The DataWriter profiles allow for configuring |DataWriters| from an XML file.
These profiles are defined within the <data_writer> XML tags.
The <data_writer> element has two attributes defined: profile_name and is_default_profile.
| Name | Description | Use |
|---|---|---|
profile_name |
Sets the name under which the <data_writer> profile is registered in the DDS Domain, |br|
so that it can be loaded later by the |DomainParticipant|, as shown in |br|
:ref:`loadingapplyingprofiles`. |
Mandatory |
is_default_profile |
Sets the <data_writer> profile as the default profile. Thus, if a default profile |br|
exists, it will be used when no other DataWriter profile is specified at the |br|
DataWriter's creation. |
Optional |
The DataWriter configuration is performed through the XML elements listed in the following table.
| Name | Description | Values | Default |
|---|---|---|---|
<topic> |
:ref:`TopicType` configuration of the DataWriter. | :ref:`TopicType` | |
<qos> |
DataWriter :ref:`CommonQOS` configuration. | :ref:`CommonQOS` | |
<times> |
It configures some time related parameters |br| of the DataWriter. | :ref:`WriterTimes <pubtimes>` | |
<unicastLocatorList> |
List of input unicast locators. |br| It expects a :ref:`LocatorListType`. | <locator> |
|
<multicastLocatorList> |
List of input multicast locators. |br| It expects a :ref:`LocatorListType`. | <locator> |
|
<external_unicast_locators> |
List of :ref:`external_locators` |br| to announce for the communication |br| with this DataWriter. | :ref:`externalLocatorListType` | |
<ignore_non_matching_locators> |
Whether to ignore locators received on |br| announcements from other entities when |br| they don't match with any of the locators |br| announced by this DataWriter. | bool |
false |
<historyMemoryPolicy> |
Memory allocation kind for DataWriter's |br| history. See :ref:`historyqospolicykind`. | :ref:`historymemorypoliciesXML` | |PREALLOCATED-xml-api| |
<propertiesPolicy> |
Additional configuration properties. | :ref:`PropertiesPolicyType` | |
<userDefinedID> |
Used for |EDPStatic|. | int16_t |
-1 |
<entityID> |
Sets the |RTPSEndpointQos::entity_id-api| of the |RTPSEndpointQos| |br| class. | int16_t |
-1 |
<matchedSubscribersAllocation> |
Sets the limits of the collection of matched |br| DataReaders. See |br| :ref:`participantresourcelimitsqos`. | :ref:`CommonAlloc` |
Example
.. literalinclude:: /../code/XMLTester.xml
:language: xml
:start-after: <!-->XML-DATAWRITER<-->
:end-before: <!--><-->
:lines: 2-4, 6-86, 88-89
Note
- :class:`LOCATOR_LIST` means a :ref:`LocatorListType` is expected.
- :class:`EXTERNAL_LOCATOR_LIST` means a :ref:`externalLocatorListType` is expected.
- :class:`PROPERTIES_POLICY` means that the label is a :ref:`PropertiesPolicyType` block.
- For :class:`QOS` details, please refer to :ref:`CommonQOS`.
- :class:`TOPIC_TYPE` is detailed in section :ref:`TopicType`.
These parameters are included within :ref:`rtpsreliablewriterqos` in the :ref:`writertimes` structure.
| Name | Description | Values | Default |
|---|---|---|---|
<initialHeartbeatDelay> |
Initial heartbeat delay. | :ref:`DurationType` | 12 ms |
<heartbeatPeriod> |
Periodic heartbeat period. | :ref:`DurationType` | 3 s |
<nackResponseDelay> |
Delay to apply to the response of an ACKNACK message. | :ref:`DurationType` | 5 ms |
<nackSupressionDuration> |
This time allows the DataWriter to ignore NACK |br| messages for a given period of time right after |br| the data has been sent. | :ref:`DurationType` | 0 ms |