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Signed-off-by: tempate <[email protected]>

docker/README.md

@@ -108,14 +108,14 @@ Other option may be to not using Shared Memory by disabling it by Fast DDS confi
 
 This first version does support the following configurations:
 
-|                      | Description                                                 | Type           | Default   |
-|----------------------|-------------------------------------------------------------|----------------|-----------|
-| dds/allowlist        | List of topics that the tool will subscribe to              | List of topics | Empty     |
-| dds/blocklist        | List of topics that the tool will **not** subscribe to      | List of topics | Empty     |
-| dds/domain           | DDS Domain to discover and subscribe to topics allowed      | integer        | 0         |
-| specs/threads        | Number of threads to read DDS data                          | int            | 12        |
-| specs/discovery-time | Time before showing info when using one-shot command        | int (ms)       | 1000      |
-| specs/max-depth      | Maximum history depth for DataReaders                       | int            | 5000      |
+|                         | Description                                                 | Type           | Default   |
+|-------------------------|-------------------------------------------------------------|----------------|-----------|
+| dds/allowlist           | List of topics that the tool will subscribe to              | List of topics | Empty     |
+| dds/blocklist           | List of topics that the tool will **not** subscribe to      | List of topics | Empty     |
+| dds/domain              | DDS Domain to discover and subscribe to topics allowed      | integer        | 0         |
+| specs/threads           | Number of threads to read DDS data                          | int            | 12        |
+| specs/discovery-time    | Time before showing info when using one-shot command        | int (ms)       | 1000      |
+| specs/qos/history-depth | Maximum history depth for DataReaders                       | int            | 5000      |
 
 The topics in `allowlist` and `blocklist` are filled with elements with field `name` referring to the Topic name.
 Optionally each element can have the element `type` referring to the Topic Data Type name.

docs/rst/user_manual/configuration.rst

@@ -24,9 +24,9 @@ This value allow to keep using the same YAML file using an old configuration for
         - String in ``version`` tag
         - |spy| activation release
 
-    *   - version 1.0
-        - ``v1.0``
-        - *v0.1.0*
+    *   - version 2.0
+        - ``v2.0``
+        - *v0.2.0*
 
 .. _user_manual_configuration_dds:
 
@@ -42,15 +42,15 @@ Topic Filtering
 ---------------
 
 The |spy| automatically detects the topics that are being used in a DDS Network.
-The |spy| then creates internal DDS :term:`Readers<DataReader>` for each topic to forward the data published.
+The |spy| then creates internal DDS :term:`Readers<DataReader>` for each topic to process the data published.
 
 .. note::
 
     |spy| entities are created with the :ref:`Topic QoS <user_manual_configuration_dds__topic_qos>` of the first Subscriber found in this Topic.
 
-The |spy| allows filtering DDS :term:`Topics<Topic>`, that is, it allows users to configure the DDS :term:`Topics<Topic>` that must be forwarded.
+The |spy| allows filtering DDS :term:`Topics<Topic>`, that is, it allows users to configure the DDS :term:`Topics<Topic>` to process.
 These data filtering rules can be configured under the ``allowlist`` and ``blocklist`` tags.
-If the ``allowlist`` and ``blocklist`` are not configured, the |spy| will forward all the data published on the topics it discovers.
+If the ``allowlist`` and ``blocklist`` are not configured, the |spy| will process all the data published on the topics it discovers.
 If both the ``allowlist`` and ``blocklist`` are configured and a topic appears in both of them, the ``blocklist`` has priority and the topic will be blocked.
 
 Topics are determined by the tags ``name`` (required) and ``type``, both of which accept wildcard characters.
@@ -77,7 +77,7 @@ Consider the following example:
       - name: "*"
         type: HelloWorld
 
-In this example, the data in the topic ``AllowedTopic1`` with type ``Allowed`` and the data in the topic ``AllowedTopic2`` with any type will be forwarded by the |spy|.
+In this example, the data in the topic ``AllowedTopic1`` with type ``Allowed`` and the data in the topic ``AllowedTopic2`` with any type will be processed by the |spy|.
 The data in the topic ``HelloWorldTopic`` with type ``HelloWorld`` will be blocked, since the ``blocklist`` is blocking all topics with any name and with type ``HelloWorld``.
 
 .. _user_manual_configuration_dds__topic_qos:
@@ -145,15 +145,18 @@ For more information on topics, please read the `Fast DDS Topic <https://fast-dd
         - ``1``
         - :ref:`user_manual_configuration_dds__downsampling`
 
+.. warning::
+
+    The ``TRANSIENT_LOCAL`` durability is not compatible with the ``BEST_EFFORT`` reliability.
+
 .. _user_manual_configuration_dds__history_depth:
 
 History Depth
 ^^^^^^^^^^^^^
 
 The ``history-depth`` tag configures the history depth of the Fast DDS internal entities.
-By default, the depth of every RTPS History instance is :code:`5000`, which sets a constraint on the maximum number of samples a |spy| instance can deliver to late joiner Readers configured with ``TRANSIENT_LOCAL`` `DurabilityQosPolicyKind <https://fast-dds.docs.eprosima.com/en/latest/fastdds/dds_layer/core/policy/standardQosPolicies.html#durabilityqospolicykind>`_.
+By default, the depth of every RTPS History instance is :code:`5000`.
 Its value should be decreased when the sample size and/or number of created endpoints (increasing with the number of topics) are big enough to cause memory exhaustion issues.
-If enough memory is available, however, the ``history-depth`` could be increased to deliver a greater number of samples to late joiners.
 
 .. _user_manual_configuration_dds__max_rx_rate:
 
@@ -317,7 +320,7 @@ This is a YAML file that uses all supported configurations and set them as defau
 
 .. code-block:: yaml
 
-    version: 1.0
+    version: 2.0
 
     dds:
       domain: 0

fastddsspy_tool/test/application/configuration/configuration_basic.yaml

@@ -1,4 +1,4 @@
-version: 1.0
+version: 2.0
 
 dds:
   domain: 33
@@ -7,5 +7,7 @@ dds:
 
 specs:
   threads: 12
-  max-history-depth: 5000
   discovery-time: 2000
+
+  qos:
+    history-depth: 5000

fastddsspy_tool/test/application/configuration/configuration_discovery_time.yaml

@@ -1,4 +1,4 @@
-version: 1.0
+version: 2.0
 
 specs:
   discovery-time: 2000

fastddsspy_tool/test/application/configuration/configuration_wrong_empty_arg.yaml

@@ -1,4 +1,4 @@
-version: 1.0
+version: 2.0
 
 dds:
   domain:
@@ -7,5 +7,7 @@ dds:
 
 specs:
   threads: 12
-  max-history-depth: 5000
   discovery-time: 2000
+
+  qos:
+    history-depth: 5000

fastddsspy_tool/test/application/configuration/configuration_wrong_type.yaml

@@ -1,4 +1,4 @@
-version: 1.0
+version: 2.0
 
 dds:
   domain: "hello"
@@ -7,5 +7,7 @@ dds:
 
 specs:
   threads: 12
-  max-history-depth: 5000
   discovery-time: 2000
+
+  qos:
+    history-depth: 5000

readthedocs.yaml

@@ -3,7 +3,7 @@
 # See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
 
 # Required
-version: 2
+version: 2.0
 
 # Build documentation in the docs/ directory with Sphinx
 sphinx:

resources/fastddsspy_configuration.yaml

@@ -13,4 +13,6 @@ dds:
 
 specs:
   threads: 12
-  max-history-depth: 5000
+
+  qos:
+    history-depth: 5000