RecordingServiceConfiguration.xml

<?xml version="1.0" encoding="UTF-8"?>
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RTI grants Licensee a license to use, modify, compile, and create derivative
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<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
     xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.3.0/rti_recording_service.xsd">

    <recording_service name="RecServCfg">

        <!-- Join domain 99 on Admin Console for more introspection on Recording Service -->
        <administration>
            <enabled>true</enabled>
            <domain_id>99</domain_id>
        </administration>

        <!--  Storage settings -->
        <storage>
            <sqlite>
                <!-- XCDR_AUTO = serialized format, which is more performant, but not human-readable -->
                <!-- JSON_SQLITE = deserialized format, which is less performant, but human readable -->
                <storage_format>XCDR_AUTO</storage_format>
                <!-- This will record data to a directory called 'or_recording' -->
                <fileset>
                    <!-- Run Recording Service on the current directory -->
                    <workspace_dir></workspace_dir>
                    <!-- Create a directory called or_recording with the database -->
                    <execution_dir_expression>or_recording</execution_dir_expression>
                    <!-- Name of the database(s) containing the recorded data -->
                    <filename_expression>or_recording_database.dat</filename_expression>
                </fileset>
            </sqlite>
        </storage>

        <!--  Recording Service DomainParticipant settings -->
        <domain_participant name="recs/dp/OperationalData">
            <domain_id>0</domain_id>
            <domain_participant_qos base_name="RtiServicesLib::RecordingService"/>
        </domain_participant>

        <!-- <session> = subscriber -->
        <session name="session">
            <subscriber_qos base_name="BuiltinQosLib::Generic.Common"/>

            <!-- <topic> = DataReader -->
            <topic name="t/MotorControl" participant_ref="recs/dp/OperationalData">
                <topic_name>t/MotorControl</topic_name>
                <registered_type_name>SurgicalRobot::MotorControl</registered_type_name>
                <!-- Using the same QoS profile we use in our applications -->
                <datareader_qos base_name="DataFlowLibrary::Command"/>
            </topic>
            
            <topic name="t/Vitals" participant_ref="recs/dp/OperationalData">
                <topic_name>t/Vitals</topic_name>
                <registered_type_name>PatientMonitor::Vitals</registered_type_name>
                <!-- Using the same QoS profile we use in our applications -->
                <datareader_qos base_name="DataFlowLibrary::Streaming"/>
            </topic>

            <!-- This topic group would record all the topics but the rti/* topics -->
            <!-- <topic_group> = group of DataReaders -->
            <!-- <topic_group name="RecordAll" participant_ref="recs/dp/OperationalData">
                <allow_topic_name_filter>*</allow_topic_name_filter>
                <deny_topic_name_filter>rti/*</deny_topic_name_filter>
                <datareader_qos base_name="BuiltinQosLib::Generic.Common"/>
            </topic_group> -->
        </session>
    </recording_service>
</dds>