https://zhuanlan.zhihu.com/p/1921591083026061007
https://fast-dds.docs.eprosima.com/en/stable/fastdds/xml_configuration/common.html#locatorlisttype
https://fast-dds.docs.eprosima.com/en/stable/fastdds/xml_configuration/example.html
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
<profiles>
<transport_descriptors>
<!-- TCP sample transport descriptor -->
<transport_descriptor>
<transport_id>ExampleTransportId1</transport_id>
<type>TCPv4</type>
<sendBufferSize>8192</sendBufferSize>
<receiveBufferSize>8192</receiveBufferSize>
<maxMessageSize>16384</maxMessageSize>
<maxInitialPeersRange>100</maxInitialPeersRange>
<netmask_filter>AUTO</netmask_filter>
<interfaces>
<allowlist>
<interface name="wlp59s0" netmask_filter="ON"/>
</allowlist>
<blocklist>
<interface name="127.0.0.1"/>
<interface name="docker0"/>
</blocklist>
</interfaces>
<interfaceWhiteList>
<address>192.168.1.41</address>
<interface>lo</interface>
</interfaceWhiteList>
<wan_addr>80.80.55.44</wan_addr>
<keep_alive_frequency_ms>5000</keep_alive_frequency_ms>
<keep_alive_timeout_ms>25000</keep_alive_timeout_ms>
<max_logical_port>200</max_logical_port>
<logical_port_range>20</logical_port_range>
<logical_port_increment>2</logical_port_increment>
<listening_ports>
<port>5100</port>
<port>5200</port>
</listening_ports>
<tls>
<password>Password</password>
<private_key_file>Key_file.pem</private_key_file>
<rsa_private_key_file>RSA_file.pem</rsa_private_key_file>
<cert_chain_file>Chain.pem</cert_chain_file>
<tmp_dh_file>DH.pem</tmp_dh_file>
<verify_file>verify.pem</verify_file>
<verify_mode>
<verify>VERIFY_PEER</verify>
</verify_mode>
<options>
<option>NO_TLSV1</option>
<option>NO_TLSV1_1</option>
</options>
<verify_paths>
<verify_path>Path1</verify_path>
<verify_path>Path2</verify_path>
<verify_path>Path3</verify_path>
</verify_paths>
<verify_depth>55</verify_depth>
<default_verify_path>true</default_verify_path>
<handshake_role>SERVER</handshake_role>
<server_name>my_server.com</server_name>
</tls>
<calculate_crc>false</calculate_crc>
<check_crc>false</check_crc>
<enable_tcp_nodelay>false</enable_tcp_nodelay>
<default_reception_threads>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</default_reception_threads>
<reception_threads>
<reception_thread port="12345">
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</reception_thread>
</reception_threads>
</transport_descriptor>
<!-- UDP sample transport descriptor. Several options are common with TCP -->
<transport_descriptor>
<transport_id>ExampleTransportId2</transport_id>
<type>UDPv6</type>
<TTL>250</TTL>
<non_blocking_send>false</non_blocking_send>
<output_port>5101</output_port>
<default_reception_threads>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</default_reception_threads>
<reception_threads>
<reception_thread port="12345">
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</reception_thread>
</reception_threads>
</transport_descriptor>
<!-- SHM sample transport descriptor -->
<transport_descriptor>
<transport_id>SHM_SAMPLE_DESCRIPTOR</transport_id>
<type>SHM</type> <!-- REQUIRED -->
<maxMessageSize>524288</maxMessageSize> <!-- OPTIONAL uint32 valid of all transports-->
<segment_size>1048576</segment_size> <!-- OPTIONAL uint32 SHM only-->
<port_queue_capacity>1024</port_queue_capacity> <!-- OPTIONAL uint32 SHM only-->
<healthy_check_timeout_ms>250</healthy_check_timeout_ms> <!-- OPTIONAL uint32 SHM only-->
<rtps_dump_file>test_file.dump</rtps_dump_file> <!-- OPTIONAL string SHM only-->
<default_reception_threads> <!-- OPTIONAL -->
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</default_reception_threads>
<reception_threads> <!-- OPTIONAL -->
<reception_thread port="12345">
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</reception_thread>
</reception_threads>
<dump_thread>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</dump_thread>
</transport_descriptor>
</transport_descriptors>
<domainparticipant_factory profile_name="domainparticipant_factory_profile_name">
<qos>
<entity_factory>
<autoenable_created_entities>true</autoenable_created_entities>
</entity_factory>
<shm_watchdog_thread>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</shm_watchdog_thread>
<file_watch_threads>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</file_watch_threads>
</qos>
</domainparticipant_factory>
<participant profile_name="participant_profile_example">
<domainId>4</domainId>
<rtps>
<name>Participant Name</name> <!-- String -->
<defaultUnicastLocatorList>
<locator>
<udpv4>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>localhost</address>
</udpv4>
</locator>
<locator>
<tcpv4>
<!-- Both physical and logical (port), like TCP -->
<physical_port>5100</physical_port>
<port>7400</port>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<address>192.168.1.55</address>
</tcpv4>
</locator>
<locator>
<udpv6>
<port>8844</port>
<address>::1</address>
</udpv6>
</locator>
</defaultUnicastLocatorList>
<defaultMulticastLocatorList>
<locator>
<udpv4>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</udpv4>
</locator>
<locator>
<tcpv4>
<!-- Both physical and logical (port), like TCP -->
<physical_port>5100</physical_port>
<port>7400</port>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<address>192.168.1.55</address>
</tcpv4>
</locator>
<locator>
<udpv6>
<port>8844</port>
<address>::1</address>
</udpv6>
</locator>
</defaultMulticastLocatorList>
<default_external_unicast_locators>
<!-- EXTERNAL_LOCATOR_LIST -->
<udpv4 externality="1" cost="0" mask="24">
<address>100.100.100.10</address>
<port>23456</port>
</udpv4>
<udpv6 externality="1" cost="1" mask="48">
<address>::1</address>
<port>1234</port>
</udpv6>
</default_external_unicast_locators>
<ignore_non_matching_locators>true</ignore_non_matching_locators>
<sendSocketBufferSize>8192</sendSocketBufferSize>
<listenSocketBufferSize>8192</listenSocketBufferSize>
<netmask_filter>AUTO</netmask_filter>
<builtin>
<discovery_config>
<discoveryProtocol>NONE</discoveryProtocol>
<discoveryServersList>
<locator>
<udpv4>
<address>192.168.10.57</address>
<port>56542</port>
</udpv4>
</locator>
<locator>
<udpv4>
<address>192.168.10.58</address>
<port>24565</port>
</udpv4>
</locator>
<locator>
<udpv4>
<address>192.168.10.59</address>
<port>56543</port>
</udpv4>
</locator>
<locator>
<udpv4>
<address>192.168.10.60</address>
<port>34565</port>
</udpv4>
</locator>
</discoveryServersList>
<ignoreParticipantFlags>FILTER_DIFFERENT_PROCESS|FILTER_SAME_PROCESS</ignoreParticipantFlags>
<EDP>SIMPLE</EDP>
<simpleEDP>
<PUBWRITER_SUBREADER>true</PUBWRITER_SUBREADER>
<PUBREADER_SUBWRITER>true</PUBREADER_SUBWRITER>
</simpleEDP>
<leaseDuration>
<sec>DURATION_INFINITY</sec>
</leaseDuration>
<leaseAnnouncement>
<sec>1</sec>
<nanosec>856000</nanosec>
</leaseAnnouncement>
<initialAnnouncements>
<count>10</count>
<period>
<nanosec>50</nanosec>
</period>
</initialAnnouncements>
<clientAnnouncementPeriod>
<nanosec>250000000</nanosec>
</clientAnnouncementPeriod>
<static_edp_xml_config>filename1.xml</static_edp_xml_config>
<static_edp_xml_config>filename2.xml</static_edp_xml_config>
<static_edp_xml_config>filename3.xml</static_edp_xml_config>
</discovery_config>
<avoid_builtin_multicast>true</avoid_builtin_multicast>
<use_WriterLivelinessProtocol>false</use_WriterLivelinessProtocol>
<metatrafficUnicastLocatorList>
<locator>
<udpv4>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</udpv4>
</locator>
<locator>
<tcpv4>
<!-- Both physical and logical (port), like TCP -->
<physical_port>5100</physical_port>
<port>7400</port>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<address>192.168.1.55</address>
</tcpv4>
</locator>
<locator>
<udpv6>
<port>8844</port>
<address>::1</address>
</udpv6>
</locator>
</metatrafficUnicastLocatorList>
<metatrafficMulticastLocatorList>
<locator>
<udpv4>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</udpv4>
</locator>
<locator>
<tcpv4>
<!-- Both physical and logical (port), like TCP -->
<physical_port>5100</physical_port>
<port>7400</port>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<address>192.168.1.55</address>
</tcpv4>
</locator>
<locator>
<udpv6>
<port>8844</port>
<address>::1</address>
</udpv6>
</locator>
</metatrafficMulticastLocatorList>
<initialPeersList>
<locator>
<udpv4>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</udpv4>
</locator>
<locator>
<tcpv4>
<!-- Both physical and logical (port), like TCP -->
<physical_port>5100</physical_port>
<port>7400</port>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<address>192.168.1.55</address>
</tcpv4>
</locator>
<locator>
<udpv6>
<port>8844</port>
<address>::1</address>
</udpv6>
</locator>
</initialPeersList>
<metatraffic_external_unicast_locators>
<udpv4 externality="1" cost="0" mask="24">
<address>100.100.100.10</address>
<port>34567</port>
</udpv4>
</metatraffic_external_unicast_locators>
<readerHistoryMemoryPolicy>PREALLOCATED_WITH_REALLOC</readerHistoryMemoryPolicy>
<writerHistoryMemoryPolicy>PREALLOCATED</writerHistoryMemoryPolicy>
<readerPayloadSize>512</readerPayloadSize>
<writerPayloadSize>512</writerPayloadSize>
<mutation_tries>55</mutation_tries>
<flow_controller_name>example_flow_controller</flow_controller_name>
</builtin>
<port>
<portBase>7400</portBase>
<domainIDGain>200</domainIDGain>
<participantIDGain>10</participantIDGain>
<offsetd0>0</offsetd0>
<offsetd1>1</offsetd1>
<offsetd2>2</offsetd2>
<offsetd3>3</offsetd3>
</port>
<participantID>99</participantID>
<userTransports>
<transport_id>ExampleTransportId1</transport_id>
<transport_id>ExampleTransportId2</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
<builtinTransports max_msg_size="50KB" sockets_size="50KB" non_blocking="false">DEFAULT</builtinTransports>
<propertiesPolicy>
<properties>
<property>
<name>Property1Name</name>
<value>Property1Value</value>
<propagate>false</propagate>
</property>
<property>
<name>Property2Name</name>
<value>Property2Value</value>
<propagate>false</propagate>
</property>
</properties>
</propertiesPolicy>
<allocation>
<remote_locators>
<max_unicast_locators>4</max_unicast_locators> <!-- uint32 -->
<max_multicast_locators>1</max_multicast_locators> <!-- uint32 -->
</remote_locators>
<total_participants>
<initial>0</initial>
<maximum>0</maximum>
<increment>1</increment>
</total_participants>
<total_readers>
<initial>0</initial>
<maximum>0</maximum>
<increment>1</increment>
</total_readers>
<total_writers>
<initial>0</initial>
<maximum>0</maximum>
<increment>1</increment>
</total_writers>
<max_partitions>256</max_partitions>
<max_user_data>256</max_user_data>
<max_properties>512</max_properties>
<send_buffers>
<preallocated_number>127</preallocated_number>
<dynamic>true</dynamic>
<network_buffers_config>
<initial>16</initial>
<maximum>0</maximum>
<increment>16</increment>
</network_buffers_config>
</send_buffers>
</allocation>
<builtin_controllers_sender_thread>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</builtin_controllers_sender_thread>
<timed_events_thread>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</timed_events_thread>
<discovery_server_thread>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</discovery_server_thread>
<typelookup_service_thread>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</typelookup_service_thread>
<builtin_transports_reception_threads>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</builtin_transports_reception_threads>
<security_log_thread>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</security_log_thread>
<flow_controller_descriptor_list>
<flow_controller_descriptor>
<name>example_flow_controller</name>
<scheduler>FIFO</scheduler>
<max_bytes_per_period>4096</max_bytes_per_period>
<period_ms>500</period_ms>
<sender_thread>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</sender_thread>
</flow_controller_descriptor>
</flow_controller_descriptor_list>
</rtps>
</participant>
<data_writer profile_name="datawriter_profile_example">
<topic>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
<resourceLimitsQos>
<max_samples>5</max_samples>
<max_instances>2</max_instances>
<max_samples_per_instance>1</max_samples_per_instance>
<allocated_samples>20</allocated_samples>
<extra_samples>10</extra_samples>
</resourceLimitsQos>
</topic>
<qos> <!-- dataWriterQosPoliciesType -->
<data_sharing>
<kind>AUTOMATIC</kind>
<shared_dir>/home</shared_dir>
<max_domains>10</max_domains>
<domain_ids>
<domainId>0</domainId>
<domainId>11</domainId>
</domain_ids>
</data_sharing>
<deadline>
<period>
<sec>1</sec>
</period>
</deadline>
<disable_heartbeat_piggyback>true</disable_heartbeat_piggyback>
<disablePositiveAcks>
<enabled>true</enabled>
<duration>
<sec>1</sec>
</duration>
</disablePositiveAcks>
<durability>
<kind>VOLATILE</kind>
</durability>
<!-- QoS policy pending implementation -->
<latencyBudget>
<duration>
<sec>1</sec>
</duration>
</latencyBudget>
<lifespan>
<duration>
<sec>5</sec>
</duration>
</lifespan>
<liveliness>
<kind>AUTOMATIC</kind>
<lease_duration>
<sec>1</sec>
<nanosec>856000</nanosec>
</lease_duration>
<announcement_period>
<sec>1</sec>
<nanosec>856000</nanosec>
</announcement_period>
</liveliness>
<ownership>
<kind>EXCLUSIVE</kind>
</ownership>
<ownershipStrength>
<value>50</value>
</ownershipStrength>
<partition>
<names>
<name>part1</name>
<name>part2</name>
</names>
</partition>
<publishMode>
<kind>ASYNCHRONOUS</kind>
<flow_controller_name>example_flow_controller</flow_controller_name>
</publishMode>
<reliability>
<kind>BEST_EFFORT</kind>
<max_blocking_time>
<sec>1</sec>
<nanosec>856000</nanosec>
</max_blocking_time>
</reliability>
</qos>
<times>
<initial_heartbeat_delay>
<sec>1</sec>
<nanosec>856000</nanosec>
</initial_heartbeat_delay>
<heartbeat_period>
<sec>1</sec>
<nanosec>856000</nanosec>
</heartbeat_period>
<nack_response_delay>
<sec>1</sec>
<nanosec>856000</nanosec>
</nack_response_delay>
<nack_supression_duration>
<sec>1</sec>
<nanosec>856000</nanosec>
</nack_supression_duration>
</times>
<unicastLocatorList>
<locator>
<udpv4>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</udpv4>
</locator>
<locator>
<tcpv4>
<!-- Both physical and logical (port), like TCP -->
<physical_port>5100</physical_port>
<port>7400</port>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<address>192.168.1.55</address>
</tcpv4>
</locator>
<locator>
<udpv6>
<port>8844</port>
<address>::1</address>
</udpv6>
</locator>
</unicastLocatorList>
<multicastLocatorList>
<locator>
<udpv4>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</udpv4>
</locator>
<locator>
<tcpv4>
<!-- Both physical and logical (port), like TCP -->
<physical_port>5100</physical_port>
<port>7400</port>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<address>192.168.1.55</address>
</tcpv4>
</locator>
<locator>
<udpv6>
<port>8844</port>
<address>::1</address>
</udpv6>
</locator>
</multicastLocatorList>
<external_unicast_locators>
<udpv4 externality="1" cost="0" mask="24">
<address>100.100.100.10</address>
<port>12345</port>
</udpv4>
</external_unicast_locators>
<ignore_non_matching_locators>true</ignore_non_matching_locators>
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
<propertiesPolicy>
<properties>
<property>
<name>Property1Name</name>
<value>Property1Value</value>
<propagate>false</propagate>
</property>
<property>
<name>Property2Name</name>
<value>Property2Value</value>
<propagate>false</propagate>
</property>
</properties>
</propertiesPolicy>
<userDefinedID>45</userDefinedID>
<entityID>76</entityID>
<matchedSubscribersAllocation>
<initial>3</initial>
<maximum>3</maximum>
<increment>0</increment>
</matchedSubscribersAllocation>
</data_writer>
<data_reader profile_name="datareader_profile_example">
<topic>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
<resourceLimitsQos>
<max_samples>5</max_samples>
<max_instances>2</max_instances>
<max_samples_per_instance>1</max_samples_per_instance>
<allocated_samples>20</allocated_samples>
<extra_samples>10</extra_samples>
</resourceLimitsQos>
</topic>
<qos> <!-- dataReaderQosPoliciesType -->
<data_sharing>
<kind>AUTOMATIC</kind>
<shared_dir>/home</shared_dir>
<max_domains>10</max_domains>
<domain_ids>
<domainId>0</domainId>
<domainId>11</domainId>
</domain_ids>
<data_sharing_listener_thread>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</data_sharing_listener_thread>
</data_sharing>
<deadline>
<period>
<sec>1</sec>
</period>
</deadline>
<disablePositiveAcks>
<enabled>true</enabled>
<duration>
<sec>1</sec>
</duration>
</disablePositiveAcks>
<durability>
<kind>PERSISTENT</kind>
</durability>
<!-- QoS policy pending implementation -->
<latencyBudget>
<duration>
<sec>1</sec>
</duration>
</latencyBudget>
<lifespan>
<duration>
<sec>5</sec>
</duration>
</lifespan>
<liveliness>
<kind>MANUAL_BY_PARTICIPANT</kind>
<lease_duration>
<sec>1</sec>
<nanosec>856000</nanosec>
</lease_duration>
<announcement_period>
<sec>1</sec>
<nanosec>856000</nanosec>
</announcement_period>
</liveliness>
<ownership>
<kind>EXCLUSIVE</kind>
</ownership>
<partition>
<names>
<name>part1</name>
<name>part2</name>
</names>
</partition>
<reliability>
<kind>BEST_EFFORT</kind>
<max_blocking_time>
<sec>1</sec>
<nanosec>856000</nanosec>
</max_blocking_time>
</reliability>
</qos>
<times>
<initial_acknack_delay>
<sec>1</sec>
<nanosec>856000</nanosec>
</initial_acknack_delay>
<heartbeat_response_delay>
<sec>1</sec>
<nanosec>856000</nanosec>
</heartbeat_response_delay>
</times>
<unicastLocatorList>
<locator>
<udpv4>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</udpv4>
</locator>
<locator>
<tcpv4>
<!-- Both physical and logical (port), like TCP -->
<physical_port>5100</physical_port>
<port>7400</port>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<address>192.168.1.55</address>
</tcpv4>
</locator>
<locator>
<udpv6>
<port>8844</port>
<address>::1</address>
</udpv6>
</locator>
</unicastLocatorList>
<multicastLocatorList>
<locator>
<udpv4>
<!-- Access as physical, like UDP -->
<port>7400</port>
<address>192.168.1.41</address>
</udpv4>
</locator>
<locator>
<tcpv4>
<!-- Both physical and logical (port), like TCP -->
<physical_port>5100</physical_port>
<port>7400</port>
<unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
<wan_address>80.80.99.45</wan_address>
<address>192.168.1.55</address>
</tcpv4>
</locator>
<locator>
<udpv6>
<port>8844</port>
<address>::1</address>
</udpv6>
</locator>
</multicastLocatorList>
<external_unicast_locators>
<udpv4 externality="1" cost="0" mask="24">
<address>100.100.100.10</address>
<port>12345</port>
</udpv4>
</external_unicast_locators>
<ignore_non_matching_locators>true</ignore_non_matching_locators>
<expects_inline_qos>true</expects_inline_qos>
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
<propertiesPolicy>
<properties>
<property>
<name>Property1Name</name>
<value>Property1Value</value>
<propagate>false</propagate>
</property>
<property>
<name>Property2Name</name>
<value>Property2Value</value>
<propagate>false</propagate>
</property>
</properties>
</propertiesPolicy>
<userDefinedID>55</userDefinedID>
<entityID>66</entityID>
<matchedPublishersAllocation>
<initial>1</initial>
<maximum>1</maximum>
<increment>0</increment>
</matchedPublishersAllocation>
</data_reader>
<topic profile_name="topic_profile_example">
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
<resourceLimitsQos>
<max_samples>5</max_samples>
<max_instances>2</max_instances>
<max_samples_per_instance>1</max_samples_per_instance>
<allocated_samples>20</allocated_samples>
<extra_samples>10</extra_samples>
</resourceLimitsQos>
</topic>
</profiles>
<library_settings>
<intraprocess_delivery>USER_DATA_ONLY</intraprocess_delivery>
</library_settings>
<log>
<use_default>false</use_default>
<consumer>
<class>StdoutConsumer</class>
</consumer>
<consumer>
<class>StdoutErrConsumer</class>
<property>
<name>stderr_threshold</name>
<value>Log::Kind::Warning</value>
</property>
</consumer>
<consumer>
<class>FileConsumer</class>
<property>
<name>filename</name>
<value>execution.log</value>
</property>
<property>
<name>append</name>
<value>TRUE</value>
</property>
</consumer>
<thread_settings>
<scheduling_policy>-1</scheduling_policy>
<priority>0</priority>
<affinity>0</affinity>
<stack_size>-1</stack_size>
</thread_settings>
</log>
<types>
<type> <!-- Types can be defined in its own type of tag or sharing the same tag -->
<enum name="MyAloneEnumType">
<enumerator name="A" value="0"/>
<enumerator name="B" value="1"/>
<enumerator name="C"/>
</enum>
</type>
<type>
<!-- All possible members struct type -->
<struct name="MyFullStruct">
<!-- Primitives & basic -->
<member name="my_bool" type="boolean"/>
<member name="my_char" type="char8"/>
<member name="my_wchar" type="char16"/>
<member name="my_byte" type="byte"/>
<member name="my_octet" type="octet"/>
<member name="my_uint8" type="uint8"/>
<member name="my_short" type="int16"/>
<member name="my_long" type="int32"/>
<member name="my_unsignedshort" type="uint16"/>
<member name="my_unsignedlong" type="uint32"/>
<member name="my_longlong" type="int64"/>
<member name="my_unsignedlonglong" type="uint64"/>
<member name="my_float" type="float32"/>
<member name="my_double" type="float64"/>
<member name="my_longdouble" type="float128"/>
<member name="my_string" type="string"/>
<member name="my_wstring" type="wstring"/>
<!-- string my_boundedString[41925] -->
<member name="my_boundedString" type="string" stringMaxLength="41925"/>
<!-- wstring my_boundedWString[41925] -->
<member name="my_boundedWString" type="wstring" stringMaxLength="41925"/>
<!-- short short_sequence[5]; -->
<member name="short_sequence" sequenceMaxLength="5" type="int16"/>
<!-- long long_array[2][3][4]; -->
<member name="long_array" arrayDimensions="2,3,4" type="int32"/>
<!-- map<long,long,2> my_map_inner -->
<member name="my_map" type="int32" key_type="int32" mapMaxLength="2"/>
</struct>
<typedef name="inner_map" type="char8" key_type="int16"/>
<struct name="MyComplexStruct">
<!-- Complex types -->
<member name="my_other_struct" type="nonBasic" nonBasicTypeName="MyFullStruct"/>
<!-- map<long,map<long,long,2>,2> my_map_map; -->
<member name="my_map_map" type="nonBasic" nonBasicTypeName="inner_map" key_type="int32" mapMaxLength="2"/>
</struct>
<enum name="MyEnum">
<enumerator name="A" value="0"/>
<enumerator name="B" value="1"/>
<enumerator name="C"/>
</enum>
<typedef name="MyAlias1" type="nonBasic" nonBasicTypeName="MyEnum"/>
<typedef name="MyAlias2" type="int32" arrayDimensions="2,2"/>
<struct name="MyStruct">
<member name="first" type="int32"/>
<member name="second" type="int64"/>
</struct>
<!-- TODO(XTypes: Fix inheritance loading from XML profile) Fast DDS#4626 -->
<!-- <struct name="OtherInheritedStruct" baseType="MyStruct">
<member name="my_enum" type="nonBasic" nonBasicTypeName="MyEnum"/>
<member name="my_struct" type="nonBasic" nonBasicTypeName="MyFullStruct" arrayDimensions="5"/>
</struct> -->
<union name="MyUnion1">
<discriminator type="byte"/>
<case>
<caseDiscriminator value="0"/>
<caseDiscriminator value="1"/>
<member name="first" type="int32"/>
</case>
<case>
<caseDiscriminator value="2"/>
<member name="second" type="nonBasic" nonBasicTypeName="MyStruct"/>
</case>
<case>
<caseDiscriminator value="default"/>
<member name="third" type="int64"/>
</case>
</union>
<bitset name="MyBitSet">
<bitfield name="a" bit_bound="3"/>
<bitfield name="b" bit_bound="10"/>
<bitfield name="c" bit_bound="12" type="int16"/>
</bitset>
<!-- TODO(XTypes: Fix inheritance loading from XML profile) Fast DDS#4626 -->
<!-- <bitset name="OtherInheritedBitSet" baseType="MyBitSet">
<bitfield bit_bound="8"/>
<bitfield bit_bound="15" type="byte"/>
</bitset> -->
<bitmask name="MyBitMask" bit_bound="8">
<bit_value name="flag0" position="0"/>
<bit_value name="flag1"/>
</bitmask>
</type>
</types>
</dds>
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