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Update router and session config (backport #396) #414

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Jan 13, 2025
Merged

Update router and session config (backport #396) #414

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72 changes: 71 additions & 1 deletion rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,15 @@

/// Which endpoints to connect to. E.g. tcp/localhost:7447.
/// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
///
/// For TCP/UDP on Linux, it is possible additionally specify the interface to be connected to:
/// E.g. tcp/192.168.0.1:7447#iface=eth0, for connect only if the IP address is reachable via the interface eth0
///
/// It is also possible to specify a priority range and/or a reliability setting to be used on the link.
/// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link.
///
/// For TCP and TLS links, it is possible to specify the TCP buffer sizes:
/// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000
connect: {
/// timeout waiting for all endpoints connected (0: no retry, -1: infinite timeout)
/// Accepts a single value (e.g. timeout_ms: 0)
Expand Down Expand Up @@ -52,8 +59,15 @@
/// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
/// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
/// peers, or client can use to establish a zenoh session.
///
/// For TCP/UDP on Linux, it is possible additionally specify the interface to be listened to:
/// E.g. tcp/0.0.0.0:7447#iface=eth0, for listen connection only on eth0
///
/// It is also possible to specify a priority range and/or a reliability setting to be used on the link.
/// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link.
///
/// For TCP and TLS links, it is possible to specify the TCP buffer sizes:
/// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000
listen: {
/// timeout waiting for all listen endpoints (0: no retry, -1: infinite timeout)
/// Accepts a single value (e.g. timeout_ms: 0)
Expand Down Expand Up @@ -87,7 +101,18 @@
period_increase_factor: 2,
},
},

/// Configure the session open behavior.
open: {
/// Configure the conditions to be met before session open returns.
return_conditions: {
/// Session open waits to connect to scouted peers and routers before returning.
/// When set to false, first publications and queries after session open from peers may be lost.
connect_scouted: true,
/// Session open waits to receive initial declares from connected peers before returning.
/// Setting to false may cause extra traffic at startup from peers.
declares: true,
},
},
/// Configure the scouting mechanisms and their behaviours
scouting: {
/// In client mode, the period in milliseconds dedicated to scouting for a router before failing.
Expand Down Expand Up @@ -168,6 +193,27 @@
},
},

// /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values)
// qos: {
// /// Overwrite QoS options for PUT and DELETE messages
// publication: [
// {
// /// PUT and DELETE messages on key expressions that are included by these key expressions
// /// will have their QoS options overwritten by the given config.
// key_exprs: ["demo/**", "example/key"],
// /// Configurations that will be applied on the publisher.
// /// Options that are supplied here will overwrite the configuration given in Zenoh API
// config: {
// congestion_control: "block",
// priority: "data_high",
// express: true,
// reliability: "best_effort",
// allowed_destination: "remote",
// },
// },
// ],
// },

// /// The declarations aggregation strategy.
// aggregation: {
// /// A list of key-expressions for which all included subscribers will be aggregated into.
Expand Down Expand Up @@ -209,6 +255,7 @@
// "messages": [
// "put", "delete", "declare_subscriber",
// "query", "reply", "declare_queryable",
// "liveliness_token", "liveliness_query", "declare_liveliness_subscriber",
// ],
// "flows":["egress","ingress"],
// "permission": "allow",
Expand Down Expand Up @@ -293,6 +340,8 @@
transport: {
unicast: {
/// Timeout in milliseconds when opening a link
open_timeout: 10000,
/// Timeout in milliseconds when accepting a link
accept_timeout: 10000,
/// Maximum number of zenoh session in pending state while accepting
accept_pending: 100,
Expand Down Expand Up @@ -395,6 +444,8 @@
drop: {
/// The maximum time in microseconds to wait for an available batch before dropping a droppable message if still no batch is available.
wait_before_drop: 1000,
/// The maximum deadline limit for multi-fragment messages.
max_wait_before_drop_fragments: 50000,
},
/// Behavior pushing CongestionControl::Block messages to the queue.
block: {
Expand Down Expand Up @@ -450,7 +501,26 @@
// This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com.
// If you want your ca to verify that the server at baz.com is actually baz.com, let this be true (default).
verify_name_on_connect: true,
// Whether or not to close links when remote certificates expires.
// If set to true, links that require certificates (tls/quic) will automatically disconnect when the time of expiration of the remote certificate chain is reached
// note that mTLS (client authentication) is required for a listener to disconnect a client on expiration
close_link_on_expiration: false,
/// Optional configuration for TCP system buffers sizes for TLS links
///
/// Configure TCP read buffer size (bytes)
// so_rcvbuf: 123456,
/// Configure TCP write buffer size (bytes)
// so_sndbuf: 123456,
},
// // Configure optional TCP link specific parameters
// tcp: {
// /// Optional configuration for TCP system buffers sizes for TCP links
// ///
// /// Configure TCP read buffer size (bytes)
// // so_rcvbuf: 123456,
// /// Configure TCP write buffer size (bytes)
// // so_sndbuf: 123456,
// }
},
/// Shared memory configuration.
/// NOTE: shared memory can be used only if zenoh is compiled with "shared-memory" feature, otherwise
Expand Down
72 changes: 71 additions & 1 deletion rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,15 @@

/// Which endpoints to connect to. E.g. tcp/localhost:7447.
/// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
///
/// For TCP/UDP on Linux, it is possible additionally specify the interface to be connected to:
/// E.g. tcp/192.168.0.1:7447#iface=eth0, for connect only if the IP address is reachable via the interface eth0
///
/// It is also possible to specify a priority range and/or a reliability setting to be used on the link.
/// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link.
///
/// For TCP and TLS links, it is possible to specify the TCP buffer sizes:
/// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000
connect: {
/// timeout waiting for all endpoints connected (0: no retry, -1: infinite timeout)
/// Accepts a single value (e.g. timeout_ms: 0)
Expand Down Expand Up @@ -54,8 +61,15 @@
/// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
/// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
/// peers, or client can use to establish a zenoh session.
///
/// For TCP/UDP on Linux, it is possible additionally specify the interface to be listened to:
/// E.g. tcp/0.0.0.0:7447#iface=eth0, for listen connection only on eth0
///
/// It is also possible to specify a priority range and/or a reliability setting to be used on the link.
/// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link.
///
/// For TCP and TLS links, it is possible to specify the TCP buffer sizes:
/// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000
listen: {
/// timeout waiting for all listen endpoints (0: no retry, -1: infinite timeout)
/// Accepts a single value (e.g. timeout_ms: 0)
Expand Down Expand Up @@ -92,7 +106,18 @@
period_increase_factor: 2,
},
},

/// Configure the session open behavior.
open: {
/// Configure the conditions to be met before session open returns.
return_conditions: {
/// Session open waits to connect to scouted peers and routers before returning.
/// When set to false, first publications and queries after session open from peers may be lost.
connect_scouted: true,
/// Session open waits to receive initial declares from connected peers before returning.
/// Setting to false may cause extra traffic at startup from peers.
declares: true,
},
},
/// Configure the scouting mechanisms and their behaviours
scouting: {
/// In client mode, the period in milliseconds dedicated to scouting for a router before failing.
Expand Down Expand Up @@ -171,6 +196,27 @@
},
},

// /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values)
// qos: {
// /// Overwrite QoS options for PUT and DELETE messages
// publication: [
// {
// /// PUT and DELETE messages on key expressions that are included by these key expressions
// /// will have their QoS options overwritten by the given config.
// key_exprs: ["demo/**", "example/key"],
// /// Configurations that will be applied on the publisher.
// /// Options that are supplied here will overwrite the configuration given in Zenoh API
// config: {
// congestion_control: "block",
// priority: "data_high",
// express: true,
// reliability: "best_effort",
// allowed_destination: "remote",
// },
// },
// ],
// },

// /// The declarations aggregation strategy.
// aggregation: {
// /// A list of key-expressions for which all included subscribers will be aggregated into.
Expand Down Expand Up @@ -212,6 +258,7 @@
// "messages": [
// "put", "delete", "declare_subscriber",
// "query", "reply", "declare_queryable",
// "liveliness_token", "liveliness_query", "declare_liveliness_subscriber",
// ],
// "flows":["egress","ingress"],
// "permission": "allow",
Expand Down Expand Up @@ -296,6 +343,8 @@
transport: {
unicast: {
/// Timeout in milliseconds when opening a link
open_timeout: 10000,
/// Timeout in milliseconds when accepting a link
accept_timeout: 10000,
/// Maximum number of zenoh session in pending state while accepting
accept_pending: 100,
Expand Down Expand Up @@ -398,6 +447,8 @@
drop: {
/// The maximum time in microseconds to wait for an available batch before dropping a droppable message if still no batch is available.
wait_before_drop: 1000,
/// The maximum deadline limit for multi-fragment messages.
max_wait_before_drop_fragments: 50000,
},
/// Behavior pushing CongestionControl::Block messages to the queue.
block: {
Expand Down Expand Up @@ -453,7 +504,26 @@
// This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com.
// If you want your ca to verify that the server at baz.com is actually baz.com, let this be true (default).
verify_name_on_connect: true,
// Whether or not to close links when remote certificates expires.
// If set to true, links that require certificates (tls/quic) will automatically disconnect when the time of expiration of the remote certificate chain is reached
// note that mTLS (client authentication) is required for a listener to disconnect a client on expiration
close_link_on_expiration: false,
/// Optional configuration for TCP system buffers sizes for TLS links
///
/// Configure TCP read buffer size (bytes)
// so_rcvbuf: 123456,
/// Configure TCP write buffer size (bytes)
// so_sndbuf: 123456,
},
// // Configure optional TCP link specific parameters
// tcp: {
// /// Optional configuration for TCP system buffers sizes for TCP links
// ///
// /// Configure TCP read buffer size (bytes)
// // so_rcvbuf: 123456,
// /// Configure TCP write buffer size (bytes)
// // so_sndbuf: 123456,
// }
},
/// Shared memory configuration.
/// NOTE: shared memory can be used only if zenoh is compiled with "shared-memory" feature, otherwise
Expand Down
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