STM32 config

Author: Alexandru Kampmann

include/rtps/config_stm.h

@@ -37,46 +37,62 @@ namespace rtps {
 namespace Config {
 const VendorId_t VENDOR_ID = {13, 37};
 const std::array<uint8_t, 4> IP_ADDRESS = {
- 192, 168, 0, 66}; // Needs to be set in lwipcfg.h too.
-const GuidPrefix_t BASE_GUID_PREFIX{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12};
+ 192, 168, 127, 103}; // Needs to be set in lwipcfg.h too.
+const GuidPrefix_t BASE_GUID_PREFIX{1, 33, 63, 84,15, 36, 68, 3, 34, 41, 1};
 
 const uint8_t DOMAIN_ID = 0; // 230 possible with UDP
-const uint8_t NUM_STATELESS_WRITERS = 2;
-const uint8_t NUM_STATELESS_READERS = 2;
+const uint8_t NUM_STATELESS_WRITERS = 5;
+const uint8_t NUM_STATELESS_READERS = 5;
 const uint8_t NUM_STATEFUL_READERS = 2;
 const uint8_t NUM_STATEFUL_WRITERS = 2;
 const uint8_t MAX_NUM_PARTICIPANTS = 1;
-const uint8_t NUM_WRITERS_PER_PARTICIPANT = 4;
-const uint8_t NUM_READERS_PER_PARTICIPANT = 4;
-const uint8_t NUM_WRITER_PROXIES_PER_READER = 3;
-const uint8_t NUM_READER_PROXIES_PER_WRITER = 3;
+const uint8_t NUM_WRITERS_PER_PARTICIPANT = 10;
+const uint8_t NUM_READERS_PER_PARTICIPANT = 10;
+const uint8_t NUM_WRITER_PROXIES_PER_READER = 6;
+const uint8_t NUM_READER_PROXIES_PER_WRITER = 6;
 
-const uint8_t HISTORY_SIZE = 10;
+const uint8_t MAX_NUM_UNMATCHED_REMOTE_WRITERS = 50;
+const uint8_t MAX_NUM_UNMATCHED_REMOTE_READERS = 50;
+ 
+const uint8_t MAX_NUM_READER_CALLBACKS = 5;
 
-const uint8_t MAX_TYPENAME_LENGTH = 20;
-const uint8_t MAX_TOPICNAME_LENGTH = 20;
+
+const uint8_t HISTORY_SIZE_STATELESS = 2;
+const uint8_t HISTORY_SIZE_STATEFUL = 10;
+
+const uint8_t MAX_TYPENAME_LENGTH = 64;
+const uint8_t MAX_TOPICNAME_LENGTH = 64;
 
 const int HEARTBEAT_STACKSIZE = 1200; // byte
-const int THREAD_POOL_WRITER_STACKSIZE = 1100; // byte
-const int THREAD_POOL_READER_STACKSIZE = 1600; // byte
-const uint16_t SPDP_WRITER_STACKSIZE = 550; // byte
+const int THREAD_POOL_WRITER_STACKSIZE = 3*1100; // byte
+const int THREAD_POOL_READER_STACKSIZE = 3*1600; // byte
+const uint16_t SPDP_WRITER_STACKSIZE = 3*550; // byte
 
-const uint16_t SF_WRITER_HB_PERIOD_MS = 4000;
-const uint16_t SPDP_RESEND_PERIOD_MS = 10000;
+const uint16_t SF_WRITER_HB_PERIOD_MS = 2000;
+const uint16_t SPDP_RESEND_PERIOD_MS = 1000;
 const uint8_t SPDP_CYCLECOUNT_HEARTBEAT =
  2; // skip x SPDP rounds before checking liveliness
-const uint8_t SPDP_WRITER_PRIO = 3;
-const uint8_t SPDP_MAX_NUMBER_FOUND_PARTICIPANTS = 5;
-const uint8_t SPDP_MAX_NUM_LOCATORS = 5;
-const Duration_t SPDP_LEASE_DURATION = {100, 0};
+const uint8_t SPDP_WRITER_PRIO = 24;
+const uint8_t SPDP_MAX_NUMBER_FOUND_PARTICIPANTS = 10;
+const uint8_t SPDP_MAX_NUM_LOCATORS = 1;
+const Duration_t SPDP_DEFAULT_REMOTE_LEASE_DURATION = {
+ 5, 0}; // Default lease duration for remote participants, usually
+ // overwritten by remote info
+const Duration_t SPDP_MAX_REMOTE_LEASE_DURATION = {
+ 180,
+ 0}; // Absolute maximum lease duration, ignoring remote participant info
+
+const Duration_t SPDP_LEASE_DURATION = {5, 0};
 
 const int MAX_NUM_UDP_CONNECTIONS = 10;
 
 const int THREAD_POOL_NUM_WRITERS = 1;
 const int THREAD_POOL_NUM_READERS = 1;
-const int THREAD_POOL_WRITER_PRIO = 3;
-const int THREAD_POOL_READER_PRIO = 3;
-const int THREAD_POOL_WORKLOAD_QUEUE_LENGTH = 10;
+const int THREAD_POOL_WRITER_PRIO = 24;
+const int THREAD_POOL_READER_PRIO = 24;
+const int THREAD_POOL_WORKLOAD_QUEUE_LENGTH_USERTRAFFIC = 60;
+const int THREAD_POOL_WORKLOAD_QUEUE_LENGTH_METATRAFFIC = 60;
+
 
 constexpr int OVERALL_HEAP_SIZE =
  THREAD_POOL_NUM_WRITERS * THREAD_POOL_WRITER_STACKSIZE +