Docs Updatability of positive_acks period (#559)

* Refs #19576: Docs Updatability of positive_acks period Signed-off-by: cferreiragonz <[email protected]> * Refs #19576: Docs Updatability of positive_acks period v2 Signed-off-by: cferreiragonz <[email protected]> --------- Signed-off-by: cferreiragonz <[email protected]>
eProsima · Oct 2, 2023 · 8d3f0ff · 8d3f0ff
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diff --git a/docs/fastdds/dds_layer/core/policy/eprosimaExtensions.rst b/docs/fastdds/dds_layer/core/policy/eprosimaExtensions.rst
@@ -132,7 +132,7 @@ DisablePositiveACKsQosPolicy
 This additional QoS allows reducing network traffic when strict reliable communication is not required and bandwidth is
 limited.
 It consists in changing the default behavior by which positive acks are sent from readers to writers.
-Instead, only negative acks will be sent when a reader is missing a sample, but writers will keep data for a sufficient
+Instead, only negative acks will be sent when a reader is missing a sample, but writers will keep data for an adjustable
 time before considering it as acknowledged.
 See |DisablePositiveACKsQosPolicy-api|.
 
@@ -156,8 +156,9 @@ List of QoS Policy data members:
 .. note::
      This QoS Policy concerns to |DataWriter| and |DataReader| entities.
      :raw-html:`<br />`
-     It cannot be changed on enabled entities.
-
+     The |DisablePositiveACKsQosPolicy::enabled-api| Data Member cannot be modified on enabled entities.
+     Thus, this feature must be set up during initialization.
+     Only the |DisablePositiveACKsQosPolicy::duration-api| Data Member can be modified at runtime.
 .. warning::
     For DataWriters and DataReaders to match, they must follow the compatibility rule.
     See :ref:`disableacks_compatibilityrule` for further details.
@@ -707,7 +708,8 @@ List of QoS Policy data members:
 .. note::
      This QoS Policy concerns to |DataReader| entities.
      :raw-html:`<br />`
-     It cannot be changed on enabled entities.
+     Only the |DisablePositiveACKsQosPolicy::duration-api| Data Member of the :ref:`disablepositiveacksqospolicy` and the |RTPSReliableReaderQos::times-api|
+     Data Member can be modified on enabled entities.
 
 .. _readertimes:
 
@@ -784,7 +786,8 @@ List of QoS Policy data members:
 .. note::
      This QoS Policy concerns to |DataWriter| entities.
      :raw-html:`<br />`
-     It cannot be changed on enabled entities.
+     Only the |DisablePositiveACKsQosPolicy::duration-api| Data Member of the :ref:`disablepositiveacksqospolicy` and the |RTPSReliableWriterQos::times-api|
+     Data Member can be modified on enabled entities.
 
 .. _writertimes:
 

diff --git a/docs/fastdds/dds_layer/publisher/dataWriter/dataWriter.rst b/docs/fastdds/dds_layer/publisher/dataWriter/dataWriter.rst
@@ -66,7 +66,7 @@ Internally it contains the following |QosPolicy-api| objects:
 +----------------------------------+-------------------------------------------------+----------+
 | |PropertyPolicyQos|              | |DataWriterQos::properties-api|                 | Yes      |
 +----------------------------------+-------------------------------------------------+----------+
-| |RTPSReliableWriterQos|          | |DataWriterQos::reliable_writer_qos-api|        | Yes      |
+| |RTPSReliableWriterQos|          | |DataWriterQos::reliable_writer_qos-api|        | Yes (*)  |
 +----------------------------------+-------------------------------------------------+----------+
 | |RTPSEndpointQos|                | |DataWriterQos::endpoint-api|                   | Yes      |
 +----------------------------------+-------------------------------------------------+----------+
@@ -92,6 +92,10 @@ default values.
 
    Reliability kind (whether the publication is reliable or best effort) is not mutable.
    However, the ``max_blocking_time`` data member of |ReliabilityQosPolicy| can be modified any time.
+.. note::
+
+   Not all data members of RTPSReliableWriterQos are mutable, please refer to |RTPSReliableWriterQos|
+   for more information.
 
 The QoS value of a previously created DataWriter can be modified using the
 |DataWriter::set_qos-api| member function.

diff --git a/docs/fastdds/dds_layer/subscriber/dataReader/dataReader.rst b/docs/fastdds/dds_layer/subscriber/dataReader/dataReader.rst
@@ -70,7 +70,7 @@ Internally it contains the following |QosPolicy-api| objects:
 +-----------------------------------------------+---------------------------------------------+----------+
 | |readerdatalifecycleqospolicy|                | |DataReaderQos::reader_data_lifecycle-api|  | Yes      |
 +-----------------------------------------------+---------------------------------------------+----------+
-| |RTPSreliablereaderqos|                       | |DataReaderQos::reliable_reader_qos-api|    | Yes      |
+| |RTPSreliablereaderqos|                       | |DataReaderQos::reliable_reader_qos-api|    | Yes (*)  |
 +-----------------------------------------------+---------------------------------------------+----------+
 | |typeconsistencyqos|                          | |DataReaderQos::type_consistency-api|       | Yes      |
 +-----------------------------------------------+---------------------------------------------+----------+
@@ -95,6 +95,10 @@ default values.
    Reliability kind (whether the publication is reliable or best effort) is not mutable.
    However, the |ReliabilityQosPolicy::max_blocking_time-api| data member of |ReliabilityQosPolicy-api| can be modified
    any time.
+.. note::
+
+   Not all data members of RTPSReliableReaderQos are mutable, please refer to |RTPSReliableReaderQos|
+   for more information.
 
 The QoS value of a previously created DataReader can be modified using the
 |DataReader::set_qos-api| member function.