Module: dds.qos¶
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class
dds.qos.
DataRepresentationQosPolicy
¶ Describes the data representation used by a topic
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class
dds.qos.
DataTagQosPolicy
¶ A sequence of name-value pair ‘tags’.
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class
dds.qos.
DeadlineQosPolicy
¶ Deadline QoS Policy
Parameters: period – (Duration) deadline duration (default: infinite) -
period
¶
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class
dds.qos.
DestinationOrderQosPolicy
¶ DestinationOrder QoS Policy
Parameters: kind – ( dds.qos.DestinationOrderKind
) ordering
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class
dds.qos.
DiscoveryQosPolicy
¶ Discovery Qos Policy controls the behavior of the Participant’s builtin Entities that manage discovery
Parameters: - discovery_kind (integer) – the kind of discovery to use (0 is only value supported)
- dpd_push_period (Duration) – how often the bootstrap discovery message should be transmitted [keep at default unless you are sure]
- dpd_lease_duration (Duration) – how long our peer should consider this participant to be alive without hearing from it [keep at default unless you are sure]
- heartbeat_period (Duration) – periodicity of HB transmission
- nack_response_delay (Duration) – time before responding to a NACK
- nack_suppress_delay (Duration) – time to ignore subsequent NACKs [not effective]
- min_buffer_size (integer) – initial size of outgoing msg buffer [can grow up to max_buffer_size]
- max_buffer_size (integer) – maximum size of outgoing msg buffer [data samples will fragment if larger]
- heartbeat_response_delay (Duration) – time before responding to a HB
- send_initial_nack (bool) – should the reader send an initial nack to all matched writers
- send_msglen_submsg (bool) – should RTPS messages include a ‘len’ submsg (default: True)
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class
dds.qos.
DurabilityQosPolicy
¶ Durability QoS Policy
- Args: kind: (
dds.qos.DurabilityKind
) - kind of durability
- Args: kind: (
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class
dds.qos.
DurabilityServiceQosPolicy
¶ DurabilityService QoS Policy
Parameters: - service_cleanup_delay (Duration) – set service_cleanup_delay (default: 0)
- history_kind (HistoryKind) – set history kind (default: KEEP_LAST)
- history_depth (long) – set history_depth (default: 1)
- max_samples (long) – set max_samples (default: unlimited)
- max_instances (long) – set max_instances (default: unlimited)
- max_samples_per_instance (long) – set max_samples_per_instance (default: unlimited)
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class
dds.qos.
EntityFactoryQosPolicy
¶ EntityFactory QoS Policy
Parameters: autoenable (bool) – AutoEnable each created entity
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class
dds.qos.
EntityNameQosPolicy
¶ EntityName QoS Policy associates a name with a DDS Entity
Parameters: value (string) – set the name [first 32 bytes are used by the core]
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class
dds.qos.
GroupDataQosPolicy
¶ GroupData QoS Policy
- Args: value: (bytes)
- the value of the GroupData policy
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class
dds.qos.
HistoryQosPolicy
¶ History QoS Policy
Parameters: - kind (HistoryKind) – History kind
- depth (int) – History depth (default: 1)
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class
dds.qos.
LatencyBudgetQosPolicy
¶ LatencyBudget QoS Policy
Parameters: duration (Duration) – duration of latency budget (default: 0)
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class
dds.qos.
LifespanQosPolicy
¶ Lifespan QoS Policy
Parameters: duration (Duration) – duration of lifespan (default: infinite)
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class
dds.qos.
LivelinessQosPolicy
¶ Liveliness QoS Policy
Parameters: - kind (LivelinessKind) – Liveliness kind
- lease_duration (Duration) – Lease duration (default: infinity)
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class
dds.qos.
Locator
¶ Locator represents a DDS Locator
Parameters: - kind – (integer) the kind of locator
- port – (integer) the socket ‘port’ of the locator
- addr – (integer[]) the values of the address. For example, an IPv4 address would be composed of 4 integers (all with value 0..255).
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class
dds.qos.
LoggingQosPolicy
¶ Logging Qos Policy controls the logging output from the core library
This requires that the python interpreter loads the ‘_log’ version of the CoreDX DDS library.
- Argument flags: (integer)
- set bits in the ‘flags’ variable to turn on various types of logging
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class
dds.qos.
OwnershipQosPolicy
¶ Ownership QoS Policy
Parameters: kind (OwnershipKind) – Ownership kind
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class
dds.qos.
OwnershipStrengthQosPolicy
¶ Ownership strenth QoS Policy
Parameters: value (int) – value for strength (default: 0)
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class
dds.qos.
ParticipantLocator
¶ ParticipantLocator represents a loctor that specifies one or more DomainParticipants at a certain location
Parameters: - id – (integer) the first ‘participant_id’ to target at ‘addr’
- id_max – (integer) the last ‘participant_id’ to target at ‘addr’
- locator – (
Locator
) the location to target
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class
dds.qos.
PartitionQosPolicy
¶ Partition QoS Policy
Parameters: names (list) – list of partition names (strings)
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class
dds.qos.
PeerParticipantQosPolicy
¶ PeerParticipant Qos Policy pre-defines a set of peers
If the ‘strict_match’ parameter is set to True, then the Participant will be limited to matching only with the specified participants.
Parameters: - value – (
ParticipantLocator
[] ) a set of ParticipantLocator’s to attempt to match with - strict_match – (bool) whether matching should be limited to only the listed peers
- value – (
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class
dds.qos.
PresentationQosPolicy
¶ Presentation QoS Policy
Parameters: - access_scope (PresentationAccessScopeKind) – Presentation kind (default: INSTANCE)
- coherent_access (bool) – Set coherent access (default: False)
- ordered_access (bool) – Set ordered access (default: False)
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class
dds.qos.
PropertyQosPolicy
¶ Property Qos Policy associates a set of properties (name,value pairs) with the QoS
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class
dds.qos.
RTPSReaderQosPolicy
¶ RTPSReader Qos Policy controls the behavior of the internal RTPS Reader associated with a DataReader
Parameters: - heartbeat_response_delay (Duration) – time before responding to a HB
- accept_batch_msg (bool) – should the reader indicate that it can accept BATCH msgs
- send_typecode (bool) – should the reader send type information (TypeCode or TypeObject) [can be large]
- send_initial_nack (bool) – should the reader send an initial nack to all matched writers
- precache_max_samples (integer) – configure how many samples a reader can hold before making available to the DataReader
- locators (Locator[]) – override the default locators associated with this RTPS Reader (useful for segregating multicast traffic)
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class
dds.qos.
RTPSWriterQosPolicy
¶ RTPSWriter Qos Policy controls the behavior of the internal RTPS Writer associated with a DataWriter
Parameters: - heartbeat_period – (
Duration
) periodicity of HB transmission - nack_response_delay – (
Duration
) time before responding to a NACK - nack_suppress_delay – (
Duration
) nack_suppress_delay: time to ignore subsequent NACKs [not effective] - ack_deadline – (
Duration
) how long to wait for an ACK - min_buffer_size – (integer) initial size of outgoing msg buffer [can grow up to max_buffer_size]
- max_buffer_size – (integer) maximum size of outgoing msg buffer [data samples will fragment if larger]
- apply_filters – (bool) should the writer apply content filters discovered from matching peers
- enable_batch_msg – (bool) should the writer send BATCH rtps messages if deemed useful
- send_typecode – (bool) should the writer send type information (TypeCode or TypeObject) [can be large]
- require_acks – (bool) should the writer require matched reliable readers to send positive ACKs
- reliable_sample_hold_time – (
Duration
) how long a writer must hold a sample if it hasn’t been ACKd by all matched reliable readers
- heartbeat_period – (
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class
dds.qos.
ReaderDataLifecycleQosPolicy
¶ ReaderDataLifecycle QoS Policy
Parameters:
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class
dds.qos.
ReliabilityQosPolicy
¶ Reliability QoS Policy
Parameters: - kind (ReliabilityKind) – Reliability kind
- max_blocking_time (Duration) – Maximum blocking time (default: 100 milliseconds)
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class
dds.qos.
ResourceLimitsQosPolicy
¶ Resource limit QoS Policy
Parameters: - max_samples (int) – maximum samples (default: -1)
- max_instances (int) – maximum instances (default: -1)
- max_samples_per_instance (int) – maximum samples per instance (default: -1)
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class
dds.qos.
RpcQosPolicy
¶ Augment a DataWriter or DataReader with RPC specific information.
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class
dds.qos.
ThreadModelQosPolicy
¶ ThreadModel Qos Policy controls the behavior of the core threading
Parameters: - use_threads (bool) – should the core create internal threads to process async events (default: True)
- create_listener_thread (bool) – if use_threads is True, then this controls whether the core will create an additional thread to invoke user listener callbacks (default: False)
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class
dds.qos.
TimeBasedFilterQosPolicy
¶ Time based filter QoS Policy
Parameters: minimum_separation (Duration) – Value for minimum separation (default: 0)
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class
dds.qos.
TopicDataQosPolicy
¶ TopicData QoS Policy
Parameters: value (string) – value
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class
dds.qos.
TransportPriorityQosPolicy
¶ TransportPriority QoS Policy
Parameters: value (int) – value for transport priority
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class
dds.qos.
TypeConsistencyEnforcementQosPolicy
¶ rules for determining type consistency The Type Consistency Enforcement QoS Policy defines the rules for determining whether the type used to publish a given data stream is consistent with that used to subscribe to it. It applies to DataReaders.
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kind
¶ dds.qos.TypeConsistencyKind
– allow or disallow type coercion
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class
dds.qos.
TypecodeQosPolicy
¶ Binary representation of type information
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value
¶ dds.core.OctetSeq
– sequence of bytes representing the TypeCode for the data type
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encoding
¶ byte – encoding of the typecode bytes (little endian / big endian)
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class
dds.qos.
UserDataQosPolicy
¶ UserData QoS Policy
Parameters: value (byte[]) – value of the UserData policy
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class
dds.qos.
WriterDataLifecycleQosPolicy
¶ WriterDataLifecycle QoS Policy
Parameters: autodispose_unregistered_instances (bool) – set autodispose_unregistered_instances (default: true)