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Account for changes on RTPS writer refactor (#847)
* Refs #21082. Refactor on WriterTimes. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Fix table format. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> --------- Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
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8 files changed

Lines changed: 82 additions & 69 deletions

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‎code/DDSCodeTester.cpp‎

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -4275,18 +4275,18 @@ void dds_qos_examples()
42754275
//DDS_CHANGE_RTPS_RELIABLE_WRITER_QOS
42764276
// This example only applies to DataWriter entities
42774277
DataWriterQos writer_qos;
4278-
// The RTPSReliableWriterQos is constructed with initialHeartbeatDelay = 12 ms by default
4279-
// Change the initialHeartbeatDelay to 20 nanoseconds
4280-
writer_qos.reliable_writer_qos().times.initialHeartbeatDelay = {0, 20};
4281-
// The RTPSReliableWriterQos is constructed with heartbeatPeriod = 3 s by default
4282-
// Change the heartbeatPeriod to 5 seconds
4283-
writer_qos.reliable_writer_qos().times.heartbeatPeriod = {5, 0};
4284-
// The RTPSReliableWriterQos is constructed with nackResponseDelay = 5 ms by default
4285-
// Change the nackResponseDelay to 10 nanoseconds
4286-
writer_qos.reliable_writer_qos().times.nackResponseDelay = {0, 10};
4287-
// The RTPSReliableWriterQos is constructed with nackSupressionDuration = 0 s by default
4288-
// Change the nackSupressionDuration to 20 nanoseconds
4289-
writer_qos.reliable_writer_qos().times.nackSupressionDuration = {0, 20};
4278+
// The RTPSReliableWriterQos is constructed with initial_heartbeat_delay = 12 ms by default
4279+
// Change the initial_heartbeat_delay to 20 nanoseconds
4280+
writer_qos.reliable_writer_qos().times.initial_heartbeat_delay = {0, 20};
4281+
// The RTPSReliableWriterQos is constructed with heartbeat_period = 3 s by default
4282+
// Change the heartbeat_period to 5 seconds
4283+
writer_qos.reliable_writer_qos().times.heartbeat_period = {5, 0};
4284+
// The RTPSReliableWriterQos is constructed with nack_response_delay = 5 ms by default
4285+
// Change the nack_response_delay to 10 nanoseconds
4286+
writer_qos.reliable_writer_qos().times.nack_response_delay = {0, 10};
4287+
// The RTPSReliableWriterQos is constructed with nack_supression_duration = 0 s by default
4288+
// Change the nack_supression_duration to 20 nanoseconds
4289+
writer_qos.reliable_writer_qos().times.nack_supression_duration = {0, 20};
42904290
// You can also change the DisablePositiveACKsQosPolicy. For further details see DisablePositiveACKsQosPolicy section.
42914291
writer_qos.reliable_writer_qos().disable_positive_acks.enabled = true;
42924292
// The RTPSReliableWriterQos is constructed with disable_heartbeat_piggyback = false by default
@@ -6530,8 +6530,8 @@ void dds_usecase_examples()
65306530
{
65316531
//CONF_QOS_TUNING_RELIABLE_WRITER
65326532
DataWriterQos qos;
6533-
qos.reliable_writer_qos().times.heartbeatPeriod.seconds = 0;
6534-
qos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 500000000; //500 ms
6533+
qos.reliable_writer_qos().times.heartbeat_period.seconds = 0;
6534+
qos.reliable_writer_qos().times.heartbeat_period.nanosec = 500000000; //500 ms
65356535
//!--
65366536
}
65376537

‎code/XMLTester.xml‎

Lines changed: 16 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -1710,21 +1710,21 @@
17101710
</qos>
17111711

17121712
<times> <!-- writerTimesType -->
1713-
<initialHeartbeatDelay>
1713+
<initial_heartbeat_delay>
17141714
<nanosec>12</nanosec>
1715-
</initialHeartbeatDelay>
1715+
</initial_heartbeat_delay>
17161716

1717-
<heartbeatPeriod>
1717+
<heartbeat_period>
17181718
<sec>3</sec>
1719-
</heartbeatPeriod>
1719+
</heartbeat_period>
17201720

1721-
<nackResponseDelay>
1721+
<nack_response_delay>
17221722
<nanosec>5</nanosec>
1723-
</nackResponseDelay>
1723+
</nack_response_delay>
17241724

1725-
<nackSupressionDuration>
1725+
<nack_supression_duration>
17261726
<sec>0</sec>
1727-
</nackSupressionDuration>
1727+
</nack_supression_duration>
17281728
</times>
17291729

17301730
<unicastLocatorList>
@@ -3727,18 +3727,18 @@
37273727
<!-->XML_RTPS_RELIABLE_WRITER_QOS<-->
37283728
<data_writer profile_name="pub_profile_name">
37293729
<times> <!-- writerTimesType -->
3730-
<initialHeartbeatDelay> <!-- DURATION -->
3730+
<initial_heartbeat_delay> <!-- DURATION -->
37313731
<nanosec>20</nanosec>
3732-
</initialHeartbeatDelay>
3733-
<heartbeatPeriod> <!-- DURATION -->
3732+
</initial_heartbeat_delay>
3733+
<heartbeat_period> <!-- DURATION -->
37343734
<sec>5</sec>
3735-
</heartbeatPeriod>
3736-
<nackResponseDelay> <!-- DURATION -->
3735+
</heartbeat_period>
3736+
<nack_response_delay> <!-- DURATION -->
37373737
<nanosec>10</nanosec>
3738-
</nackResponseDelay>
3739-
<nackSupressionDuration> <!-- DURATION -->
3738+
</nack_response_delay>
3739+
<nack_supression_duration> <!-- DURATION -->
37403740
<nanosec>20</nanosec>
3741-
</nackSupressionDuration>
3741+
</nack_supression_duration>
37423742
</times>
37433743

37443744
<!--You can also change the values of DisablePositiveACKsQosPolicy.-->

‎code/XMLTesterExample.xml‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -591,22 +591,22 @@
591591
</qos>
592592

593593
<times>
594-
<initialHeartbeatDelay>
594+
<initial_heartbeat_delay>
595595
<sec>1</sec>
596596
<nanosec>856000</nanosec>
597-
</initialHeartbeatDelay>
598-
<heartbeatPeriod>
597+
</initial_heartbeat_delay>
598+
<heartbeat_period>
599599
<sec>1</sec>
600600
<nanosec>856000</nanosec>
601-
</heartbeatPeriod>
602-
<nackResponseDelay>
601+
</heartbeat_period>
602+
<nack_response_delay>
603603
<sec>1</sec>
604604
<nanosec>856000</nanosec>
605-
</nackResponseDelay>
606-
<nackSupressionDuration>
605+
</nack_response_delay>
606+
<nack_supression_duration>
607607
<sec>1</sec>
608608
<nanosec>856000</nanosec>
609-
</nackSupressionDuration>
609+
</nack_supression_duration>
610610
</times>
611611

612612
<unicastLocatorList>

‎docs/03-exports/aliases-api.include‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -580,10 +580,10 @@
580580
.. |RTPSEndpointQos::history_memory_policy-api| replace:: :cpp:member:`history_memory_policy<eprosima::fastdds::dds::RTPSEndpointQos::history_memory_policy>`
581581

582582
.. |WriterTimes-api| replace:: :cpp:struct:`WriterTimes<eprosima::fastdds::rtps::WriterTimes>`
583-
.. |WriterTimes::initialHeartbeatDelay-api| replace:: :cpp:member:`initialHeartbeatDelay<eprosima::fastdds::rtps::WriterTimes::initialHeartbeatDelay>`
584-
.. |WriterTimes::heartbeatPeriod-api| replace:: :cpp:member:`heartbeatPeriod<eprosima::fastdds::rtps::WriterTimes::heartbeatPeriod>`
585-
.. |WriterTimes::nackResponseDelay-api| replace:: :cpp:member:`nackResponseDelay<eprosima::fastdds::rtps::WriterTimes::nackResponseDelay>`
586-
.. |WriterTimes::nackSupressionDuration-api| replace:: :cpp:member:`nackSupressionDuration<eprosima::fastdds::rtps::WriterTimes::nackSupressionDuration>`
583+
.. |WriterTimes::initial_heartbeat_delay-api| replace:: :cpp:member:`initial_heartbeat_delay<eprosima::fastdds::rtps::WriterTimes::initial_heartbeat_delay>`
584+
.. |WriterTimes::heartbeat_period-api| replace:: :cpp:member:`heartbeat_period<eprosima::fastdds::rtps::WriterTimes::heartbeat_period>`
585+
.. |WriterTimes::nack_response_delay-api| replace:: :cpp:member:`nack_response_delay<eprosima::fastdds::rtps::WriterTimes::nack_response_delay>`
586+
.. |WriterTimes::nack_supression_duration-api| replace:: :cpp:member:`nack_supression_duration<eprosima::fastdds::rtps::WriterTimes::nack_supression_duration>`
587587

588588
.. |TransportConfigQos-api| replace:: :cpp:class:`TransportConfigQos<eprosima::fastdds::dds::TransportConfigQos>`
589589
.. |TransportConfigQos::user_transports-api| replace:: :cpp:member:`user_transports<eprosima::fastdds::dds::TransportConfigQos::user_transports>`

‎docs/fastdds/api_reference/spelling_wordlist.txt‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -121,14 +121,14 @@ guid
121121
GuidPrefix
122122
hashid
123123
Hashid
124-
heartbeatPeriod
124+
heartbeat_period
125125
heartbeat_response_delay
126126
HistoryQosPolicy
127127
InconsistentTopicStatus
128128
Implementers
129129
infos
130130
initial_acknack_delay
131-
initialHeartbeatDelay
131+
initial_heartbeat_delay
132132
inlined
133133
instanceHandle
134134
InstanceHandle
@@ -185,8 +185,8 @@ msg
185185
mutex
186186
mutexes
187187
myFilterFactory
188-
nackResponseDelay
189-
nackSupressionDuration
188+
nack_response_delay
189+
nack_supression_duration
190190
netmask
191191
Netmask
192192
NonConstEnabler

‎docs/fastdds/dds_layer/core/policy/eprosimaExtensions.rst‎

Lines changed: 9 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -349,22 +349,22 @@ List of structure members:
349349
+-----------------------------------------------------------------------------------+------------------+---------------+
350350
| Member Name | Type | Default Value |
351351
+===================================================================================+==================+===============+
352-
| |WriterTimes::initialHeartbeatDelay-api| | |Duration_t-api| | 12ms |
352+
| |WriterTimes::initial_heartbeat_delay-api| | |Duration_t-api| | 12ms |
353353
+-----------------------------------------------------------------------------------+------------------+---------------+
354-
| |WriterTimes::heartbeatPeriod-api| | |Duration_t-api| | 3s |
354+
| |WriterTimes::heartbeat_period-api| | |Duration_t-api| | 3s |
355355
+-----------------------------------------------------------------------------------+------------------+---------------+
356-
| |WriterTimes::nackResponseDelay-api| | |Duration_t-api| | 5ms |
356+
| |WriterTimes::nack_response_delay-api| | |Duration_t-api| | 5ms |
357357
+-----------------------------------------------------------------------------------+------------------+---------------+
358-
| |WriterTimes::nackSupressionDuration-api| | |Duration_t-api| | 0s |
358+
| |WriterTimes::nack_supression_duration-api| | |Duration_t-api| | 0s |
359359
+-----------------------------------------------------------------------------------+------------------+---------------+
360360

361-
* |WriterTimes::initialHeartbeatDelay-api|:
361+
* |WriterTimes::initial_heartbeat_delay-api|:
362362
Defines duration of the initial heartbeat delay.
363-
* |WriterTimes::heartbeatPeriod-api|:
363+
* |WriterTimes::heartbeat_period-api|:
364364
Specifies the interval between periodic heartbeats.
365-
* |WriterTimes::nackResponseDelay-api|:
365+
* |WriterTimes::nack_response_delay-api|:
366366
Establishes the duration of the delay applied to the response of an ACKNACK message.
367-
* |WriterTimes::nackSupressionDuration-api|:
367+
* |WriterTimes::nack_supression_duration-api|:
368368
The RTPSWriter ignores the nack messages received after sending the data until the
369369
duration time elapses.
370370

@@ -373,7 +373,7 @@ List of structure members:
373373
DisableHeartbeatPiggyback
374374
"""""""""""""""""""""""""
375375

376-
Besides sending heartbeats periodically using the |WriterTimes::heartbeatPeriod-api| (see :ref:`writertimes`), reliable
376+
Besides sending heartbeats periodically using the |WriterTimes::heartbeat_period-api| (see :ref:`writertimes`), reliable
377377
DataWriters also use a mechanism to append a heartbeat submessage in the same message where data is being delivered to
378378
the DataReaders.
379379
This mechanism acts in specific situations where the reliable communication state must be up to date to maintain

‎docs/fastdds/property_policies/non_consolidated_qos.rst‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -70,7 +70,7 @@ See :ref:`tuning-heartbeat-period` for more details.
7070
.. warning::
7171
* It is inconsistent to enable the ``pull mode`` and also set the |ReliabilityQosPolicyKind-api| to
7272
|BEST_EFFORT_RELIABILITY_QOS-api|.
73-
* It is inconsistent to enable the ``pull mode`` and also set the |WriterTimes::heartbeatPeriod-api| to
73+
* It is inconsistent to enable the ``pull mode`` and also set the |WriterTimes::heartbeat_period-api| to
7474
|c_TimeInfinite-api|.
7575

7676

‎docs/fastdds/xml_configuration/datawriter.rst‎

Lines changed: 26 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -132,16 +132,29 @@ WriterTimes
132132

133133
These parameters are included within :ref:`rtpsreliablewriterqos` in the :ref:`writertimes` structure.
134134

135-
+------------------------------+-------------------------------------------------------+---------------------+---------+
136-
| Name | Description | Values | Default |
137-
+==============================+=======================================================+=====================+=========+
138-
| ``<initialHeartbeatDelay>`` | Initial heartbeat delay. | :ref:`DurationType` | 12 ms |
139-
+------------------------------+-------------------------------------------------------+---------------------+---------+
140-
| ``<heartbeatPeriod>`` | Periodic heartbeat period. | :ref:`DurationType` | 3 s |
141-
+------------------------------+-------------------------------------------------------+---------------------+---------+
142-
| ``<nackResponseDelay>`` | Delay to apply to the response of an ACKNACK message. | :ref:`DurationType` | 5 ms |
143-
+------------------------------+-------------------------------------------------------+---------------------+---------+
144-
| ``<nackSupressionDuration>`` | This time allows the DataWriter to ignore NACK |br| | :ref:`DurationType` | 0 ms |
145-
| | messages for a given period of time right after |br| | | |
146-
| | the data has been sent. | | |
147-
+------------------------------+-------------------------------------------------------+---------------------+---------+
135+
.. list-table::
136+
:header-rows: 1
137+
:align: left
138+
139+
* - Name
140+
- Description
141+
- Values
142+
- Default
143+
* - ``<initial_heartbeat_delay>``
144+
- Initial heartbeat delay.
145+
- :ref:`DurationType`
146+
- 12 ms
147+
* - ``<heartbeat_period>``
148+
- Periodic heartbeat period.
149+
- :ref:`DurationType`
150+
- 3 s
151+
* - ``<nack_response_delay>``
152+
- Delay to apply to the response of an ACKNACK message.
153+
- :ref:`DurationType`
154+
- 5 ms
155+
* - ``<nack_supression_duration>``
156+
- This time allows the DataWriter to ignore NACK |br|
157+
messages for a given period of time right after |br|
158+
the data has been sent.
159+
- :ref:`DurationType`
160+
- 0 ms

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