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Update session and router configs #77

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merged 1 commit into from
Dec 4, 2023
Merged

Update session and router configs #77

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25 changes: 13 additions & 12 deletions rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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: {
Expand Down
26 changes: 12 additions & 14 deletions rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand Down Expand Up @@ -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: {
Expand Down
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