Apollo 10.0
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transport_conf.proto
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1syntax = "proto2";
2
3package apollo.cyber.proto;
4
6 HYBRID = 0;
7 INTRA = 1;
8 SHM = 2;
9 RTPS = 3;
10}
11
13 optional string ip = 1;
14 optional uint32 port = 2;
15};
16
18 optional string channel_name = 1;
19 // the acutal arena segment size is equal with max_msg_size * max_pool_size + meta,
20 // so max_msg_size * max_pool_size should be less than the limit of ArenaAddressAllocator:
21 // 2^31 - 128 * 1024 * 1024, which is hardcode in the underlying implementation
22 optional uint64 max_msg_size = 2 [default = 33554432];
23 optional uint64 max_pool_size = 3 [default = 32];
24 optional uint64 shared_buffer_size = 4 [default = 0];
25};
26
27message ArenaShmConf {
28 repeated ArenaChannelConf arena_channel_conf = 1;
29};
30
31message ShmConf {
32 optional string notifier_type = 1;
33 optional string shm_type = 2;
34 optional ShmMulticastLocator shm_locator = 3;
35 optional ArenaShmConf arena_shm_conf = 4;
36};
37
39 optional int32 lease_duration = 1 [default = 12];
40 optional int32 announcement_period = 2 [default = 3];
41 optional uint32 domain_id_gain = 3 [default = 200];
42 optional uint32 port_base = 4 [default = 10000];
43};
44
46 optional OptionalMode same_proc = 1 [default = INTRA]; // INTRA SHM RTPS
47 optional OptionalMode diff_proc = 2 [default = SHM]; // SHM RTPS
48 optional OptionalMode diff_host = 3 [default = RTPS]; // RTPS
49};
50
52 optional uint32 max_history_depth = 1 [default = 1000];
53};
54
56 optional ShmConf shm_conf = 1;
57 optional RtpsParticipantAttr participant_attr = 2;
58 optional CommunicationMode communication_mode = 3;
59 optional ResourceLimit resource_limit = 4;
60};