0};
// Use modified QoS in the creation of the corresponding entity
Expand All @@ -4162,16 +4165,16 @@ void dds_qos_examples()
//DDS_CHANGE_RESOURCE_LIMITS_QOS_POLICY
// This example uses a DataWriter, but it can also be applied to DataReader and Topic entities
DataWriterQos writer_qos;
// The ResourceLimitsQosPolicy is default constructed with max_samples = 5000
// The ResourceLimitsQosPolicy is constructed with max_samples = 5000 by default
// Change max_samples to 200
writer_qos.resource_limits().max_samples = 200;
// The ResourceLimitsQosPolicy is default constructed with max_instances = 10
// The ResourceLimitsQosPolicy is constructed with max_instances = 10 by default
// Change max_instances to 20
writer_qos.resource_limits().max_instances = 20;
// The ResourceLimitsQosPolicy is default constructed with max_samples_per_instance = 400
// The ResourceLimitsQosPolicy is constructed with max_samples_per_instance = 400 by default
// Change max_samples_per_instance to 100 as it must be lower than max_samples
writer_qos.resource_limits().max_samples_per_instance = 100;
// The ResourceLimitsQosPolicy is default constructed with allocated_samples = 100
// The ResourceLimitsQosPolicy is constructed with allocated_samples = 100 by default
// Change allocated_samples to 50
writer_qos.resource_limits().allocated_samples = 50;
// Use modified QoS in the creation of the corresponding entity
Expand All @@ -4183,7 +4186,7 @@ void dds_qos_examples()
//DDS_CHANGE_TOPIC_DATA_QOS_POLICY
// This example only applies to Topic entities
TopicQos topic_qos;
// The TopicDataQosPolicy is default constructed with an empty vector.
// The TopicDataQosPolicy is constructed with an empty vector by default
std::vector<eprosima::fastdds::rtps::octet> vec;
// Add two new octets to topic data vector
eprosima::fastdds::rtps::octet val = 3;
Expand Down Expand Up @@ -4255,11 +4258,11 @@ void dds_qos_examples()
// For further details see RTPSReliableWriterQos & RTPSReliableReaderQos sections.
DataWriterQos writer_qos;
DataReaderQos reader_qos;
// The DisablePositiveACKsQosPolicy is default constructed with enabled = false
// The DisablePositiveACKsQosPolicy is constructed with enabled = false by default
// Change enabled to true
writer_qos.reliable_writer_qos().disable_positive_acks.enabled = true;
reader_qos.reliable_reader_qos().disable_positive_acks.enabled = true;
// The DisablePositiveACKsQosPolicy is default constructed with infinite duration
// The DisablePositiveACKsQosPolicy is constructed with infinite duration by default
// Change the duration to 1 second
writer_qos.reliable_writer_qos().disable_positive_acks.duration = {1, 0};
reader_qos.reliable_reader_qos().disable_positive_acks.duration = {1, 0};
Expand All @@ -4277,21 +4280,21 @@ void dds_qos_examples()
//DDS_CHANGE_RTPS_RELIABLE_WRITER_QOS
// This example only applies to DataWriter entities
DataWriterQos writer_qos;
// The RTPSReliableWriterQos is default constructed with initialHeartbeatDelay = 12 ms
// The RTPSReliableWriterQos is constructed with initialHeartbeatDelay = 12 ms by default
// Change the initialHeartbeatDelay to 20 nanoseconds
writer_qos.reliable_writer_qos().times.initialHeartbeatDelay = {0, 20};
// The RTPSReliableWriterQos is default constructed with heartbeatPeriod = 3 s
// The RTPSReliableWriterQos is constructed with heartbeatPeriod = 3 s by default
// Change the heartbeatPeriod to 5 seconds
writer_qos.reliable_writer_qos().times.heartbeatPeriod = {5, 0};
// The RTPSReliableWriterQos is default constructed with nackResponseDelay = 5 ms
// The RTPSReliableWriterQos is constructed with nackResponseDelay = 5 ms by default
// Change the nackResponseDelay to 10 nanoseconds
writer_qos.reliable_writer_qos().times.nackResponseDelay = {0, 10};
// The RTPSReliableWriterQos is default constructed with nackSupressionDuration = 0 s
// The RTPSReliableWriterQos is constructed with nackSupressionDuration = 0 s by default
// Change the nackSupressionDuration to 20 nanoseconds
writer_qos.reliable_writer_qos().times.nackSupressionDuration = {0, 20};
// You can also change the DisablePositiveACKsQosPolicy. For further details see DisablePositiveACKsQosPolicy section.
writer_qos.reliable_writer_qos().disable_positive_acks.enabled = true;
// The RTPSReliableWriterQos is default constructed with disable_heartbeat_piggyback = false
// The RTPSReliableWriterQos is constructed with disable_heartbeat_piggyback = false by default
// Disable the heartbeat piggyback mechanism.
writer_qos.reliable_writer_qos().disable_heartbeat_piggyback = true;
// Use modified QoS in the creation of the DataWriter entity
Expand All @@ -4303,10 +4306,10 @@ void dds_qos_examples()
//DDS_CHANGE_RTPS_RELIABLE_READER_QOS
// This example only applies to DataReader entities
DataReaderQos reader_qos;
// The RTPSReliableReaderQos is default constructed with initial_acknack_delay = 70 ms
// The RTPSReliableReaderQos is constructed with initial_acknack_delay = 70 ms by default
// Change the initialAcknackDelay to 70 nanoseconds
reader_qos.reliable_reader_qos().times.initial_acknack_delay = {0, 70};
// The RTPSReliableReaderQos is default constructed with heartbeat_response_delay = 5 ms
// The RTPSReliableReaderQos is constructed with heartbeat_response_delay = 5 ms by default
// Change the heartbeatResponseDelay to 5 nanoseconds
reader_qos.reliable_reader_qos().times.heartbeat_response_delay = {0, 5};
// You can also change the DisablePositiveACKsQosPolicy. For further details see DisablePositiveACKsQosPolicy section.
Expand Down Expand Up @@ -4364,7 +4367,7 @@ void dds_qos_examples()
//DDS_CHANGE_PUBLISH_MODE_QOS
// This example only applies to DataWriter entities
DataWriterQos writer_qos;
// The PublishModeQosPolicy is default constructed with kind = SYNCHRONOUS
// The PublishModeQosPolicy is constructed with kind = SYNCHRONOUS by default
// Change the kind to ASYNCHRONOUS
writer_qos.publish_mode().kind = ASYNCHRONOUS_PUBLISH_MODE;
// Use modified QoS in the creation of the DataWriter entity
Expand Down Expand Up @@ -4431,7 +4434,7 @@ void dds_qos_examples()
writer_qos.endpoint().user_defined_id = 3;
// Set 4 as entity id
writer_qos.endpoint().entity_id = 4;
// The RTPSWriterQos is default constructed with history_memory_policy = PREALLOCATED
// The RTPSWriterQos is constructed with history_memory_policy = PREALLOCATED by default
// Change the history_memory_policy to DYNAMIC_RESERVE
writer_qos.endpoint().history_memory_policy = eprosima::fastdds::rtps::DYNAMIC_RESERVE_MEMORY_MODE;
// Use modified QoS in the creation of the corresponding entity
Expand Down Expand Up @@ -4580,7 +4583,7 @@ void dds_qos_examples()
//DDS_CHANGE_TYPE_CONSISTENCY_ENFORCEMENT_QOS
// This example only applies to DataReader entities
DataReaderQos reader_qos;
// The TypeConsistencyEnforcementQosPolicy is default constructed with kind = ALLOW_TYPE_COERCION
// The TypeConsistencyEnforcementQosPolicy is constructed with kind = ALLOW_TYPE_COERCION by default
// Change the kind to DISALLOW_TYPE_COERCION
reader_qos.type_consistency().m_kind = TypeConsistencyKind::DISALLOW_TYPE_COERCION;
//Configures the system to ignore the sequence sizes in assignations
Expand Down Expand Up @@ -6695,19 +6698,19 @@ void dds_usecase_examples()
//CONF-MEMORY-QOS-PUBSUB
ResourceLimitsQosPolicy resource_limits;

// The ResourceLimitsQosPolicy is default constructed with max_samples = 5000
// The ResourceLimitsQosPolicy is constructed with max_samples = 5000 by default
// Change max_samples to the minimum
resource_limits.max_samples = 1;

// The ResourceLimitsQosPolicy is default constructed with max_instances = 10
// The ResourceLimitsQosPolicy is constructed with max_instances = 10 by default
// Change max_instances to the minimum
resource_limits.max_instances = 1;

// The ResourceLimitsQosPolicy is default constructed with max_samples_per_instance = 400
// The ResourceLimitsQosPolicy is constructed with max_samples_per_instance = 400 by default
// Change max_samples_per_instance to the minimum
resource_limits.max_samples_per_instance = 1;

// The ResourceLimitsQosPolicy is default constructed with allocated_samples = 100
// The ResourceLimitsQosPolicy is constructed with allocated_samples = 100 by default
// No allocated samples
resource_limits.allocated_samples = 0;
//!--
Expand Down

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