ThreadSettings documentation (#590)

* Refs #19645. Fix cardinality and add TCP accept thread.

Signed-off-by: Miguel Company <[email protected]>
Signed-off-by: EduPonz <[email protected]>

* Refs #19645. Add OS thread name column.

Signed-off-by: Miguel Company <[email protected]>
Signed-off-by: EduPonz <[email protected]>

* Refs #19645. Add basic section for ThreadSettings.

Signed-off-by: Miguel Company <[email protected]>
Signed-off-by: EduPonz <[email protected]>

* Refs #19645: Reference ThreadSettings section in execution model

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: DomainParticipantFactory ThreadSettings configuration

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: DomainParticipant ThreadSettings configuration

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: PortBasedTransportDescriptor ThreadSettings configuration

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: SHM ThreadSettings configuration

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: FlowControllerDescriptor ThreadSettings configuration

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: DataReader ThreadSettings configuration

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: Log ThreadSettings configuration

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: Apply Miguel's suggestions

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: Apply Miguel's suggestions 2

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: Add missing TCPTransportDescriptor thread settings

Signed-off-by: EduPonz <[email protected]>

* Refs #19645: Add missing includes

Signed-off-by: EduPonz <[email protected]>

---------

Signed-off-by: Miguel Company <[email protected]>
Signed-off-by: EduPonz <[email protected]>
Co-authored-by: Miguel Company <[email protected]>

code/DDSCodeTester.cpp

@@ -1,54 +1,52 @@
+#include <memory>
+#include <sstream>
+#include <thread>
+
+#include <fastcdr/Cdr.h>
+
 #include <fastdds/dds/core/condition/GuardCondition.hpp>
 #include <fastdds/dds/core/condition/WaitSet.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/DomainParticipant.hpp>
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/DomainParticipantListener.hpp>
+#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
+#include <fastdds/dds/log/FileConsumer.hpp>
+#include <fastdds/dds/log/Log.hpp>
+#include <fastdds/dds/log/OStreamConsumer.hpp>
+#include <fastdds/dds/log/StdoutConsumer.hpp>
+#include <fastdds/dds/log/StdoutErrConsumer.hpp>
+#include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/publisher/Publisher.hpp>
-#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/publisher/PublisherListener.hpp>
-#include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
-#include <fastdds/dds/subscriber/Subscriber.hpp>
-#include <fastdds/dds/subscriber/SubscriberListener.hpp>
-#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
-#include <fastdds/dds/subscriber/SubscriberListener.hpp>
+#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/DataReaderListener.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
+#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
-#include <fastdds/dds/topic/Topic.hpp>
+#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/dds/subscriber/SubscriberListener.hpp>
+#include <fastdds/dds/subscriber/SubscriberListener.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
+#include <fastdds/dds/topic/Topic.hpp>
 #include <fastdds/dds/topic/TopicListener.hpp>
-#include <fastrtps/xmlparser/XMLProfileManager.h>
-
-#include <fastrtps/types/DynamicTypePtr.h>
-#include <fastrtps/types/DynamicDataFactory.h>
-#include <fastdds/dds/log/Log.hpp>
-#include <fastdds/dds/log/OStreamConsumer.hpp>
-#include <fastdds/dds/log/StdoutConsumer.hpp>
-#include <fastdds/dds/log/StdoutErrConsumer.hpp>
-#include <fastdds/dds/log/FileConsumer.hpp>
-
+#include <fastdds/rtps/attributes/ThreadSettings.hpp>
+#include <fastdds/rtps/transport/ChainingTransport.h>
+#include <fastdds/rtps/transport/ChainingTransportDescriptor.h>
+#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
 #include <fastdds/rtps/transport/TCPTransportDescriptor.h>
-#include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
-#include <fastdds/rtps/transport/UDPv6TransportDescriptor.h>
 #include <fastdds/rtps/transport/TCPv4TransportDescriptor.h>
 #include <fastdds/rtps/transport/TCPv6TransportDescriptor.h>
-#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
-#include <fastdds/rtps/transport/ChainingTransportDescriptor.h>
-#include <fastdds/rtps/transport/ChainingTransport.h>
-
+#include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
+#include <fastdds/rtps/transport/UDPv6TransportDescriptor.h>
 #include <fastdds/statistics/dds/domain/DomainParticipant.hpp>
 #include <fastdds/statistics/dds/publisher/qos/DataWriterQos.hpp>
 #include <fastdds/statistics/topic_names.hpp>
-
+#include <fastrtps/types/DynamicDataFactory.h>
+#include <fastrtps/types/DynamicTypePtr.h>
 #include <fastrtps/utils/IPLocator.h>
-
-#include <fastcdr/Cdr.h>
-
-#include <sstream>
-#include <memory>
+#include <fastrtps/xmlparser/XMLProfileManager.h>
 
 using namespace eprosima::fastdds::dds;
 
@@ -3945,6 +3943,9 @@ void dds_qos_examples()
  // unique for the current machine
  datasharing.automatic();
 
+ // [OPTIONAL] ThreadSettings for listening thread
+ datasharing.data_sharing_listener_thread(eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1});
+
  //!--
  }
 
@@ -4083,17 +4084,30 @@ void dds_qos_examples()
  //!--
  }
 
+ {
+ using namespace eprosima::fastdds::rtps;
+ //DDS_CHANGE_THREAD_SETTINGS
+ ThreadSettings thread_settings;
+ thread_settings.scheduling_policy = 2;
+ thread_settings.priority = 10;
+ thread_settings.affinity = 4;
+ thread_settings.stack_size = 2000;
+ //!--
+ }
+
  {
  //DDS_CHANGE_TRANSPORT_CONFIG_QOS
  TransportConfigQos transport;
- //Add new transport to the list of user transports
+ // Add new transport to the list of user transports
  std::shared_ptr<eprosima::fastdds::rtps::UDPv4TransportDescriptor> descriptor =
  std::make_shared<eprosima::fastdds::rtps::UDPv4TransportDescriptor>();
  descriptor->sendBufferSize = 9126;
  descriptor->receiveBufferSize = 9126;
  transport.user_transports.push_back(descriptor);
- //Set use_builtin_transports to false
+ // Set use_builtin_transports to false
  transport.use_builtin_transports = false;
+ // [OPTIONAL] Set ThreadSettings for the builtin transports reception threads
+ transport.builtin_transports_reception_threads_ = eprosima::fastdds::rtps::ThreadSettings{2, 2, 2, 2};
  //!--
  }
 
@@ -4354,6 +4368,9 @@ void log_examples()
 
  // Stop the loggin thread and free its resources.
  Log::KillThread();
+
+ // Configure ThreadSettings for the logging thread
+ Log::SetThreadConfig(eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1});
  //!--
 
 }
@@ -4556,6 +4573,10 @@ void dds_transport_examples ()
  udp_transport->receiveBufferSize = 9216;
  udp_transport->non_blocking_send = true;
 
+ // [OPTIONAL] ThreadSettings configuration
+ udp_transport->default_reception_threads(eprosima::fastdds::rtps::ThreadSettings{2, 2, 2, 2});
+ udp_transport->set_thread_config_for_port(12345, eprosima::fastdds::rtps::ThreadSettings{3, 3, 3, 3});
+
  // Link the Transport Layer to the Participant.
  qos.transport().user_transports.push_back(udp_transport);
 
@@ -4573,6 +4594,12 @@ void dds_transport_examples ()
  tcp_transport->add_listener_port(5100);
  tcp_transport->set_WAN_address("80.80.99.45");
 
+ // [OPTIONAL] ThreadSettings configuration
+ tcp_transport->default_reception_threads(eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1});
+ tcp_transport->set_thread_config_for_port(12345, eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1});
+ tcp_transport->keep_alive_thread = eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1};
+ tcp_transport->accept_thread = eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1};
+
  // Link the Transport Layer to the Participant.
  qos.transport().user_transports.push_back(tcp_transport);
 
@@ -4602,6 +4629,12 @@ void dds_transport_examples ()
  auto tcp_transport = std::make_shared<eprosima::fastdds::rtps::TCPv4TransportDescriptor>();
  qos.transport().user_transports.push_back(tcp_transport);
 
+ // [OPTIONAL] ThreadSettings configuration
+ tcp_transport->default_reception_threads(eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1});
+ tcp_transport->set_thread_config_for_port(12345, eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1});
+ tcp_transport->keep_alive_thread = eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1};
+ tcp_transport->accept_thread = eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1};
+
  // Set initial peers.
  eprosima::fastrtps::rtps::Locator_t initial_peer_locator;
  initial_peer_locator.kind = LOCATOR_KIND_TCPv4;
@@ -4623,6 +4656,11 @@ void dds_transport_examples ()
  // Create a descriptor for the new transport.
  std::shared_ptr<SharedMemTransportDescriptor> shm_transport = std::make_shared<SharedMemTransportDescriptor>();
 
+ // [OPTIONAL] ThreadSettings configuration
+ shm_transport->default_reception_threads(eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1});
+ shm_transport->set_thread_config_for_port(12345, eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1});
+ shm_transport->dump_thread(eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1});
+
  // Link the Transport Layer to the Participant.
  qos.transport().user_transports.push_back(shm_transport);
  //!--
@@ -5078,6 +5116,9 @@ void dds_usecase_examples()
  flow_control_300k_per_sec->max_bytes_per_period = 300 * 1000;
  flow_control_300k_per_sec->period_ms = 1000;
 
+ // [OPTIONAL] Configure sender thread settings
+ flow_control_300k_per_sec->sender_thread = eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1};
+
  // Register flow controller on participant
  DomainParticipantQos participant_qos;
  participant_qos.flow_controllers().push_back(flow_control_300k_per_sec);

code/Examples/C++/DDSHelloWorld/CMakeLists.txt

@@ -14,10 +14,6 @@
 
 cmake_minimum_required(VERSION 3.22)
 
-
-
-
-
 project(DDSHelloWorld)
 
 # Find requirements

code/Examples/C++/DDSHelloWorld/src/HelloWorldPublisher.cpp

@@ -19,12 +19,15 @@
 
 #include "HelloWorldPubSubTypes.h"
 
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <chrono>
+#include <thread>
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
-#include <fastdds/dds/topic/TypeSupport.hpp>
-#include <fastdds/dds/publisher/Publisher.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/publisher/DataWriterListener.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
+#include <fastdds/dds/topic/TypeSupport.hpp>
 
 using namespace eprosima::fastdds::dds;
 

code/Examples/C++/DDSHelloWorld/src/HelloWorldSubscriber.cpp

@@ -19,14 +19,17 @@
 
 #include "HelloWorldPubSubTypes.h"
 
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <chrono>
+#include <thread>
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
-#include <fastdds/dds/topic/TypeSupport.hpp>
-#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/DataReaderListener.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
+#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/dds/topic/TypeSupport.hpp>
 
 using namespace eprosima::fastdds::dds;