Added Connext configuration

Author: angelrti

srcCxx/shape_configurator_rti_connext_dds.h

@@ -73,3 +73,13 @@ void configure_large_data(DDS::DataWriterQos &dw_qos) {
     }
     dw_qos.publish_mode.kind = DDS::ASYNCHRONOUS_PUBLISH_MODE_QOS;
 }
+
+void config_dw_qos(DDS::DataWriterQos &dw_qos) {
+    dw_qos.protocol.rtps_reliable_writer.max_nack_response_delay.sec = 0;
+    dw_qos.protocol.rtps_reliable_writer.max_nack_response_delay.nanosec = 0;
+}
+
+void config_dr_qos(DDS::DataReaderQos &dr_qos) {
+    dr_qos.protocol.rtps_reliable_reader.max_heartbeat_response_delay.sec = 0;
+    dr_qos.protocol.rtps_reliable_reader.max_heartbeat_response_delay.nanosec = 0;
+}

srcCxx/shape_main.cxx

@@ -1368,7 +1368,7 @@ class ShapeApplication {
         logger.log_message("Data Writer QoS:", Verbosity::DEBUG);
         pub->get_default_datawriter_qos( dw_qos );
 
-#if defined (RTI_CONNEXT_MICRO)
+#if defined(RTI_CONNEXT_DDS) || defined(RTI_CONNEXT_MICRO)
         config_dw_qos(dw_qos);
 #endif
 
@@ -1595,7 +1595,7 @@ class ShapeApplication {
         logger.log_message("Data Reader QoS:", Verbosity::DEBUG);
         sub->get_default_datareader_qos( dr_qos );
 
-#if defined (RTI_CONNEXT_MICRO)
+#if defined(RTI_CONNEXT_DDS) || defined(RTI_CONNEXT_MICRO)
         config_dr_qos(dr_qos);
 #endif