<?xml version="1.0" encoding="UTF-8"?>
<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
    <profiles>
        <!-- TRANSPORT -->
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>video_publisher_tcp_transport</transport_id>
                <type>TCPv4</type>
                <keep_alive_frequency_ms>1000</keep_alive_frequency_ms>
                <keep_alive_timeout_ms>10000</keep_alive_timeout_ms>
                <calculate_crc>false</calculate_crc>
                <check_crc>false</check_crc>
                <enable_tcp_nodelay>true</enable_tcp_nodelay>
                <listening_ports>
                        <port>7400</port>
                </listening_ports>
            </transport_descriptor>

            <transport_descriptor>
                <transport_id>video_subscriber_tcp_transport</transport_id>
                <type>TCPv4</type>
                <keep_alive_frequency_ms>1000</keep_alive_frequency_ms>
                <keep_alive_timeout_ms>10000</keep_alive_timeout_ms>
                <calculate_crc>false</calculate_crc>
                <check_crc>false</check_crc>
                <enable_tcp_nodelay>true</enable_tcp_nodelay>
            </transport_descriptor>
        </transport_descriptors>

        <!-- PARTICIPANTS -->
        <participant profile_name="pub_participant_profile">
            <domainId>229</domainId>
            <rtps>
                <userTransports>
                    <transport_id>video_publisher_tcp_transport</transport_id>
                </userTransports>
                <useBuiltinTransports>false</useBuiltinTransports>
                <name>video_test_publisher</name>
            </rtps>
        </participant>

        <participant profile_name="sub_participant_profile">
            <domainId>229</domainId>
            <rtps>
                <builtin>
                    <initialPeersList>
                        <locator>
                            <tcpv4>
                                <address>127.0.0.1</address>
                                <physical_port>7400</physical_port>
                            </tcpv4>
                        </locator>
                    </initialPeersList>
                </builtin>
                <userTransports>
                    <transport_id>video_subscriber_tcp_transport</transport_id>
                </userTransports>
                <useBuiltinTransports>false</useBuiltinTransports>
                <name>video_test_subscriber</name>
            </rtps>
        </participant>

        <!-- PUBLISHER -->
        <publisher profile_name="publisher_profile">
            <topic>
                <name>video_interprocess</name>
                <dataType>VideoType</dataType>
                <kind>NO_KEY</kind>
                <historyQos>
                    <kind>KEEP_ALL</kind>
                </historyQos>
            </topic>
            <qos>
                <reliability>
                    <kind>BEST_EFFORT</kind>
                    <max_blocking_time>
                        <sec>1</sec>
                        <nanosec>0</nanosec>
                    </max_blocking_time>
                </reliability>
                <durability>
                    <kind>VOLATILE</kind>
                </durability>
                <publishMode>
                    <kind>ASYNCHRONOUS</kind>
                </publishMode>
            </qos>
            <times>
                <heartbeatPeriod>
                    <sec>0</sec>
                    <nanosec>100000000</nanosec>
                </heartbeatPeriod>
            </times>
            <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
        </publisher>

        <!-- SUBSCRIBER -->
        <subscriber profile_name="subscriber_profile">
            <topic>
                <name>video_interprocess</name>
                <dataType>VideoType</dataType>
                <kind>NO_KEY</kind>
                <historyQos>
                    <kind>KEEP_ALL</kind>
                </historyQos>
            </topic>
            <qos>
                <reliability>
                    <kind>BEST_EFFORT</kind>
                </reliability>
            </qos>
            <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
        </subscriber>
    </profiles>
</dds>
