[19377] Add ThreadSettings to Qos

include/fastdds/dds/core/policy/QosPolicies.hpp

@@ -23,17 +23,16 @@
 #include <vector>
 
 #include <fastdds/dds/core/policy/ParameterTypes.hpp>
-
 #include <fastdds/rtps/attributes/ExternalLocators.hpp>
 #include <fastdds/rtps/attributes/PropertyPolicy.h>
 #include <fastdds/rtps/attributes/RTPSParticipantAllocationAttributes.hpp>
 #include <fastdds/rtps/attributes/RTPSParticipantAttributes.h>
+#include <fastdds/rtps/attributes/ThreadSettings.hpp>
 #include <fastdds/rtps/common/LocatorList.hpp>
-#include <fastdds/rtps/common/Types.h>
 #include <fastdds/rtps/common/Time_t.h>
-#include <fastdds/rtps/resources/ResourceManagement.h>
+#include <fastdds/rtps/common/Types.h>
 #include <fastdds/rtps/flowcontrol/FlowControllerConsts.hpp>
-
+#include <fastdds/rtps/resources/ResourceManagement.h>
 #include <fastrtps/types/TypeObject.h>
 #include <fastrtps/utils/collections/ResourceLimitedVector.hpp>
 
@@ -2759,6 +2758,7 @@ class TransportConfigQos : public QosPolicy
                (this->use_builtin_transports == b.use_builtin_transports) &&
                (this->send_socket_buffer_size == b.send_socket_buffer_size) &&
                (this->listen_socket_buffer_size == b.listen_socket_buffer_size) &&
+               (this->builtin_transports_reception_threads_ == b.builtin_transports_reception_threads_) &&
                QosPolicy::operator ==(b);
     }
 
@@ -2784,6 +2784,9 @@ class TransportConfigQos : public QosPolicy
      * By default, 0.
      */
     uint32_t listen_socket_buffer_size;
+
+    //! Thread settings for the builtin transports reception threads
+    rtps::ThreadSettings builtin_transports_reception_threads_;
 };
 
 //! Qos Policy to configure the endpoint

include/fastdds/dds/domain/qos/DomainParticipantFactoryQos.hpp

@@ -20,8 +20,9 @@
 #ifndef _FASTDDS_PARTICIPANTFACTORYQOS_HPP_
 #define _FASTDDS_PARTICIPANTFACTORYQOS_HPP_
 
-#include <fastrtps/fastrtps_dll.h>
 #include <fastdds/dds/core/policy/QosPolicies.hpp>
+#include <fastdds/rtps/attributes/ThreadSettings.hpp>
+#include <fastrtps/fastrtps_dll.h>
 
 namespace eprosima {
 namespace fastdds {
@@ -53,7 +54,9 @@ class DomainParticipantFactoryQos
     bool operator ==(
             const DomainParticipantFactoryQos& b) const
     {
-        return (this->entity_factory_ == b.entity_factory());
+        return (this->shm_watchdog_thread_ == b.shm_watchdog_thread()) &&
+               (this->file_watch_threads_ == b.file_watch_threads()) &&
+               (this->entity_factory_ == b.entity_factory());
     }
 
     /**
@@ -84,10 +87,79 @@ class DomainParticipantFactoryQos
         entity_factory_ = entity_factory;
     }
 
+    /**
+     * Getter for SHM watchdog ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    rtps::ThreadSettings& shm_watchdog_thread()
+    {
+        return shm_watchdog_thread_;
+    }
+
+    /**
+     * Getter for SHM watchdog ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    const rtps::ThreadSettings& shm_watchdog_thread() const
+    {
+        return shm_watchdog_thread_;
+    }
+
+    /**
+     * Setter for the SHM watchdog ThreadSettings
+     *
+     * @param value New ThreadSettings to be set
+     */
+    void shm_watchdog_thread(
+            const rtps::ThreadSettings& value)
+    {
+        shm_watchdog_thread_ = value;
+    }
+
+    /**
+     * Getter for file watch related ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    rtps::ThreadSettings& file_watch_threads()
+    {
+        return file_watch_threads_;
+    }
+
+    /**
+     * Getter for file watch related ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    const rtps::ThreadSettings& file_watch_threads() const
+    {
+        return file_watch_threads_;
+    }
+
+    /**
+     * Setter for the file watch related ThreadSettings
+     *
+     * @param value New ThreadSettings to be set
+     */
+    void file_watch_threads(
+            const rtps::ThreadSettings& value)
+    {
+        file_watch_threads_ = value;
+    }
+
 private:
 
     //!EntityFactoryQosPolicy, implemented in the library.
     EntityFactoryQosPolicy entity_factory_;
+
+    //! Thread settings for the SHM watchdog thread
+    rtps::ThreadSettings shm_watchdog_thread_;
+
+    //! Thread settings for the file watch related threads
+    rtps::ThreadSettings file_watch_threads_;
+
 };
 
 } /* namespace dds */

include/fastdds/dds/domain/qos/DomainParticipantQos.hpp

@@ -22,9 +22,10 @@
 
 #include <string>
 
-#include <fastrtps/fastrtps_dll.h>
 #include <fastdds/dds/core/policy/QosPolicies.hpp>
+#include <fastdds/rtps/attributes/ThreadSettings.hpp>
 #include <fastdds/rtps/flowcontrol/FlowControllerDescriptor.hpp>
+#include <fastrtps/fastrtps_dll.h>
 
 namespace eprosima {
 namespace fastdds {
@@ -81,6 +82,12 @@ class DomainParticipantQos
                (this->wire_protocol_ == b.wire_protocol()) &&
                (this->transport_ == b.transport()) &&
                (this->name_ == b.name()) &&
+               (this->builtin_controllers_sender_thread_ == b.builtin_controllers_sender_thread()) &&
+               (this->timed_events_thread_ == b.timed_events_thread()) &&
+               (this->discovery_server_thread_ == b.discovery_server_thread()) &&
+#if HAVE_SECURITY
+               (this->security_log_thread_ == b.security_log_thread()) &&
+#endif // if HAVE_SECURITY
                (this->flow_controllers_ == b.flow_controllers());
     }
 
@@ -321,6 +328,133 @@ class DomainParticipantQos
         return flow_controllers_;
     }
 
+    /**
+     * Getter for builtin flow controllers sender threads ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    rtps::ThreadSettings& builtin_controllers_sender_thread()
+    {
+        return builtin_controllers_sender_thread_;
+    }
+
+    /**
+     * Getter for builtin flow controllers sender threads ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    const rtps::ThreadSettings& builtin_controllers_sender_thread() const
+    {
+        return builtin_controllers_sender_thread_;
+    }
+
+    /**
+     * Setter for the builtin flow controllers sender threads ThreadSettings
+     *
+     * @param value New ThreadSettings to be set
+     */
+    void builtin_controllers_sender_thread(
+            const rtps::ThreadSettings& value)
+    {
+        builtin_controllers_sender_thread_ = value;
+    }
+
+    /**
+     * Getter for timed event ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    rtps::ThreadSettings& timed_events_thread()
+    {
+        return timed_events_thread_;
+    }
+
+    /**
+     * Getter for timed event ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    const rtps::ThreadSettings& timed_events_thread() const
+    {
+        return timed_events_thread_;
+    }
+
+    /**
+     * Setter for the timed event ThreadSettings
+     *
+     * @param value New ThreadSettings to be set
+     */
+    void timed_events_thread(
+            const rtps::ThreadSettings& value)
+    {
+        timed_events_thread_ = value;
+    }
+
+    /**
+     * Getter for discovery server ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    rtps::ThreadSettings& discovery_server_thread()
+    {
+        return discovery_server_thread_;
+    }
+
+    /**
+     * Getter for discovery server ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    const rtps::ThreadSettings& discovery_server_thread() const
+    {
+        return discovery_server_thread_;
+    }
+
+    /**
+     * Setter for the discovery server ThreadSettings
+     *
+     * @param value New ThreadSettings to be set
+     */
+    void discovery_server_thread(
+            const rtps::ThreadSettings& value)
+    {
+        discovery_server_thread_ = value;
+    }
+
+#if HAVE_SECURITY
+    /**
+     * Getter for security log ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    rtps::ThreadSettings& security_log_thread()
+    {
+        return security_log_thread_;
+    }
+
+    /**
+     * Getter for security log ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    const rtps::ThreadSettings& security_log_thread() const
+    {
+        return security_log_thread_;
+    }
+
+    /**
+     * Setter for the security log ThreadSettings
+     *
+     * @param value New ThreadSettings to be set
+     */
+    void security_log_thread(
+            const rtps::ThreadSettings& value)
+    {
+        security_log_thread_ = value;
+    }
+
+#endif // if HAVE_SECURITY
+
 private:
 
     //!UserData Qos, implemented in the library.
@@ -350,6 +484,20 @@ class DomainParticipantQos
      */
     FlowControllerDescriptorList flow_controllers_;
 
+    //! Thread settings for the builtin flow controllers sender threads
+    rtps::ThreadSettings builtin_controllers_sender_thread_;
+
+    //! Thread settings for the timed events thread
+    rtps::ThreadSettings timed_events_thread_;
+
+    //! Thread settings for the discovery server thread
+    rtps::ThreadSettings discovery_server_thread_;
+
+#if HAVE_SECURITY
+    //! Thread settings for the security log thread
+    rtps::ThreadSettings security_log_thread_;
+#endif // if HAVE_SECURITY
+
 };
 
 RTPS_DllAPI extern const DomainParticipantQos PARTICIPANT_QOS_DEFAULT;

include/fastdds/dds/log/Log.hpp

@@ -15,11 +15,13 @@
 #ifndef _FASTDDS_DDS_LOG_LOG_HPP_
 #define _FASTDDS_DDS_LOG_LOG_HPP_
 
-#include <fastrtps/fastrtps_dll.h>
-#include <thread>
-#include <sstream>
 #include <atomic>
 #include <regex>
+#include <sstream>
+#include <thread>
+
+#include <fastdds/rtps/attributes/ThreadSettings.hpp>
+#include <fastrtps/fastrtps_dll.h>
 
 /**
  * eProsima log layer. Logging categories and verbosity can be specified dynamically at runtime.
@@ -131,6 +133,10 @@ class Log
     RTPS_DllAPI static void SetErrorStringFilter(
             const std::regex&);
 
+    //! Sets thread configuration for the logging thread.
+    RTPS_DllAPI static void SetThreadConfig(
+            const rtps::ThreadSettings&);
+
     //! Returns the logging engine to configuration defaults.
     RTPS_DllAPI static void Reset();