ROUTER_CONFIG.json5

/// This file attempts to list and document available configuration elements.
/// For a more complete view of the configuration's structure, check out `zenoh/src/config.rs`'s `Config` structure.
/// Note that the values here are correctly typed, but may not be sensible, so copying this file to change only the parts that matter to you is not good practice.
{
  /// The identifier (as unsigned 128bit integer in hexadecimal lowercase - leading zeros are not accepted)
  /// that zenoh runtime will use.
  /// If not set, a random unsigned 128bit integer will be used.
  /// WARNING: this id must be unique in your zenoh network.
  // id: "1234567890abcdef",

  /// The node's mode (router, peer or client)
  mode: "router",

  /// Which endpoints to connect to. E.g. tcp/localhost:7447.
  /// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
  ///
  /// For TCP/UDP on Linux, it is possible additionally specify the interface to be connected to:
  /// E.g. tcp/192.168.0.1:7447#iface=eth0, for connect only if the IP address is reachable via the interface eth0
  ///
  /// It is also possible to specify a priority range and/or a reliability setting to be used on the link.
  /// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link.
  ///
  /// For TCP and TLS links, it is possible to specify the TCP buffer sizes:
  /// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000
  connect: {
    /// timeout waiting for all endpoints connected (0: no retry, -1: infinite timeout)
    /// Accepts a single value (e.g. timeout_ms: 0)
    /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
    timeout_ms: { router: -1, peer: -1, client: 0 },

    /// The list of endpoints to connect to.
    /// Accepts a single list (e.g. endpoints: ["tcp/10.10.10.10:7447", "tcp/11.11.11.11:7447"])
    /// 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"] }).
    ///
    /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
    endpoints: [
      // "<proto>/<address>"
    ],

    /// Global connect configuration,
    /// Accepts a single value or different values for router, peer and client.
    /// The configuration can also be specified for the separate endpoint
    /// it will override the global one
    /// E.g. tcp/192.168.0.1:7447#retry_period_init_ms=20000;retry_period_max_ms=10000"

    /// exit from application, if timeout exceed
    exit_on_failure: { router: false, peer: false, client: true },
    /// connect establishing retry configuration
    retry: {
      /// initial wait timeout until next connect try
      period_init_ms: 1000,
      /// maximum wait timeout until next connect try
      period_max_ms: 4000,
      /// increase factor for the next timeout until nexti connect try
      period_increase_factor: 2,
    },
  },

  /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
  /// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
  /// peers, or client can use to establish a zenoh session.
  ///
  /// For TCP/UDP on Linux, it is possible additionally specify the interface to be listened to:
  /// E.g. tcp/0.0.0.0:7447#iface=eth0, for listen connection only on eth0
  ///
  /// It is also possible to specify a priority range and/or a reliability setting to be used on the link.
  /// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link.
  ///
  /// For TCP and TLS links, it is possible to specify the TCP buffer sizes:
  /// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000
  listen: {
    /// timeout waiting for all listen endpoints (0: no retry, -1: infinite timeout)
    /// Accepts a single value (e.g. timeout_ms: 0)
    /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
    timeout_ms: 0,

    /// The list of endpoints to listen on.
    /// Accepts a single list (e.g. endpoints: ["tcp/[::]:7447", "udp/[::]:7447"])
    /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0"] }).
    ///
    /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
    endpoints: [
      "tcp/[::]:7447"
    ],

    /// Global listen configuration,
    /// Accepts a single value or different values for router, peer and client.
    /// The configuration can also be specified for the separate endpoint
    /// it will override the global one
    /// E.g. tcp/192.168.0.1:7447#exit_on_failure=false;retry_period_max_ms=1000"

    /// exit from application, if timeout exceed
    exit_on_failure: true,
    /// listen retry configuration
    retry: {
      /// initial wait timeout until next try
      period_init_ms: 1000,
      /// maximum wait timeout until next try
      period_max_ms: 4000,
      /// increase factor for the next timeout until next try
      period_increase_factor: 2,
    },
  },
  /// Configure the session open behavior.
  open: {
    /// Configure the conditions to be met before session open returns.
    return_conditions: {
      /// Session open waits to connect to scouted peers and routers before returning.
      /// When set to false, first publications and queries after session open from peers may be lost.
      connect_scouted: true,
      /// Session open waits to receive initial declares from connected peers before returning.
      /// Setting to false may cause extra traffic at startup from peers.
      declares: true,
    },
  },
  /// Configure the scouting mechanisms and their behaviours
  scouting: {
    /// In client mode, the period in milliseconds dedicated to scouting for a router before failing.
    timeout: 3000,
    /// In peer mode, the maximum period in milliseconds dedicated to scouting remote peers before attempting other operations.
    delay: 500,
    /// The multicast scouting configuration.
    multicast: {
      /// Whether multicast scouting is enabled or not
      ///
      /// ROS setting: disable multicast discovery by default
      enabled: false,
      /// The socket which should be used for multicast scouting
      address: "224.0.0.224:7446",
      /// The network interface which should be used for multicast scouting
      interface: "auto", // If not set or set to "auto" the interface if picked automatically
      /// The time-to-live on multicast scouting packets
      ttl: 1,
      /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
      /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
      /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
      /// Each value is a list of: "peer", "router" and/or "client".
      autoconnect: { router: [], peer: ["router", "peer"] },
      /// Whether or not to listen for scout messages on UDP multicast and reply to them.
      listen: true,
    },
    /// The gossip scouting configuration.
    gossip: {
      /// Whether gossip scouting is enabled or not
      enabled: true,
      /// When true, gossip scouting information are propagated multiple hops to all nodes in the local network.
      /// When false, gossip scouting information are only propagated to the next hop.
      /// Activating multihop gossip implies more scouting traffic and a lower scalability.
      /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
      /// direct connectivity with each other.
      multihop: false,
      /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
      /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
      /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
      /// Each value is a list of: "peer", "router" and/or "client".
      autoconnect: { router: [], peer: ["router", "peer"] },
    },
  },

  /// Configuration of data messages timestamps management.
  timestamping: {
    /// Whether data messages should be timestamped if not already.
    /// Accepts a single boolean value or different values for router, peer and client.
    ///
    /// ROS setting: PublicationCache which is required for transient_local durability
    ///              only works when time-stamping is enabled.
    enabled: { router: true, peer: true, client: true },
    /// Whether data messages with timestamps in the future should be dropped or not.
    /// If set to false (default), messages with timestamps in the future are retimestamped.
    /// Timestamps are ignored if timestamping is disabled.
    drop_future_timestamp: false,
  },

  /// The default timeout to apply to queries in milliseconds.
  queries_default_timeout: 10000,

  /// The routing strategy to use and it's configuration.
  routing: {
    /// The routing strategy to use in routers and it's configuration.
    router: {
      /// When set to true a router will forward data between two peers
      /// directly connected to it if it detects that those peers are not
      /// connected to each other.
      /// The failover brokering only works if gossip discovery is enabled.
      /// ROS setting: disabled by default because it serves no purpose when each peer connects directly to all others,
      ///              and it introduces additional management overhead and extra messages during system startup.
      peers_failover_brokering: false,
    },
    /// The routing strategy to use in peers and it's configuration.
    peer: {
      /// The routing strategy to use in peers. ("peer_to_peer" or "linkstate").
      mode: "peer_to_peer",
    },
  },

  //  /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values)
  //  qos: {
  //    /// Overwrite QoS options for PUT and DELETE messages
  //    publication: [
  //      {
  //        /// PUT and DELETE messages on key expressions that are included by these key expressions
  //        /// will have their QoS options overwritten by the given config.
  //        key_exprs: ["demo/**", "example/key"],
  //        /// Configurations that will be applied on the publisher.
  //        /// Options that are supplied here will overwrite the configuration given in Zenoh API
  //        config: {
  //          congestion_control: "block",
  //          priority: "data_high",
  //          express: true,
  //          reliability: "best_effort",
  //          allowed_destination: "remote",
  //        },
  //      },
  //    ],
  //  },

  //  /// The declarations aggregation strategy.
  //  aggregation: {
  //      /// A list of key-expressions for which all included subscribers will be aggregated into.
  //      subscribers: [
  //        // key_expression
  //      ],
  //      /// A list of key-expressions for which all included publishers will be aggregated into.
  //      publishers: [
  //        // key_expression
  //      ],
  //  },

  //  /// The downsampling declaration.
  //  downsampling: [
  //    {
  //      /// A list of network interfaces messages will be processed on, the rest will be passed as is.
  //      interfaces: [ "wlan0" ],
  //      /// Data flow messages will be processed on. ("egress" or "ingress")
  //      flow: "egress",
  //      /// A list of downsampling rules: key_expression and the maximum frequency in Hertz
  //      rules: [
  //        { key_expr: "demo/example/zenoh-rs-pub", freq: 0.1 },
  //      ],
  //    },
  //  ],

  /// Configure access control (ACL) rules
  access_control: {
    /// [true/false] acl will be activated only if this is set to true
    "enabled": false,
    /// [deny/allow] default permission is deny (even if this is left empty or not specified)
    "default_permission": "deny",
    /// Rule set for permissions allowing or denying access to key-expressions
    "rules":
    [
      // Allowed incoming and outgoing liveliness tokens for ROS graph discovery (for simplification allow all liveliness tokens in the domain "0")
      {
        "id": "liveliness_tokens",
        "messages": ["liveliness_token", "declare_liveliness_subscriber", "liveliness_query" ],
        "flows":["ingress", "egress"],
        "permission": "allow",
        "key_exprs": [ "@ros2_lv/0/**" ],
      }
    ],
    /// List of combinations of subjects.
    ///
    /// If a subject property (i.e. username, certificate common name or interface) is empty
    /// it is interpreted as a wildcard. Moreover, a subject property cannot be an empty list.
    "subjects":
    [
      {
        /// Id has to be unique within the subjects list
        "id": "router",
        /// Subjects can be cert_common_names when using TLS or Quic
        // "cert_common_names": [ "zenohd" ],
      },
      {
        /// Id has to be unique within the subjects list
        "id": "talker",
        /// Subjects can be cert_common_names when using TLS or Quic
        // "cert_common_names": [ "talker" ],
      },
      {
        /// Id has to be unique within the subjects list
        "id": "listener",
        /// Subjects can be cert_common_names when using TLS or Quic
        // "cert_common_names": [ "listener" ],
      },
    ],
    /// The policies list associates rules to subjects
    "policies":
    [
      /// Each policy associates one or multiple rules to one or multiple subject combinations
      {
        "rules": [ "liveliness_tokens"],
        "subjects": ["router"]
      }
    ]
  },

  /// Configure internal transport parameters
  transport: {
    unicast: {
      /// Timeout in milliseconds when opening a link
      open_timeout: 10000,
      /// Timeout in milliseconds when accepting a link
      accept_timeout: 10000,
      /// Maximum number of zenoh session in pending state while accepting
      accept_pending: 100,
      /// Maximum number of sessions that can be simultaneously alive
      max_sessions: 1000,
      /// Maximum number of incoming links that are admitted per session
      max_links: 1,
      /// Enables the LowLatency transport
      /// This option does not make LowLatency transport mandatory, the actual implementation of transport
      /// used will depend on Establish procedure and other party's settings
      ///
      /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization.
      /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to
      ///       enable 'lowlatency' you need to explicitly disable 'qos'.
      /// NOTE: LowLatency transport does not support the fragmentation, so the message size should be
      ///       smaller than the tx batch_size.
      lowlatency: false,
      /// Enables QoS on unicast communications.
      qos: {
        enabled: true,
      },
      /// Enables compression on unicast communications.
      /// Compression capabilities are negotiated during session establishment.
      /// If both Zenoh nodes support compression, then compression is activated.
      compression: {
        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
    ///   when operating on multicast.
    ///   E.g., the batch size on Linux and Windows is 65535 bytes, on Mac OS X is 9216, and anything else is 8192.
    multicast: {
      /// JOIN message transmission interval in milliseconds.
      join_interval: 2500,
      /// Maximum number of multicast sessions.
      max_sessions: 1000,
      /// Enables QoS on multicast communication.
      /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
      qos: {
        enabled: false,
      },
      /// Enables compression on multicast communication.
      /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
      compression: {
        enabled: false,
      },
    },
    link: {
      /// An optional whitelist of protocols to be used for accepting and opening sessions. If not
      /// configured, all the supported protocols are automatically whitelisted. The supported
      /// protocols are: ["tcp" , "udp", "tls", "quic", "ws", "unixsock-stream", "vsock"] For
      /// example, to only enable "tls" and "quic": protocols: ["tls", "quic"],
      ///
      /// Configure the zenoh TX parameters of a link
      tx: {
        /// The resolution in bits to be used for the message sequence numbers.
        /// When establishing a session with another Zenoh instance, the lowest value of the two instances will be used.
        /// Accepted values: 8bit, 16bit, 32bit, 64bit.
        sequence_number_resolution: "32bit",
        /// Link lease duration in milliseconds to announce to other zenoh nodes
        lease: 10000,
        /// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive
        /// messages will be sent at the configured time interval.
        /// NOTE: In order to consider eventual packet loss and transmission latency and jitter,
        ///       set the actual keep_alive interval to one fourth of the lease time: i.e. send
        ///       4 keep_alive messages in a lease period. Changing the lease time will have the
        ///       keep_alive messages sent more or less often.
        ///       This is in-line with the ITU-T G.8013/Y.1731 specification on continuous connectivity
        ///       check which considers a link as failed when no messages are received in 3.5 times the
        ///       target interval.
        keep_alive: 4,
        /// Batch size in bytes is expressed as a 16bit unsigned integer.
        /// Therefore, the maximum batch size is 2^16-1 (i.e. 65535).
        /// The default batch size value is the maximum batch size: 65535.
        batch_size: 65535,
        /// Each zenoh link has a transmission queue that can be configured
        queue: {
          /// The size of each priority queue indicates the number of batches a given queue can contain.
          /// NOTE: the number of batches in each priority must be included between 1 and 16. Different values will result in an error.
          /// The amount of memory being allocated for each queue is then SIZE_XXX * BATCH_SIZE.
          /// In the case of the transport link MTU being smaller than the ZN_BATCH_SIZE,
          /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU.
          /// If qos is false, then only the DATA priority will be allocated.
          size: {
            control: 1,
            real_time: 1,
            interactive_high: 1,
            interactive_low: 1,
            data_high: 2,
            data: 4,
            data_low: 4,
            background: 4,
          },
          /// Congestion occurs when the queue is empty (no available batch).
          congestion_control: {
            /// Behavior pushing CongestionControl::Drop messages to the queue.
            drop: {
              /// The maximum time in microseconds to wait for an available batch before dropping a droppable message if still no batch is available.
              wait_before_drop: 1000,
              /// The maximum deadline limit for multi-fragment messages.
              max_wait_before_drop_fragments: 50000,
            },
            /// Behavior pushing CongestionControl::Block messages to the queue.
            block: {
              /// The maximum time in microseconds to wait for an available batch before closing the transport session when sending a blocking message
              /// if still no batch is available.
              wait_before_close: 5000000,
            },
          },
          /// Perform batching of messages if they are smaller of the batch_size
          batching: {
            /// Perform adaptive batching of messages if they are smaller of the batch_size.
            /// When the network is detected to not be fast enough to transmit every message individually, many small messages may be
            /// batched together and sent all at once on the wire reducing the overall network overhead. This is typically of a high-throughput
            /// scenario mainly composed of small messages. In other words, batching is activated by the network back-pressure.
            enabled: true,
            /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
            time_limit: 1,
          },
        },
      },
      /// Configure the zenoh RX parameters of a link
      rx: {
        /// Receiving buffer size in bytes for each link
        /// The default the rx_buffer_size value is the same as the default batch size: 65535.
        /// For very high throughput scenarios, the rx_buffer_size can be increased to accommodate
        /// 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,
        /// Maximum size of the defragmentation buffer at receiver end.
        /// Fragmented messages that are larger than the configured size will be dropped.
        /// The default value is 1GiB. This would work in most scenarios.
        /// NOTE: reduce the value if you are operating on a memory constrained device.
        max_message_size: 1073741824,
      },
      /// Configure TLS specific parameters
      tls: {
        /// Path to the certificate of the certificate authority used to validate either the server
        /// 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: "",
        /// Path to the TLS listening side private key
        listen_private_key: "",
        /// Path to the TLS listening side public certificate
        listen_certificate:  "",
        ///  Enables mTLS (mutual authentication), client authentication
        enable_mtls: true,
        /// Path to the TLS connecting side private key
        connect_private_key: "",
        /// Path to the TLS connecting side certificate
        connect_certificate: "",
        // 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 want your ca to verify that the server at baz.com is actually baz.com, let this be true (default).
        verify_name_on_connect: false,
        // Whether or not to close links when remote certificates expires.
        // If set to true, links that require certificates (tls/quic) will automatically disconnect when the time of expiration of the remote certificate chain is reached
        // note that mTLS (client authentication) is required for a listener to disconnect a client on expiration
        close_link_on_expiration: false,
        /// Optional configuration for TCP system buffers sizes for TLS links
        ///
        /// Configure TCP read buffer size (bytes)
        // so_rcvbuf: 123456,
        /// Configure TCP write buffer size (bytes)
        // so_sndbuf: 123456,
      },
    // // Configure optional TCP link specific parameters
    // tcp: {
    //   /// Optional configuration for TCP system buffers sizes for TCP links
    //   ///
    //   /// Configure TCP read buffer size (bytes)
    //   // so_rcvbuf: 123456,
    //   /// Configure TCP write buffer size (bytes)
    //   // so_sndbuf: 123456,
    // }
    },
    /// Shared memory configuration.
    /// NOTE: shared memory can be used only if zenoh is compiled with "shared-memory" feature, otherwise
    /// settings in this section have no effect.
    shared_memory: {
      /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate
      /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the
      /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected.
      ///
      /// ROS setting: disabled by default until fully tested
      enabled: false,
    },
    auth: {
      /// The configuration of authentication.
      /// A password implies a username is required.
      usrpwd: {
        user: null,
        password: null,
        /// The path to a file containing the user password dictionary
        dictionary_file: null,
      },
      pubkey: {
        public_key_pem: null,
        private_key_pem: null,
        public_key_file: null,
        private_key_file: null,
        key_size: null,
        known_keys_file: null,
      },
    },
  },

  /// Configure the Admin Space
  /// Unstable: this configuration part works as advertised, but may change in a future release
  adminspace: {
    /// Enables the admin space
    enabled: true,
    /// read and/or write permissions on the admin space
    permissions: {
      read: true,
      write: false,
    },
  },

}