Add XML configuration for FlowControllerDescriptor to 2.x (#793)

* Refs #21136: Add XML Flow Controller Descriptors documentation

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #21136: Apply rev

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #21136: Fix XML repr.

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

---------

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

Author: Mario-DL

code/DDSCodeTester.cpp

@@ -4094,6 +4094,8 @@ void dds_qos_examples()
         //The PublishModeQosPolicy is default constructed with kind = SYNCHRONOUS
         //Change the kind to ASYNCHRONOUS
         publish_mode.kind = ASYNCHRONOUS_PUBLISH_MODE;
+        // Optionally, select the flow controller name
+        publish_mode.flow_controller_name = "example_flow_controller";
         //!--
     }
 

code/XMLTester.xml

@@ -820,8 +820,32 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
 -->
+    <participant profile_name="participant_profile_qos_flowcontroller">
+        <rtps>
+            <flow_controller_descriptor_list>
+                <flow_controller_descriptor>
+                    <name>example_flow_controller</name>
+                    <scheduler>FIFO</scheduler>
+                    <max_bytes_per_period>4096</max_bytes_per_period>
+                    <period_ms>500</period_ms>
+                    <sender_thread>
+                        <scheduling_policy>-1</scheduling_policy>
+                        <priority>0</priority>
+                        <affinity>0</affinity>
+                        <stack_size>-1</stack_size>
+                    </sender_thread>
+                </flow_controller_descriptor>
+            </flow_controller_descriptor_list>
+        </rtps>
+    </participant>
+
     <data_writer profile_name="writer_profile_qos_flowcontroller">
-        <!-- TODO: Configure FlowController through XML -->
+        <qos>
+            <publishMode>
+                <kind>ASYNCHRONOUS</kind>
+                <flow_controller_name>example_flow_controller</flow_controller_name>
+            </publishMode>
+        </qos>
     </data_writer>
 <!--><-->
 
@@ -830,6 +854,7 @@
     <qos>
         <publishMode>
             <kind>ASYNCHRONOUS</kind>
+            <flow_controller_name>example_flow_controller</flow_controller_name>
         </publishMode>
     </qos>
 </data_writer>

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

@@ -548,6 +548,9 @@ There are two possible values (see |PublishModeQosPolicyKind-api|):
 * |ASYNCHRONOUS_PUBLISH_MODE-api|: An internal thread takes the responsibility of sending the data asynchronously.
   The write operation returns before the data is actually sent.
 
+Also, the |PublishModeQosPolicy::flow_ctrl_name-api| has to be set to the name of a valid :ref:`flow-controllers`
+descriptor name.
+
 Example
 """""""
 

docs/fastdds/use_cases/large_data/large_data.rst

@@ -258,8 +258,12 @@ Example configuration
 
    .. tab:: XML
 
-      There is currently no way of configuring flow controllers with XML.
-      This will be added in future releases of the product.
+      .. literalinclude:: /../code/XMLTester.xml
+         :language: xml
+         :start-after: <!-->CONF-QOS-FLOWCONTROLLER
+         :end-before: <!--><-->
+         :lines: 2-3, 5-
+         :append: </profiles>
 
 .. Warning::