From 6a7eeb83d30be220d2e09c8fa5713731748d40ab Mon Sep 17 00:00:00 2001
From: Yadu <yadunund@openrobotics.org>
Date: Mon, 4 Dec 2023 09:18:45 +0800
Subject: [PATCH] Update session and router configs (#77)

Signed-off-by: Yadunund <yadunund@gmail.com>
---
 .../DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5     | 25 +++++++++---------
 .../DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5    | 26 +++++++++----------
 2 files changed, 25 insertions(+), 26 deletions(-)

diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
index 506822d9..434de9fe 100644
--- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
+++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
@@ -127,9 +127,16 @@
       /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to
       ///       enable 'lowlatency' you need to explicitly disable 'qos'.
       lowlatency: false,
-    },
-    qos: {
-      enabled: true,
+      /// Enables QoS on unicast communications.
+      qos: {
+        enabled: true,
+      },
+      /// Enables compression on unicast communications.
+      /// Compression capabilities are negotiated during session establishment.
+      /// If both Zenoh nodes support compression, then compression is activated.
+      compression: {
+        enabled: false,
+      },
     },
     link: {
       /// An optional whitelist of protocols to be used for accepting and opening sessions.
@@ -177,6 +184,9 @@
           /// The initial exponential backoff time in nanoseconds to allow the batching to eventually progress.
           /// Higher values lead to a more aggressive batching but it will introduce additional latency.
           backoff: 100,
+          // Number of threads dedicated to transmission
+          // By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
+          // threads: 4,
         },
       },
       /// Configure the zenoh RX parameters of a link
@@ -214,15 +224,6 @@
         // ca to verify that the server at baz.com is actually baz.com, let this be true (default).
         server_name_verification: null,
       },
-
-      /// **Experimental** compression feature.
-      /// Will compress the batches hop to hop (as opposed to end to end).
-      /// The features "transport_compression" and "unstable" need to be enabled to handle
-      /// compression on the integrality of the network.
-      compression: {
-        /// When 'enabled' is true, batches will be sent compressed.
-        enabled: false,
-      },
     },
     /// Shared memory configuration
     shared_memory: {
diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
index c1418252..43550e1d 100644
--- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
+++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
@@ -123,13 +123,20 @@
       /// This option does not make LowLatency transport mandatory, the actual implementation of transport
       /// used will depend on Establish procedure and other party's settings
       ///
-      /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization. 
+      /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization.
       /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to
       ///       enable 'lowlatency' you need to explicitly disable 'qos'.
       lowlatency: false,
-    },
-    qos: {
-      enabled: true,
+      /// Enables QoS on unicast communications.
+      qos: {
+        enabled: true,
+      },
+      /// Enables compression on unicast communications.
+      /// Compression capabilities are negotiated during session establishment.
+      /// If both Zenoh nodes support compression, then compression is activated.
+      compression: {
+        enabled: false,
+      },
     },
     link: {
       /// An optional whitelist of protocols to be used for accepting and opening sessions.
@@ -214,19 +221,10 @@
         // ca to verify that the server at baz.com is actually baz.com, let this be true (default).
         server_name_verification: null,
       },
-
-      /// **Experimental** compression feature.
-      /// Will compress the batches hop to hop (as opposed to end to end).
-      /// The features "transport_compression" and "unstable" need to be enabled to handle
-      /// compression on the integrality of the network.
-      compression: {
-        /// When 'enabled' is true, batches will be sent compressed.
-        enabled: false,
-      },
     },
     /// Shared memory configuration
     shared_memory: {
-      enabled: true, // 
+      enabled: true, //
     },
     /// Access control configuration
     auth: {