qos.h 文件参考

Quality of Service (QoS) policy aggregate for VLink publishers and subscribers. 更多...

#include <cstdint>

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类
struct	vlink::Qos
	Aggregate Quality of Service policy for a VLink communication endpoint. 更多...
struct	vlink::Qos::Reliability
	Controls whether message delivery is guaranteed. 更多...
struct	vlink::Qos::History
	Controls how many samples are kept for late-joining subscribers. 更多...
struct	vlink::Qos::Durability
	Controls how samples persist after they are published. 更多...
struct	vlink::Qos::PublishMode
	Controls whether the DataWriter sends synchronously or asynchronously. 更多...
struct	vlink::Qos::Liveliness
	Controls how the liveness of a DataWriter is asserted and detected. 更多...
struct	vlink::Qos::DestinationOrder
	Controls the ordering of received samples. 更多...
struct	vlink::Qos::Ownership
	Controls whether multiple writers can write to the same instance. 更多...
struct	vlink::Qos::Deadline
	Specifies the maximum period between successive data publications. 更多...
struct	vlink::Qos::Lifespan
	Specifies the maximum age of a sample before it is discarded. 更多...
struct	vlink::Qos::LatencyBudget
	Provides a hint about the maximum acceptable end-to-end latency. 更多...
struct	vlink::Qos::ResourceLimits
	Limits on the number of samples, instances, and samples per instance. 更多...
struct	vlink::Qos::Additions
	VLink-specific extensions beyond standard DDS QoS. 更多...

命名空间
namespace	vlink

详细描述

Quality of Service (QoS) policy aggregate for VLink publishers and subscribers.

Qos is a plain-old-data struct that bundles all DDS-compatible Quality of Service parameters into a single aggregate. It is passed to publishers, subscribers, clients, servers, getters, and setters to control transport behaviour.

The struct mirrors DDS QoS concepts and maps cleanly onto FastDDS, CycloneDDS, and RTI DDS backends. For non-DDS backends (shm, zenoh, intra, etc.), each backend interprets the relevant subset of fields.

Pre-built profiles are available in the QosProfile namespace (see qos_profile.h).

Sub-policy	Key parameter	Default
Reliability	kind, block_time	Reliable, 100 ms block
History	kind, depth	KeepLast, depth=1
Durability	kind	Volatile
PublishMode	kind	Sync
Liveliness	kind, duration	Automatic, infinite
DestinationOrder	kind	ReceptionTimestamp
Ownership	kind	Shared
Deadline	period	-1 (no deadline)
Lifespan	duration	-1 (infinite)
LatencyBudget	duration	0 (best-effort)
ResourceLimits	max_samples / instances	6000 / 10 / 500
Additions	priority, is_express	Normal, not express

Example

// Custom QoS: best-effort, keep last 10, volatile
vlink::Qos qos;
qos.reliability.kind  = vlink::Qos::Reliability::kBestEffort;
qos.history.kind      = vlink::Qos::History::kKeepLast;
qos.history.depth     = 10;
qos.durability.kind   = vlink::Qos::Durability::kVolatile;
 
auto pub = vlink::Publisher<MyMsg>::create("dds://my_topic");
pub->set_qos(qos);