DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

/// This file attempts to list and document available configuration elements.
/// For a more complete view of the configuration's structure, check out `zenoh/src/config.rs`'s `Config` structure.
/// Note that the values here are correctly typed, but may not be sensible, so copying this file to change only the parts that matter to you is not good practice.
{
  /// The identifier (as unsigned 128bit integer in hexadecimal lowercase - leading zeros are not accepted)
  /// that zenoh runtime will use.
  /// If not set, a random unsigned 128bit integer will be used.
  /// WARNING: this id must be unique in your zenoh network.
  // id: "1234567890abcdef",

  /// The node's mode (router, peer or client)
  mode: "peer",

  /// 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.
  /// ROS setting: By default connect to the Zenoh router on localhost on port 7447.
  connect: {
    endpoints: [
      "tcp/localhost:7447",
    ],
  },

  /// Which endpoints to listen on. E.g. tcp/localhost: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.
  /// ROS setting: By default accept incoming connections only from localhost (i.e. from colocalized Nodes).
  ///              All communications with other hosts are routed by the Zenoh router.
  listen: {
    endpoints: [
      "tcp/localhost:0",
    ],
  },
  /// Configure the scouting mechanisms and their behaviours
  scouting: {
    /// In client mode, the period dedicated to scouting for a router before failing
    timeout: 3000,
    /// In peer mode, the period dedicated to scouting remote peers before attempting other operations
    delay: 1,
    /// The multicast scouting configuration.
    multicast: {
      /// Whether multicast scouting is enabled or not
      enabled: false,
      /// The socket which should be used for multicast scouting
      address: "224.0.0.224:7446",
      /// The network interface which should be used for multicast scouting
      interface: "auto", // If not set or set to "auto" the interface if picked automatically
      /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
      /// Accepts a single value or different values for router, peer and client.
      /// Each value is bit-or-like combinations of "peer", "router" and "client".
      autoconnect: { router: "", peer: "router|peer" },
      /// Whether or not to listen for scout messages on UDP multicast and reply to them.
      listen: true,
    },
    /// The gossip scouting configuration.
    gossip: {
      /// Whether gossip scouting is enabled or not
      enabled: true,
      /// When true, gossip scouting informations are propagated multiple hops to all nodes in the local network.
      /// When false, gossip scouting informations are only propagated to the next hop.
      /// Activating multihop gossip implies more scouting traffic and a lower scalability.
      /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
      /// direct connectivity with each other.
      multihop: false,
      /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
      /// Accepts a single value or different values for router, peer and client.
      /// Each value is bit-or-like combinations of "peer", "router" and "client".
      autoconnect: { router: "", peer: "router|peer" },
    },
  },

  /// Configuration of data messages timestamps management.
  timestamping: {
    /// Whether data messages should be timestamped if not already.
    /// Accepts a single boolean value or different values for router, peer and client.
    /// PublicationCache which is required for transient_local durability
    /// only works when time-stamping is enabled.
    enabled: { router: true, peer: true, client: false },
    /// Whether data messages with timestamps in the future should be dropped or not.
    /// If set to false (default), messages with timestamps in the future are retimestamped.
    /// Timestamps are ignored if timestamping is disabled.
    drop_future_timestamp: false,
  },

  /// The default timeout to apply to queries in milliseconds.
  queries_default_timeout: 10000,

  /// The routing strategy to use and it's configuration.
  routing: {
    /// The routing strategy to use in routers and it's configuration.
    router: {
      /// When set to true a router will forward data between two peers
      /// directly connected to it if it detects that those peers are not
      /// connected to each other.
      /// The failover brokering only works if gossip discovery is enabled.
      peers_failover_brokering: true,
    },
    /// The routing strategy to use in peers and it's configuration.
    peer: {
      /// The routing strategy to use in peers. ("peer_to_peer" or "linkstate").
      mode: "peer_to_peer",
    },
  },

  //  /// The declarations aggregation strategy.
  //  aggregation: {
  //      /// A list of key-expressions for which all included subscribers will be aggregated into.
  //      subscribers: [
  //        // key_expression
  //      ],
  //      /// A list of key-expressions for which all included publishers will be aggregated into.
  //      publishers: [
  //        // key_expression
  //      ],
  //  },

 /// Configure internal transport parameters
  transport: {
    unicast: {
      /// Timeout in milliseconds when opening a link
      accept_timeout: 10000,
      /// Maximum number of zenoh session in pending state while accepting
      accept_pending: 100,
      /// Maximum number of sessions that can be simultaneously alive
      max_sessions: 1000,
      /// Maximum number of incoming links that are admitted per session
      max_links: 1,
      /// Enables the LowLatency transport
      /// 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: 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,
      /// 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.
      /// If not configured, all the supported protocols are automatically whitelisted.
      /// The supported protocols are: ["tcp" , "udp", "tls", "quic", "ws", "unixsock-stream"]
      /// For example, to only enable "tls" and "quic":
      //   protocols: ["tls", "quic"],
      /// Configure the zenoh TX parameters of a link
      tx: {
        /// The resolution in bits to be used for the message sequence numbers.
        /// When establishing a session with another Zenoh instance, the lowest value of the two instances will be used.
        /// Accepted values: 8bit, 16bit, 32bit, 64bit.
        sequence_number_resolution: "32bit",
        /// Link lease duration in milliseconds to announce to other zenoh nodes
        lease: 10000,
        /// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive
        /// messages will be sent at the configured time interval.
        /// NOTE: In order to consider eventual packet loss and transmission latency and jitter,
        ///       set the actual keep_alive timeout to one fourth of the lease time.
        ///       This is in-line with the ITU-T G.8013/Y.1731 specification on continous connectivity
        ///       check which considers a link as failed when no messages are received in 3.5 times the
        ///       target interval.
        keep_alive: 4,
        /// Batch size in bytes is expressed as a 16bit unsigned integer.
        /// Therefore, the maximum batch size is 2^16-1 (i.e. 65535).
        /// The default batch size value is the maximum batch size: 65535.
        batch_size: 65535,
        /// Each zenoh link has a transmission queue that can be configured
        queue: {
          /// The size of each priority queue indicates the number of batches a given queue can contain.
          /// The amount of memory being allocated for each queue is then SIZE_XXX * BATCH_SIZE.
          /// In the case of the transport link MTU being smaller than the ZN_BATCH_SIZE,
          /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU.
          /// If qos is false, then only the DATA priority will be allocated.
          size: {
            control: 1,
            real_time: 1,
            interactive_high: 1,
            interactive_low: 1,
            data_high: 2,
            data: 4,
            data_low: 4,
            background: 4,
          },
          /// 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: 1,
      },
      /// Configure the zenoh RX parameters of a link
      rx: {
        /// Receiving buffer size in bytes for each link
        /// The default the rx_buffer_size value is the same as the default batch size: 65335.
        /// For very high throughput scenarios, the rx_buffer_size can be increased to accomodate
        /// more in-flight data. This is particularly relevant when dealing with large messages.
        /// E.g. for 16MiB rx_buffer_size set the value to: 16777216.
        buffer_size: 65535,
        /// Maximum size of the defragmentation buffer at receiver end.
        /// Fragmented messages that are larger than the configured size will be dropped.
        /// The default value is 1GiB. This would work in most scenarios.
        /// NOTE: reduce the value if you are operating on a memory constrained device.
        max_message_size: 1073741824,
      },
      /// Configure TLS specific parameters
      tls: {
        /// Path to the certificate of the certificate authority used to validate either the server
        /// or the client's keys and certificates, depending on the node's mode. If not specified
        /// on router mode then the default WebPKI certificates are used instead.
        root_ca_certificate: null,
        /// Path to the TLS server private key
        server_private_key: null,
        /// Path to the TLS server public certificate
        server_certificate: null,
        /// Client authentication, if true enables mTLS (mutual authentication)
        client_auth: false,
        /// Path to the TLS client private key
        client_private_key: null,
        /// Path to the TLS client public certificate
        client_certificate: null,
        // Whether or not to use server name verification, if set to false zenoh will disregard the common names of the certificates when verifying servers.
        // 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 wan't your
        // ca to verify that the server at baz.com is actually baz.com, let this be true (default).
        server_name_verification: null,
      },
    },
    /// Shared memory configuration
    shared_memory: {
      enabled: false,
    },
    /// Access control configuration
    auth: {
      /// The configuration of authentification.
      /// A password implies a username is required.
      usrpwd: {
        user: null,
        password: null,
        /// The path to a file containing the user password dictionary
        dictionary_file: null,
      },
      pubkey: {
        public_key_pem: null,
        private_key_pem: null,
        public_key_file: null,
        private_key_file: null,
        key_size: null,
        known_keys_file: null,
      },
    },
  },

  /// Configure the Admin Space
  /// Unstable: this configuration part works as advertised, but may change in a future release
  adminspace: {
    // read and/or write permissions on the admin space
    permissions: {
      read: true,
      write: false,
    },
  },
}