Diff: embeddedRTPS/include/rtps/config.h

Revision:

0:580aba13d1a1

Child:

1:9bbb45710820

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/embeddedRTPS/include/rtps/config.h	Thu Dec 30 21:06:29 2021 +0900
@@ -0,0 +1,83 @@
+/*
+The MIT License
+Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE
+
+This file is part of embeddedRTPS.
+
+Author: i11 - Embedded Software, RWTH Aachen University
+*/
+
+#ifndef RTPS_CONFIG_H
+#define RTPS_CONFIG_H
+
+#include "rtps/common/types.h"
+
+namespace rtps {
+
+#define IS_LITTLE_ENDIAN 1
+
+
+    namespace Config {
+        const VendorId_t VENDOR_ID = {13, 37};
+        const std::array<uint8_t, 4> IP_ADDRESS = {192,168,11,2};  // Needs to be set in Src/lwip.c too.
+        const GuidPrefix_t BASE_GUID_PREFIX{1,2,3,4,5,6,7,8,9,10,12};
+
+        const uint8_t DOMAIN_ID = 0; // 230 possible with UDP
+        const uint8_t NUM_STATELESS_WRITERS = 2;
+        const uint8_t NUM_STATELESS_READERS = 2;
+        const uint8_t NUM_STATEFUL_READERS = 8;
+        const uint8_t NUM_STATEFUL_WRITERS = 8;
+        const uint8_t MAX_NUM_PARTICIPANTS = 10;
+        const uint8_t NUM_WRITERS_PER_PARTICIPANT = 16;
+        const uint8_t NUM_READERS_PER_PARTICIPANT = 16;
+        const uint8_t NUM_WRITER_PROXIES_PER_READER = 3;
+        const uint8_t NUM_READER_PROXIES_PER_WRITER = 3;
+
+        const uint8_t HISTORY_SIZE = 10;
+
+        const uint8_t MAX_TYPENAME_LENGTH = 40;
+        const uint8_t MAX_TOPICNAME_LENGTH = 40;
+
+        const int HEARTBEAT_STACKSIZE = 4096; // byte
+        const int THREAD_POOL_WRITER_STACKSIZE = 4096; // byte
+        const int THREAD_POOL_READER_STACKSIZE = 4096; // byte
+        const uint16_t SPDP_WRITER_STACKSIZE = 4096; // byte
+
+        const uint16_t SF_WRITER_HB_PERIOD_MS = 4000;
+        const uint16_t SPDP_RESEND_PERIOD_MS = 10000;
+        const uint8_t SPDP_WRITER_PRIO = 24;
+        const uint8_t SPDP_MAX_NUMBER_FOUND_PARTICIPANTS = 5;
+        const uint8_t SPDP_MAX_NUM_LOCATORS = 5;
+        const Duration_t SPDP_LEASE_DURATION = {100, 0};
+
+        const int MAX_NUM_UDP_CONNECTIONS = 10;
+
+        const int THREAD_POOL_NUM_WRITERS = 1;
+        const int THREAD_POOL_NUM_READERS = 1;
+        const int THREAD_POOL_WRITER_PRIO = 24;
+        const int THREAD_POOL_READER_PRIO = 24;
+        const int THREAD_POOL_WORKLOAD_QUEUE_LENGTH = 20;
+
+        constexpr int OVERALL_HEAP_SIZE = 	THREAD_POOL_NUM_WRITERS * THREAD_POOL_WRITER_STACKSIZE +
+											THREAD_POOL_NUM_READERS * THREAD_POOL_READER_STACKSIZE +
+											MAX_NUM_PARTICIPANTS * SPDP_WRITER_STACKSIZE +
+											NUM_STATEFUL_WRITERS * HEARTBEAT_STACKSIZE;
+    }
+}
+
+#endif //RTPS_CONFIG_H