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Change default to synchronous #571

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merged 4 commits into from
Jan 25, 2022
Merged

Change default to synchronous #571

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0af57f6
Change default to synchronous
paudrow Nov 29, 2021
4dc70aa
Update README
paudrow Nov 30, 2021
0c978f6
Update pick mode by environment variable
paudrow Nov 30, 2021
d8ae048
Remove comments
paudrow Nov 30, 2021
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2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ This entails that any blocking call occurring during the write operation would b
It is important to note that this mode typically yields higher throughput rates at lower latencies, since the notification and context switching between threads is not present.
* `AUTO`: let Fast DDS select the publication mode. This implies using the publication mode set in the XML file or, failing that, the default value set in Fast DDS (which currently is set to `SYNCHRONOUS`).
If `RMW_FASTRTPS_PUBLICATION_MODE` is not set, then both `rmw_fastrtps_cpp` and `rmw_fastrtps_dynamic_cpp` behave as if it were set to `ASYNCHRONOUS`.
If `RMW_FASTRTPS_PUBLICATION_MODE` is not set, then both `rmw_fastrtps_cpp` and `rmw_fastrtps_dynamic_cpp` behave as if it were set to `SYNCHRONOUS`.
### Full QoS configuration
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9 changes: 5 additions & 4 deletions rmw_fastrtps_shared_cpp/src/participant.cpp
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Expand Up @@ -189,7 +189,7 @@ rmw_fastrtps_shared_cpp::create_participant(
domainParticipantQos.name(enclave);

bool leave_middleware_default_qos = false;
publishing_mode_t publishing_mode = publishing_mode_t::ASYNCHRONOUS;
publishing_mode_t publishing_mode = publishing_mode_t::SYNCHRONOUS;
const char * env_value;
const char * error_str;
error_str = rcutils_get_env("RMW_FASTRTPS_USE_QOS_FROM_XML", &env_value);
Expand All @@ -207,16 +207,17 @@ rmw_fastrtps_shared_cpp::create_participant(
return nullptr;
}
if (env_value != nullptr) {
// Synchronous publishing
if (strcmp(env_value, "SYNCHRONOUS") == 0) {
publishing_mode = publishing_mode_t::SYNCHRONOUS;
} else if (strcmp(env_value, "ASYNCHRONOUS") == 0) {
publishing_mode = publishing_mode_t::ASYNCHRONOUS;
} else if (strcmp(env_value, "AUTO") == 0) {
publishing_mode = publishing_mode_t::AUTO;
} else if (strcmp(env_value, "ASYNCHRONOUS") != 0 && strcmp(env_value, "") != 0) {
} else if (strcmp(env_value, "") != 0) {
RCUTILS_LOG_WARN_NAMED(
"rmw_fastrtps_shared_cpp",
"Value %s unknown for environment variable RMW_FASTRTPS_PUBLICATION_MODE"
". Using default ASYNCHRONOUS publishing mode.", env_value);
". Using default SYNCHRONOUS publishing mode.", env_value);
}
}
}
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