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@ -11,35 +11,92 @@
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/// The node's mode (router, peer or client)
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mode: "peer",
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/// The node's metadata (name, location, DNS name, etc.) Arbitrary JSON data not interpreted by zenohd and available in admin space @/router/<id>
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/// The node's metadata (name, location, DNS name, etc.) Arbitrary JSON data not interpreted by zenoh and available in admin space @/<zid>/router, @/<zid>/peer or @/<zid>/client
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metadata: {
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name: "strawberry",
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location: "Penny Lane"
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location: "Penny Lane",
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},
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/// Which endpoints to connect to. E.g. tcp/localhost:7447.
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/// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
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// /// Which endpoints to connect to. E.g. tcp/localhost:7447.
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// /// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
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// /// For TCP/UDP on Linux, it is possible additionally specify the interface to be connected to:
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// /// E.g. tcp/192.168.0.1:7447#iface=eth0, for connect only if the IP address is reachable via the interface eth0
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// connect: {
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// /// timeout waiting for all endpoints connected (0: no retry, -1: infinite timeout)
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// /// Accepts a single value (e.g. timeout_ms: 0)
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// /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
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// timeout_ms: { router: -1, peer: -1, client: 0 },
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// /// The list of endpoints to connect to.
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// /// Accepts a single list (e.g. endpoints: ["tcp/10.10.10.10:7447", "tcp/11.11.11.11:7447"])
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// /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/10.10.10.10:7447"], peer: ["tcp/11.11.11.11:7447"] }).
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// ///
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// /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
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// endpoints: [
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// "tcp/localhost:7447"
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// // "<proto>/<address>"
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// ],
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// /// Global connect configuration,
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// /// Accepts a single value or different values for router, peer and client.
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// /// The configuration can also be specified for the separate endpoint
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// /// it will override the global one
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// /// E.g. tcp/192.168.0.1:7447#retry_period_init_ms=20000;retry_period_max_ms=10000"
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// /// exit from application, if timeout exceed
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// exit_on_failure: { router: false, peer: false, client: true },
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// /// connect establishing retry configuration
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// retry: {
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// /// initial wait timeout until next connect try
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// period_init_ms: 1000,
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// /// maximum wait timeout until next connect try
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// period_max_ms: 4000,
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// /// increase factor for the next timeout until nexti connect try
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// period_increase_factor: 2,
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// },
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// },
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// /// Which endpoints to listen on. E.g. tcp/localhost:7447.
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// /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
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// /// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
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// /// peers, or client can use to establish a zenoh session.
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// /// For TCP/UDP on Linux, it is possible additionally specify the interface to be listened to:
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// /// E.g. tcp/0.0.0.0:7447#iface=eth0, for listen connection only on eth0
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// listen: {
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// endpoints: [
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// "tcp/localhost:50060"
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// ],
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// },
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// /// timeout waiting for all listen endpoints (0: no retry, -1: infinite timeout)
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// /// Accepts a single value (e.g. timeout_ms: 0)
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// /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
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// timeout_ms: 0,
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// /// The list of endpoints to listen on.
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// /// Accepts a single list (e.g. endpoints: ["tcp/[::]:7447", "udp/[::]:7447"])
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// /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0"] }).
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// ///
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// /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
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// endpoints: { router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0"] },
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// /// Global listen configuration,
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// /// Accepts a single value or different values for router, peer and client.
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// /// The configuration can also be specified for the separate endpoint
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// /// it will override the global one
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// /// E.g. tcp/192.168.0.1:7447#exit_on_failure=false;retry_period_max_ms=1000"
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// /// exit from application, if timeout exceed
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// exit_on_failure: true,
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// /// listen retry configuration
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// retry: {
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// /// initial wait timeout until next try
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// period_init_ms: 1000,
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// /// maximum wait timeout until next try
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// period_max_ms: 4000,
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// /// increase factor for the next timeout until next try
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// period_increase_factor: 2,
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// },
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// },
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/// Configure the scouting mechanisms and their behaviours
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scouting: {
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/// In client mode, the period dedicated to scouting for a router before failing
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/// In client mode, the period in milliseconds dedicated to scouting for a router before failing.
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timeout: 3000,
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/// In peer mode, the period dedicated to scouting remote peers before attempting other operations
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delay: 200,
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/// In peer mode, the maximum period in milliseconds dedicated to scouting remote peers before attempting other operations.
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delay: 500,
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/// The multicast scouting configuration.
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multicast: {
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/// Whether multicast scouting is enabled or not
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@ -48,27 +105,31 @@
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address: "224.0.0.224:7446",
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/// The network interface which should be used for multicast scouting
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interface: "auto", // If not set or set to "auto" the interface if picked automatically
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/// The time-to-live on multicast scouting packets
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ttl: 1,
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/// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
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/// Accepts a single value or different values for router, peer and client.
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/// Each value is bit-or-like combinations of "peer", "router" and "client".
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// autoconnect: { peer: "router|peer" },
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/// Accepts a single value (e.g. autoconnect: ["router", "peer"])
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/// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
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/// Each value is a list of: "peer", "router" and/or "client".
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autoconnect: { router: [], peer: ["router", "peer"] },
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/// Whether or not to listen for scout messages on UDP multicast and reply to them.
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listen: true,
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},
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// /// The gossip scouting configuration.
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/// The gossip scouting configuration.
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gossip: {
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/// Whether gossip scouting is enabled or not
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enabled: true,
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/// When true, gossip scouting informations are propagated multiple hops to all nodes in the local network.
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/// When false, gossip scouting informations are only propagated to the next hop.
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/// When true, gossip scouting information are propagated multiple hops to all nodes in the local network.
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/// When false, gossip scouting information are only propagated to the next hop.
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/// Activating multihop gossip implies more scouting traffic and a lower scalability.
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/// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
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/// direct connectivity with each other.
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multihop: false,
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/// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
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/// Accepts a single value or different values for router, peer and client.
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/// Each value is bit-or-like combinations of "peer", "router" and "client".
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// autoconnect: { router: "", peer: "router|peer" },
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/// Accepts a single value (e.g. autoconnect: ["router", "peer"])
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/// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
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/// Each value is a list of: "peer", "router" and/or "client".
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autoconnect: { router: [], peer: ["router", "peer"] },
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},
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},
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@ -103,6 +164,127 @@
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},
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},
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// /// The declarations aggregation strategy.
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// aggregation: {
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// /// A list of key-expressions for which all included subscribers will be aggregated into.
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// subscribers: [
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|
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// // key_expression
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// ],
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// /// A list of key-expressions for which all included publishers will be aggregated into.
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// publishers: [
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|
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// // key_expression
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// ],
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// },
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// /// The downsampling declaration.
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// downsampling: [
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// {
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// /// A list of network interfaces messages will be processed on, the rest will be passed as is.
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// interfaces: [ "wlan0" ],
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// /// Data flow messages will be processed on. ("egress" or "ingress")
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// flow: "egress",
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|
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// /// A list of downsampling rules: key_expression and the maximum frequency in Hertz
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// rules: [
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|
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// { key_expr: "demo/example/zenoh-rs-pub", freq: 0.1 },
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// ],
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// },
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// ],
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// /// Configure access control (ACL) rules
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// access_control: {
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// /// [true/false] acl will be activated only if this is set to true
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// "enabled": false,
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// /// [deny/allow] default permission is deny (even if this is left empty or not specified)
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// "default_permission": "deny",
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// /// Rule set for permissions allowing or denying access to key-expressions
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// "rules":
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// [
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// {
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// /// Id has to be unique within the rule set
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// "id": "rule1",
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// "messages": [
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// "put", "delete", "declare_subscriber",
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// "query", "reply", "declare_queryable",
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// ],
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// "flows":["egress","ingress"],
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// "permission": "allow",
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// "key_exprs": [
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// "test/demo"
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// ],
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// },
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// {
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// "id": "rule2",
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// "messages": [
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// "put", "delete", "declare_subscriber",
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// "query", "reply", "declare_queryable",
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// ],
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// "flows":["ingress"],
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// "permission": "allow",
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// "key_exprs": [
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// "**"
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// ],
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// },
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// ],
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// /// List of combinations of subjects.
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// ///
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// /// If a subject property (i.e. username, certificate common name or interface) is empty
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// /// it is interpreted as a wildcard. Moreover, a subject property cannot be an empty list.
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// "subjects":
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// [
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// {
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// /// Id has to be unique within the subjects list
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// "id": "subject1",
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// /// Subjects can be interfaces
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// "interfaces": [
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// "lo0",
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// "en0",
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// ],
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// /// Subjects can be cert_common_names when using TLS or Quic
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// "cert_common_names": [
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// "example.zenoh.io"
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// ],
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// /// Subjects can be usernames when using user/password authentication
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// "usernames": [
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|
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// "zenoh-example"
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// ],
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// /// This instance translates internally to this filter:
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|
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// /// (interface="lo0" && cert_common_name="example.zenoh.io" && username="zenoh-example") ||
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|
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// /// (interface="en0" && cert_common_name="example.zenoh.io" && username="zenoh-example")
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// },
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// {
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// "id": "subject2",
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// "interfaces": [
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// "lo0",
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// "en0",
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// ],
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// "cert_common_names": [
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|
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// "example2.zenoh.io"
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// ],
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|
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// /// This instance translates internally to this filter:
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|
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// /// (interface="lo0" && cert_common_name="example2.zenoh.io") ||
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|
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// /// (interface="en0" && cert_common_name="example2.zenoh.io")
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// },
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// {
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// "id": "subject3",
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// /// An empty subject combination is a wildcard
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// },
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// ],
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|
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// /// The policies list associates rules to subjects
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|
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// "policies":
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|
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// [
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|
|
// /// Each policy associates one or multiple rules to one or multiple subject combinations
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|
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// {
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|
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// /// Rules and Subjects are identified with their unique IDs declared above
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|
|
// "rules": ["rule1"],
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|
|
// "subjects": ["subject1", "subject2"],
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// },
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// {
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// "rules": ["rule2"],
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|
|
// "subjects": ["subject3"],
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// },
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// ]
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|
|
//},
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|
|
/// Configure internal transport parameters
|
|
|
|
|
transport: {
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|
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|
|
unicast: {
|
|
|
|
|
@ -121,10 +303,12 @@
|
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|
|
/// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization.
|
|
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|
|
/// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to
|
|
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|
|
/// enable 'lowlatency' you need to explicitly disable 'qos'.
|
|
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|
|
lowlatency: true,
|
|
|
|
|
/// NOTE: LowLatency transport does not support the fragmentation, so the message size should be
|
|
|
|
|
/// smaller than the tx batch_size.
|
|
|
|
|
lowlatency: false,
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|
|
|
|
/// Enables QoS on unicast communications.
|
|
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|
|
qos: {
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|
|
enabled: false,
|
|
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|
|
enabled: true,
|
|
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|
|
},
|
|
|
|
|
/// Enables compression on unicast communications.
|
|
|
|
|
/// Compression capabilities are negotiated during session establishment.
|
|
|
|
|
@ -133,7 +317,17 @@
|
|
|
|
|
enabled: false,
|
|
|
|
|
},
|
|
|
|
|
},
|
|
|
|
|
/// WARNING: multicast communication does not perform any negotiation upon group joining.
|
|
|
|
|
/// Because of that, it is important that all transport parameters are the same to make
|
|
|
|
|
/// sure all your nodes in the system can communicate. One common parameter to configure
|
|
|
|
|
/// is "transport/link/tx/batch_size" since its default value depends on the actual platform
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/// when operating on multicast.
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/// E.g., the batch size on Linux and Windows is 65535 bytes, on Mac OS X is 9216, and anything else is 8192.
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multicast: {
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/// JOIN message transmission interval in milliseconds.
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join_interval: 2500,
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/// Maximum number of multicast sessions.
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max_sessions: 1000,
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/// Enables QoS on multicast communication.
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/// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
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qos: {
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@ -146,11 +340,11 @@
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},
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},
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link: {
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/// An optional whitelist of protocols to be used for accepting and opening sessions.
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/// If not configured, all the supported protocols are automatically whitelisted.
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/// The supported protocols are: ["tcp" , "udp", "tls", "quic", "ws", "unixsock-stream"]
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/// For example, to only enable "tls" and "quic":
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// protocols: ["tls", "quic"],
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/// An optional whitelist of protocols to be used for accepting and opening sessions. If not
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/// configured, all the supported protocols are automatically whitelisted. The supported
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// /// protocols are: ["tcp" , "udp", "tls", "quic", "ws", "unixsock-stream", "vsock"] For
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// /// example, to only enable "tls" and "quic": protocols: ["tls", "quic"],
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// protocols: ["udp","tcp"],
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/// Configure the zenoh TX parameters of a link
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tx: {
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/// The resolution in bits to be used for the message sequence numbers.
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@ -162,8 +356,10 @@
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/// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive
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/// messages will be sent at the configured time interval.
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/// NOTE: In order to consider eventual packet loss and transmission latency and jitter,
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/// set the actual keep_alive timeout to one fourth of the lease time.
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/// This is in-line with the ITU-T G.8013/Y.1731 specification on continous connectivity
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/// set the actual keep_alive interval to one fourth of the lease time: i.e. send
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/// 4 keep_alive messages in a lease period. Changing the lease time will have the
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/// keep_alive messages sent more or less often.
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/// This is in-line with the ITU-T G.8013/Y.1731 specification on continuous connectivity
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/// check which considers a link as failed when no messages are received in 3.5 times the
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/// target interval.
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keep_alive: 4,
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@ -174,6 +370,7 @@
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/// Each zenoh link has a transmission queue that can be configured
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queue: {
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/// The size of each priority queue indicates the number of batches a given queue can contain.
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/// NOTE: the number of batches in each priority must be included between 1 and 16. Different values will result in an error.
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/// The amount of memory being allocated for each queue is then SIZE_XXX * BATCH_SIZE.
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/// In the case of the transport link MTU being smaller than the ZN_BATCH_SIZE,
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/// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU.
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@ -188,19 +385,37 @@
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data_low: 4,
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background: 4,
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},
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/// The initial exponential backoff time in nanoseconds to allow the batching to eventually progress.
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/// Higher values lead to a more aggressive batching but it will introduce additional latency.
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|
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backoff: 100,
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|
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// Number of threads dedicated to transmission
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// By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
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// threads: 4,
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/// Congestion occurs when the queue is empty (no available batch).
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|
|
congestion_control: {
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/// Behavior pushing CongestionControl::Drop messages to the queue.
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|
|
drop: {
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/// The maximum time in microseconds to wait for an available batch before dropping a droppable message if still no batch is available.
|
|
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|
|
wait_before_drop: 1000,
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|
|
},
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|
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/// Behavior pushing CongestionControl::Block messages to the queue.
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|
|
block: {
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|
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/// The maximum time in microseconds to wait for an available batch before closing the transport session when sending a blocking message
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|
|
/// if still no batch is available.
|
|
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|
|
wait_before_close: 5000000,
|
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|
|
},
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|
|
},
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|
|
/// Perform batching of messages if they are smaller of the batch_size
|
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|
|
batching: {
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|
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|
|
/// Perform adaptive batching of messages if they are smaller of the batch_size.
|
|
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|
|
/// When the network is detected to not be fast enough to transmit every message individually, many small messages may be
|
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|
|
/// batched together and sent all at once on the wire reducing the overall network overhead. This is typically of a high-throughput
|
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|
|
/// scenario mainly composed of small messages. In other words, batching is activated by the network back-pressure.
|
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|
|
enabled: true,
|
|
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|
|
/// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
|
|
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|
|
time_limit: 1,
|
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|
|
},
|
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|
|
},
|
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|
|
},
|
|
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|
|
/// Configure the zenoh RX parameters of a link
|
|
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|
|
rx: {
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|
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|
|
/// Receiving buffer size in bytes for each link
|
|
|
|
|
/// The default the rx_buffer_size value is the same as the default batch size: 65335.
|
|
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|
|
/// For very high throughput scenarios, the rx_buffer_size can be increased to accomodate
|
|
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|
|
/// The default the rx_buffer_size value is the same as the default batch size: 65535.
|
|
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|
|
/// For very high throughput scenarios, the rx_buffer_size can be increased to accommodate
|
|
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|
|
/// 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,
|
|
|
|
|
@ -216,26 +431,26 @@
|
|
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|
|
/// 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.
|
|
|
|
|
/// Path to the TLS listening side private key
|
|
|
|
|
listen_private_key: null,
|
|
|
|
|
/// Path to the TLS listening side public certificate
|
|
|
|
|
listen_certificate: null,
|
|
|
|
|
/// Enables mTLS (mutual authentication), client authentication
|
|
|
|
|
enable_mtls: false,
|
|
|
|
|
/// Path to the TLS connecting side private key
|
|
|
|
|
connect_private_key: null,
|
|
|
|
|
/// Path to the TLS connecting side certificate
|
|
|
|
|
connect_certificate: null,
|
|
|
|
|
// Whether or not to verify the matching between hostname/dns and certificate when connecting,
|
|
|
|
|
// 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,
|
|
|
|
|
verify_name_on_connect: true,
|
|
|
|
|
},
|
|
|
|
|
},
|
|
|
|
|
|
|
|
|
|
/// Access control configuration
|
|
|
|
|
auth: {
|
|
|
|
|
/// The configuration of authentification.
|
|
|
|
|
/// The configuration of authentication.
|
|
|
|
|
/// A password implies a username is required.
|
|
|
|
|
usrpwd: {
|
|
|
|
|
user: null,
|
|
|
|
|
@ -257,11 +472,12 @@
|
|
|
|
|
/// Configure the Admin Space
|
|
|
|
|
/// Unstable: this configuration part works as advertised, but may change in a future release
|
|
|
|
|
adminspace: {
|
|
|
|
|
// Enables the admin space
|
|
|
|
|
enabled: false,
|
|
|
|
|
// read and/or write permissions on the admin space
|
|
|
|
|
permissions: {
|
|
|
|
|
read: true,
|
|
|
|
|
write: false,
|
|
|
|
|
},
|
|
|
|
|
},
|
|
|
|
|
|
|
|
|
|
}
|
han J