<?xml version="1.0" encoding="utf-8"  ?>
<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
    <profiles>
        <library_settings>
            <intraprocess_delivery>FULL</intraprocess_delivery>
        </library_settings>
        <participant profile_name="test_participant_profile">
            <domainId>2042</domainId>
            <rtps>
                <allocation>
                    <remote_locators>
                        <max_unicast_locators>10</max_unicast_locators>
                        <max_multicast_locators>3</max_multicast_locators>
                    </remote_locators>
                    <total_participants>
                        <initial>5</initial>
                        <maximum>8</maximum>
                        <increment>3</increment>
                    </total_participants>
                    <total_readers>
                        <initial>5</initial>
                        <maximum>8</maximum>
                        <increment>3</increment>
                    </total_readers>
                    <total_writers>
                        <initial>5</initial>
                        <maximum>8</maximum>
                        <increment>3</increment>
                    </total_writers>
                    <send_buffers>
                        <preallocated_number>65</preallocated_number>
                        <dynamic>true</dynamic>
                    </send_buffers>
                </allocation>
                <defaultUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>192.168.1.3</address>
                            <port>2020</port>
                        </udpv4>
                    </locator>
                </defaultUnicastLocatorList>
                <defaultMulticastLocatorList>
                    <locator>
                        <udpv4>
                            <address>239.255.0.1</address>
                            <port>2022</port>
                        </udpv4>
                    </locator>
                </defaultMulticastLocatorList>
                <builtin>
                    <discovery_config>
                        <discoveryProtocol>SIMPLE</discoveryProtocol>
                        <EDP>SIMPLE</EDP>
                        <ignoreParticipantFlags>FILTER_SAME_PROCESS</ignoreParticipantFlags>
                        <leaseAnnouncement>
                            <sec>5</sec>
                            <nanosec>0</nanosec>
                        </leaseAnnouncement>
                        <leaseDuration>
                            <sec>120</sec>
                        </leaseDuration>
                        <initialAnnouncements>
                            <count>3</count>
                            <period>
                                <sec>2</sec>
                                <nanosec>0</nanosec>
                            </period>
                        </initialAnnouncements>
                        <simpleEDP>
                            <PUBWRITER_SUBREADER>false</PUBWRITER_SUBREADER>
                            <PUBREADER_SUBWRITER>true</PUBREADER_SUBWRITER>
                        </simpleEDP>
                    </discovery_config>
                    <avoid_builtin_multicast>false</avoid_builtin_multicast>
                    <use_WriterLivelinessProtocol>false</use_WriterLivelinessProtocol>
                    <metatrafficUnicastLocatorList>
                        <locator>
                            <udpv4>
                                <address>192.168.2.5</address>
                                <port>8888</port>
                            </udpv4>
                        </locator>
                        <locator>
                            <udpv4>
                                <address>192.168.2.6</address>
                                <port>7777</port>
                            </udpv4>
                        </locator>
                    </metatrafficUnicastLocatorList>
                    <metatrafficMulticastLocatorList>
                        <locator>
                            <udpv4>
                                <address>239.255.2.2</address>
                                <port>3333</port>
                            </udpv4>
                        </locator>
                        <locator>
                            <udpv4>
                                <address>239.255.2.3</address>
                                <port>2222</port>
                            </udpv4>
                        </locator>
                    </metatrafficMulticastLocatorList>
                    <initialPeersList>
                        <locator>
                            <udpv4>
                                <address>239.255.2.1</address>
                                <port>6666</port>
                            </udpv4>
                        </locator>
                    </initialPeersList>
                    <readerHistoryMemoryPolicy>PREALLOCATED</readerHistoryMemoryPolicy>
                    <writerHistoryMemoryPolicy>PREALLOCATED</writerHistoryMemoryPolicy>
                    <mutation_tries>10</mutation_tries>
                </builtin>
                <port>
                    <portBase>7400</portBase>
                    <domainIDGain>200</domainIDGain>
                    <participantIDGain>10</participantIDGain>
                    <offsetd0>0</offsetd0>
                    <offsetd1>1</offsetd1>
                    <offsetd2>2</offsetd2>
                    <offsetd3>3</offsetd3>
                </port>
                <participantID>66</participantID>
                <throughputController>
                    <bytesPerPeriod>8192</bytesPerPeriod>
                    <periodMillisecs>1000</periodMillisecs>
                </throughputController>
                <useBuiltinTransports>true</useBuiltinTransports>
                <name>test_name</name>
            </rtps>
        </participant>

        <participant profile_name="test_default_participant_profile" is_default_profile="true">
            <domainId>2019102</domainId>
            <rtps>
                <allocation>
                    <remote_locators>
                        <max_unicast_locators>4</max_unicast_locators>
                        <max_multicast_locators>1</max_multicast_locators>
                    </remote_locators>
                    <total_participants>
                        <initial>10</initial>
                        <maximum>20</maximum>
                        <increment>2</increment>
                    </total_participants>
                    <total_readers>
                        <initial>10</initial>
                        <maximum>20</maximum>
                        <increment>2</increment>
                    </total_readers>
                    <total_writers>
                        <initial>10</initial>
                        <maximum>20</maximum>
                        <increment>2</increment>
                    </total_writers>
                    <send_buffers>
                        <preallocated_number>127</preallocated_number>
                        <dynamic>true</dynamic>
                    </send_buffers>
                </allocation>
                <defaultUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>192.168.1.2</address>
                            <port>2019</port>
                        </udpv4>
                    </locator>
                </defaultUnicastLocatorList>
                <defaultMulticastLocatorList>
                    <locator>
                        <udpv4>
                            <address>239.255.0.1</address>
                            <port>2021</port>
                        </udpv4>
                    </locator>
                </defaultMulticastLocatorList>
                <builtin>
                    <discovery_config>
                        <discoveryProtocol>SIMPLE</discoveryProtocol>
                        <EDP>SIMPLE</EDP>
                        <ignoreParticipantFlags>FILTER_SAME_PROCESS | FILTER_DIFFERENT_HOST</ignoreParticipantFlags>
                        <leaseAnnouncement>
                            <sec>10</sec>
                            <nanosec>333</nanosec>
                        </leaseAnnouncement>
                        <leaseDuration>
                            <sec>DURATION_INFINITY</sec>
                        </leaseDuration>
                        <initialAnnouncements>
                            <count>2</count>
                            <period>
                                <sec>1</sec>
                                <nanosec>827</nanosec>
                            </period>
                        </initialAnnouncements>
                        <simpleEDP>
                            <PUBWRITER_SUBREADER>false</PUBWRITER_SUBREADER>
                            <PUBREADER_SUBWRITER>true</PUBREADER_SUBWRITER>
                        </simpleEDP>
                    </discovery_config>
                    <avoid_builtin_multicast>false</avoid_builtin_multicast>
                    <use_WriterLivelinessProtocol>false</use_WriterLivelinessProtocol>
                    <metatrafficUnicastLocatorList>
                        <locator>
                            <udpv4>
                                <address>192.168.1.5</address>
                                <port>9999</port>
                            </udpv4>
                        </locator>
                        <locator>
                            <udpv4>
                                <address>192.168.1.6</address>
                                <port>6666</port>
                            </udpv4>
                        </locator>
                    </metatrafficUnicastLocatorList>
                    <metatrafficMulticastLocatorList>
                        <locator>
                            <udpv4>
                                <address>239.255.0.2</address>
                                <port>32</port>
                            </udpv4>
                        </locator>
                        <locator>
                            <udpv4>
                                <address>239.255.0.3</address>
                                <port>2112</port>
                            </udpv4>
                        </locator>
                    </metatrafficMulticastLocatorList>
                    <initialPeersList>
                        <locator>
                            <udpv4>
                                <address>239.255.0.1</address>
                                <port>21120</port>
                            </udpv4>
                        </locator>
                    </initialPeersList>
                    <readerHistoryMemoryPolicy>PREALLOCATED</readerHistoryMemoryPolicy>
                    <writerHistoryMemoryPolicy>PREALLOCATED</writerHistoryMemoryPolicy>
                    <mutation_tries>55</mutation_tries>
                </builtin>
                <port>
                    <portBase>7400</portBase>
                    <domainIDGain>200</domainIDGain>
                    <participantIDGain>10</participantIDGain>
                    <offsetd0>0</offsetd0>
                    <offsetd1>1</offsetd1>
                    <offsetd2>2</offsetd2>
                    <offsetd3>3</offsetd3>
                </port>
                <participantID>99</participantID>
                <throughputController>
                    <bytesPerPeriod>8192</bytesPerPeriod>
                    <periodMillisecs>1000</periodMillisecs>
                </throughputController>
                <useBuiltinTransports>true</useBuiltinTransports>
                <name>default_name</name>
            </rtps>
        </participant>
        
        <publisher profile_name="test_publisher_profile">
            <topic>
                <kind>NO_KEY</kind>
                <name>samplePubSubTopic</name>
                <dataType>samplePubSubTopicType</dataType>
                <historyQos>
                    <kind>KEEP_ALL</kind>
                    <depth>500</depth>
                </historyQos>
                <resourceLimitsQos>
                    <max_samples>10</max_samples>
                    <max_instances>5</max_instances>
                    <max_samples_per_instance>2</max_samples_per_instance>
                    <allocated_samples>10</allocated_samples>
                </resourceLimitsQos>
            </topic>
            <qos>
                <durability>
                    <kind>VOLATILE</kind>
                </durability>
                <liveliness>
                    <kind>MANUAL_BY_TOPIC</kind>
                    <lease_duration>
                        <sec>5</sec>
                        <nanosec>0</nanosec>
                    </lease_duration>
                    <announcement_period>
                        <sec>5</sec>
                        <nanosec>0</nanosec>
                    </announcement_period>
                </liveliness>
                <reliability>
                    <kind>RELIABLE</kind>
                    <max_blocking_time>
                        <sec>5</sec>
                        <nanosec>0</nanosec>
                    </max_blocking_time>
                </reliability>
                <partition>
                    <names>
                        <name>partition_name_c</name>
                        <name>partition_name_d</name>
                    </names>
                </partition>
                <publishMode>
                    <kind>ASYNCHRONOUS</kind>
                </publishMode>
            </qos>
            <times>
                <initialHeartbeatDelay>
                    <sec>5</sec>
                    <nanosec>0</nanosec>
                </initialHeartbeatDelay>
                <heartbeatPeriod>
                    <sec>5</sec>
                    <nanosec>0</nanosec>
                </heartbeatPeriod>
                <nackResponseDelay>
                    <sec>5</sec>
                    <nanosec>0</nanosec>
                </nackResponseDelay>
                <nackSupressionDuration>
                    <sec>120</sec>
                    <nanosec>500</nanosec>
                </nackSupressionDuration>
            </times>
            <unicastLocatorList>
                <locator>
                    <udpv4>
                        <address>192.168.2.3</address>
                        <port>200</port>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4>
                        <address>192.168.3.9</address>
                        <port>300</port>
                    </udpv4>
                </locator>
            </unicastLocatorList>
            <multicastLocatorList>
                <locator>
                    <udpv4>
                        <address>239.255.4.1</address>
                        <port>400</port>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4></udpv4>
                </locator>
                <locator>
                    <udpv4>
                        <port>500</port>
                    </udpv4>
                </locator>
            </multicastLocatorList>
            <throughputController>
                <bytesPerPeriod>1024</bytesPerPeriod>
                <periodMillisecs>500</periodMillisecs>
            </throughputController>
            <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
            <userDefinedID>40</userDefinedID>
            <entityID>40</entityID>
            <matchedSubscribersAllocation>
                <initial>5</initial>
                <maximum>20</maximum>
                <increment>5</increment>
            </matchedSubscribersAllocation>
        </publisher>

        <publisher profile_name="test_default_publisher_profile"
        is_default_profile="true">
            <topic>
                <kind>NO_KEY</kind>
                <name>samplePubSubTopic</name>
                <dataType>samplePubSubTopicType</dataType>
                <historyQos>
                    <kind>KEEP_LAST</kind>
                    <depth>50</depth>
                </historyQos>
                <resourceLimitsQos>
                    <max_samples>432</max_samples>
                    <max_instances>1</max_instances>
                    <max_samples_per_instance>100</max_samples_per_instance>
                    <allocated_samples>123</allocated_samples>
                </resourceLimitsQos>
            </topic>
            <qos>
                <durability>
                    <kind>TRANSIENT_LOCAL</kind>
                </durability>
                <liveliness>
                    <kind>MANUAL_BY_PARTICIPANT</kind>
                    <lease_duration>
                        <sec>1</sec>
                        <nanosec>2</nanosec>
                    </lease_duration>
                    <announcement_period>
                        <sec>DURATION_INFINITY</sec>
                    </announcement_period>
                </liveliness>
                <reliability>
                    <kind>BEST_EFFORT</kind>
                    <max_blocking_time>
                        <sec>0</sec>
                        <nanosec>0</nanosec>
                    </max_blocking_time>
                </reliability>
                <partition>
                    <names>
                        <name>partition_name_a</name>
                        <name>partition_name_b</name>
                    </names>
                </partition>
                <publishMode>
                    <kind>ASYNCHRONOUS</kind>
                </publishMode>
            </qos>
            <times>
                <initialHeartbeatDelay>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
                </initialHeartbeatDelay>
                <heartbeatPeriod>
                    <sec>11</sec>
                    <nanosec>32</nanosec>
                </heartbeatPeriod>
                <nackResponseDelay>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
                </nackResponseDelay>
                <nackSupressionDuration>
                    <sec>121</sec>
                    <nanosec>332</nanosec>
                </nackSupressionDuration>
            </times>
            <unicastLocatorList>
                <locator>
                    <udpv4>
                        <address>192.168.1.3</address>
                        <port>197</port>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4>
                        <address>192.168.1.9</address>
                        <port>219</port>
                    </udpv4>
                </locator>
            </unicastLocatorList>
            <multicastLocatorList>
                <locator>
                    <udpv4>
                        <address>239.255.0.1</address>
                        <port>2020</port>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4></udpv4>
                </locator>
                <locator>
                    <udpv4>
                        <port>1989</port>
                    </udpv4>
                </locator>
            </multicastLocatorList>
            <throughputController>
                <bytesPerPeriod>9236</bytesPerPeriod>
                <periodMillisecs>234</periodMillisecs>
            </throughputController>
            <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
            <userDefinedID>67</userDefinedID>
            <entityID>87</entityID>
            <matchedSubscribersAllocation>
                <initial>10</initial>
                <maximum>10</maximum>
                <increment>0</increment>
            </matchedSubscribersAllocation>
        </publisher>
        
        <subscriber profile_name="test_subscriber_profile">
            <topic>
                <kind>NO_KEY</kind>
                <name>otherSamplePubSubTopic</name>
                <dataType>otherSamplePubSubTopicType</dataType>
                <historyQos>
                    <kind>KEEP_LAST</kind>
                    <depth>500</depth>
                </historyQos>
                <resourceLimitsQos>
                    <max_samples>10</max_samples>
                    <max_instances>5</max_instances>
                    <max_samples_per_instance>2</max_samples_per_instance>
                    <allocated_samples>10</allocated_samples>
                </resourceLimitsQos>
            </topic>
            <qos>
                <durability>
                    <kind>VOLATILE</kind>
                </durability>
                <liveliness>
                    <kind>MANUAL_BY_TOPIC</kind>
                    <lease_duration>
                        <sec>5</sec>
                        <nanosec>0</nanosec>
                    </lease_duration>
                    <announcement_period>
                        <sec>DURATION_INFINITY</sec>
                    </announcement_period>
                </liveliness>
                <reliability>
                    <kind>BEST_EFFORT</kind>
                    <max_blocking_time>
                        <sec>5</sec>
                    </max_blocking_time>
                </reliability>
                <partition>
                    <names>
                        <name>partition_name_a</name>
                        <name>partition_name_b</name>
                        <name>partition_name_c</name>
                        <name>partition_name_d</name>
                    </names>
                </partition>
            </qos>
            <times>
                <initialAcknackDelay>
                    <sec>5</sec>
                    <nanosec>0</nanosec>
                </initialAcknackDelay>
                <heartbeatResponseDelay>
                    <sec>5</sec>
                    <nanosec>0</nanosec>
                </heartbeatResponseDelay>
            </times>
            <unicastLocatorList>
                <locator>
                    <udpv4>
                        <address>192.168.2.10</address>
                        <port>200</port>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4>
                        <port>201</port>
                    </udpv4>
                </locator>
            </unicastLocatorList>
            <multicastLocatorList>
                <locator>
                    <udpv4>
                        <address>239.255.3.10</address>
                        <port>300</port>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4>
                        <address>239.255.4.11</address>
                        <port>400</port>
                    </udpv4>
                </locator>
            </multicastLocatorList>
            <expectsInlineQos>false</expectsInlineQos>
            <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
            <userDefinedID>40</userDefinedID>
            <entityID>40</entityID>
            <matchedPublishersAllocation>
                <initial>5</initial>
                <maximum>20</maximum>
                <increment>5</increment>
            </matchedPublishersAllocation>
        </subscriber>
        
        <subscriber profile_name="test_default_subscriber_profile" is_default_profile="true">
            <topic>
                <kind>WITH_KEY</kind>
                <name>otherSamplePubSubTopic</name>
                <dataType>otherSamplePubSubTopicType</dataType>
                <historyQos>
                    <kind>KEEP_ALL</kind>
                    <depth>1001</depth>
                </historyQos>
                <resourceLimitsQos>
                    <max_samples>52</max_samples>
                    <max_instances>25</max_instances>
                    <max_samples_per_instance>32</max_samples_per_instance>
                    <allocated_samples>37</allocated_samples>
                </resourceLimitsQos>
            </topic>
            <qos>
                <durability>
                    <kind>TRANSIENT_LOCAL</kind>
                </durability>
                <liveliness>
                    <kind>MANUAL_BY_TOPIC</kind>
                    <lease_duration>
                        <sec>11</sec>
                        <nanosec>22</nanosec>
                    </lease_duration>
                    <announcement_period>
                        <sec>0</sec>
                        <nanosec>0</nanosec>
                    </announcement_period>
                </liveliness>
                <reliability>
                    <kind>RELIABLE</kind>
                    <max_blocking_time>
                        <sec>DURATION_INFINITY</sec>
                    </max_blocking_time>
                </reliability>
                <partition>
                    <names>
                        <name>partition_name_c</name>
                        <name>partition_name_d</name>
                        <name>partition_name_e</name>
                        <name>partition_name_f</name>
                    </names>
                </partition>
            </qos>
            <times>
                <initialAcknackDelay>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
                </initialAcknackDelay>
                <heartbeatResponseDelay>
                    <sec>18</sec>
                    <nanosec>81</nanosec>
                </heartbeatResponseDelay>
            </times>
            <unicastLocatorList>
                <locator>
                    <udpv4>
                        <address>192.168.1.10</address>
                        <port>196</port>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4>
                        <port>212</port>
                    </udpv4>
                </locator>
            </unicastLocatorList>
            <multicastLocatorList>
                <locator>
                    <udpv4>
                        <address>239.255.0.10</address>
                        <port>220</port>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4>
                        <address>239.255.0.11</address>
                        <port>9891</port>
                    </udpv4>
                </locator>
            </multicastLocatorList>
            <expectsInlineQos>true</expectsInlineQos>
            <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
            <userDefinedID>13</userDefinedID>
            <entityID>31</entityID>
            <matchedPublishersAllocation>
                <initial>10</initial>
                <maximum>10</maximum>
                <increment>0</increment>
            </matchedPublishersAllocation>
        </subscriber>
        <topic profile_name = "test_topic_profile">
            <historyQos>
                <kind>KEEP_LAST</kind>
                <depth>20</depth>
            </historyQos>
            <resourceLimitsQos>
                <max_samples>200</max_samples>
                <max_instances>20</max_instances>
                <max_samples_per_instance>100</max_samples_per_instance>
                <allocated_samples>50</allocated_samples>
            </resourceLimitsQos>
        </topic>
    </profiles>
</dds>
