PR #12467 from Eran: misc DDS changes

third-party/realdds/include/realdds/dds-guid.h

@@ -5,6 +5,7 @@
 
 #include "dds-defines.h"
 #include <fastdds/rtps/common/Guid.h>
+#include <iosfwd>
 
 
 namespace realdds {
@@ -13,25 +14,77 @@ namespace realdds {
 static constexpr auto & unknown_guid = eprosima::fastrtps::rtps::c_Guid_Unknown;
 
 
-// Custom GUID printer: attempts a more succinct representation
-// If a base_prefix is provided, will try to minimize a common denominator (vendor, host, etc.) -- you can use your
-// participant's guid if you want to shorten
+// Convert a prefix to a hex string: not human-readable!
+// In one of two formats:
+//     223344556677.<0xPID>               // eProsima
+// Or:
+//     001122334455667788990011           // everything else
+// Used internally by next function.
 //
-std::string print( dds_guid const & guid,
-                   dds_guid_prefix const & base_prefix = unknown_guid.guidPrefix,
-                   bool readable_name = true );
+struct print_raw_guid_prefix
+{
+    dds_guid_prefix const & _prefix;
+    explicit print_raw_guid_prefix( dds_guid_prefix const & prefix,
+                                    dds_guid_prefix const & /*base_prefix*/ = unknown_guid.guidPrefix )
+        : _prefix( prefix )
+    {
+    }
+};
+std::ostream & operator<<( std::ostream &, print_raw_guid_prefix const & );
+
 
-// Same as above, without a base prefix
-inline std::string print( dds_guid const & guid, bool readable_name )
+// Custom GUID printer: attempts a more succinct representation:
+// If the participant is known, its name will be shown instead of the raw bytes.
+//     <name-or-prefix>.<entity-id-in-hex>
+// If a base_prefix is provided, will try to minimize a common denominator -- you can use your
+// participant's guid if you want to shorten.
+//
+struct print_guid
 {
-    return print( guid, unknown_guid.guidPrefix, readable_name );
-}
+    dds_guid const & _guid;
+    dds_guid_prefix const & _base_prefix;
+
+    explicit print_guid( dds_guid const & guid, dds_guid_prefix const & base_prefix = unknown_guid.guidPrefix )
+        : _guid( guid )
+        , _base_prefix( base_prefix )
+    {
+    }
+    explicit print_guid( dds_guid const & guid, dds_guid const & base_guid )
+        : print_guid( guid, base_guid.guidPrefix )
+    {
+    }
+};
+std::ostream & operator<<( std::ostream &, print_guid const & );
+
 
-// Same as above, with a guid base for flexibility
-inline std::string print( dds_guid const & guid, dds_guid const & base_guid, bool readable_name = true )
+// Same, except leaves output in raw form (bytes, not name)
+//     <prefix>.<entity-id-in-hex>
+//
+struct print_raw_guid
 {
-    return print( guid, base_guid.guidPrefix, readable_name );
-}
+    dds_guid const & _guid;
+    dds_guid_prefix const & _base_prefix;
+
+    explicit print_raw_guid( dds_guid const & guid, dds_guid_prefix const & base_prefix = unknown_guid.guidPrefix )
+        : _guid( guid )
+        , _base_prefix( base_prefix )
+    {
+    }
+    explicit print_raw_guid( dds_guid const & guid, dds_guid const & base_guid )
+        : print_raw_guid( guid, base_guid.guidPrefix )
+    {
+    }
+};
+std::ostream & operator<<( std::ostream &, print_raw_guid const & );
+
+
+// The reverse: get a guid from a RAW guid string.
+// Expecting one of two formats:
+//     223344556677.<0xPID>.<0xEID>       // eProsima
+// Or:
+//     001122334455667788990011.<0xEID>   // everything else
+// Returns unknown_guid if not parseable
+dds_guid guid_from_string( std::string const & );
 
 
 }  // namespace realdds

third-party/realdds/include/realdds/dds-topic-writer.h

@@ -80,6 +80,9 @@ class dds_topic_writer : protected eprosima::fastdds::dds::DataWriterListener
     // The callbacks should be set before we actually create the underlying DDS objects, so the writer does not
     void run( qos const & = qos() );
 
+    // Waits until all changes were acknowledged; return false on timeout
+    bool wait_for_acks( dds_time timeout );
+
     // DataWriterListener
 protected:
     // Called when the Publisher is matched (or unmatched) against an endpoint

third-party/realdds/py/pyrealdds.cpp

@@ -29,7 +29,11 @@
 #include <realdds/dds-stream-sensor-bridge.h>
 #include <realdds/dds-metadata-syncer.h>
 
+#include <rsutils/os/special-folder.h>
+#include <rsutils/os/executable-name.h>
 #include <rsutils/easylogging/easyloggingpp.h>
+#include <rsutils/string/from.h>
+#include <rsutils/json.h>
 
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
 #include <fastdds/dds/domain/DomainParticipant.hpp>
@@ -45,12 +49,6 @@
 
 namespace {
 
-std::string to_string( realdds::dds_guid const & guid )
-{
-    return realdds::print( guid );
-}
-
-
 py::list get_vector3( geometry_msgs::msg::Vector3 const & v )
 {
     py::list obj( 3 );
@@ -69,6 +67,55 @@ void set_vector3( geometry_msgs::msg::Vector3 & v, std::array< double, 3 > const
 }
 
 
+std::string script_name()
+{
+    // Returns the name of the python script that's currently running us
+    return rsutils::os::base_name(
+        py::module_::import( "__main__" ).attr( "__file__" ).cast< std::string >() );
+}
+
+
+nlohmann::json load_rs_settings( nlohmann::json const & local_settings )
+{
+    nlohmann::json config;
+
+    // Load the realsense configuration file settings
+    std::ifstream f( rsutils::os::get_special_folder( rsutils::os::special_folder::app_data ) + "realsense-config.json" );
+    if( f.good() )
+    {
+        try
+        {
+            config = nlohmann::json::parse( f );
+        }
+        catch( std::exception const & e )
+        {
+            throw std::runtime_error( "failed to load configuration file: " + std::string( e.what() ) );
+        }
+    }
+
+    // Load "python"-specific settings
+    auto settings = rsutils::json::load_app_settings( config, "python", "context", "config-file" );
+
+    // Take the "dds" settings only
+    settings = rsutils::json::nested( settings, "dds" );
+
+    // Patch any script-specific settings
+    // NOTE: this is also accessed by pyrealsense2, where a "context" hierarchy is still used
+    auto script = script_name();
+    if( auto script_settings = rsutils::json::nested( config, script, "context", "dds" ) )
+        rsutils::json::patch( settings, script_settings, "config-file/" + script + "/context" );
+
+    // We should always have DDS enabled
+    if( settings.is_object() )
+        settings.erase( "enabled" );
+
+    // Patch the given local settings into the configuration
+    rsutils::json::patch( settings, local_settings, "local settings" );
+
+    return settings;
+}
+
+
 }  // namespace
 
 
@@ -94,14 +141,19 @@ PYBIND11_MODULE(NAME, m) {
     using realdds::dds_guid;
     py::class_< dds_guid >( m, "guid" )
         .def( py::init<>() )
-        .def( "__bool__", []( dds_guid const& self ) { return self != dds_guid::unknown(); } )
-        .def( "__repr__", []( dds_guid const & self ) { return to_string( self ); } )
+        .def_static( "from_string",
+                     []( std::string const & raw_guid ) { return realdds::guid_from_string( raw_guid ); } )
+        .def( "__bool__", []( dds_guid const & self ) { return self != realdds::unknown_guid; } )
+        .def( "__str__",
+              []( dds_guid const & self ) { return rsutils::string::from( realdds::print_guid( (self) ) ).str(); } )
+        .def( "__repr__",
+              []( dds_guid const & self ) { return rsutils::string::from( realdds::print_raw_guid( ( self ) ) ).str(); } )
         // Following two (hash and ==) are needed if we want to be able to use guids as dictionary keys
         .def( "__hash__",
               []( dds_guid const & self )
               {
                   return std::hash< std::string >{}(
-                      realdds::print( self, false ) );  // use hex; not the human-readable name
+                      rsutils::string::from( realdds::print_raw_guid( self ) ) );
               } )
         .def( py::self == py::self );
 
@@ -149,12 +201,19 @@ PYBIND11_MODULE(NAME, m) {
                       ( char const * topic_name, eprosima::fastrtps::types::DynamicType_ptr dyn_type ),
                       callback( topic_name, dyn_type->get_name() ); ) );
 
+    m.def( "load_rs_settings", &load_rs_settings, "local-settings"_a = nlohmann::json::object() );
+    m.def( "script_name", &script_name );
+
     py::class_< dds_participant,
                 std::shared_ptr< dds_participant >  // handled with a shared_ptr
                 >
         participant( m, "participant" );
     participant.def( py::init<>() )
-        .def( "init", &dds_participant::init, "domain-id"_a, "participant-name"_a, "settings"_a = nlohmann::json::object() )
+        .def( "init",
+              []( dds_participant & self, nlohmann::json const & local_settings, realdds::dds_domain_id domain_id )
+                    { self.init( domain_id, script_name(), local_settings ); },
+              "local-settings"_a = nlohmann::json::object(), "domain-id"_a = -1 )
+        .def( "init", &dds_participant::init, "domain-id"_a, "participant-name"_a, "local-settings"_a = nlohmann::json::object() )
         .def( "is_valid", &dds_participant::is_valid )
         .def( "guid", &dds_participant::guid )
         .def( "create_guid", &dds_participant::create_guid )
@@ -182,7 +241,7 @@ PYBIND11_MODULE(NAME, m) {
                       eprosima::fastdds::dds::DomainParticipantQos qos;
                       if( ReturnCode_t::RETCODE_OK == self.get()->get_qos( qos ) )
                           os << " \"" << qos.name() << "\"";
-                      os << " " << to_string( self.guid() );
+                      os << " " << realdds::print_guid( self.guid() );
                   }
                   os << ">";
                   return os.str();
@@ -298,8 +357,10 @@ PYBIND11_MODULE(NAME, m) {
                       callback( self, status.current_count_change ); ) )
         .def( "topic", &dds_topic_writer::topic )
         .def( "run", &dds_topic_writer::run )
-        .def( "qos", []() { return writer_qos(); } )
-        .def( "qos", []( reliability r, durability d ) { return writer_qos( r, d ); } );
+        .def( "has_readers", &dds_topic_writer::has_readers )
+        .def( "wait_for_acks", &dds_topic_writer::wait_for_acks )
+        .def_static( "qos", []() { return writer_qos(); } )
+        .def_static( "qos", []( reliability r, durability d ) { return writer_qos( r, d ); } );
 
 
     // The actual types are declared as functions and not classes: the py::init<> inheritance rules are pretty strict
@@ -350,7 +411,7 @@ PYBIND11_MODULE(NAME, m) {
               []( SampleIdentity const & self )
               {
                   std::ostringstream os;
-                  os << to_string( self.writer_guid() );
+                  os << realdds::print_guid( self.writer_guid() );
                   os << '.';
                   os << self.sequence_number();
                   return os.str();

third-party/realdds/scripts/devices.py

@@ -16,7 +16,7 @@ def domain_arg(x):
     if t <= 0 or t > 232:
         raise ValueError( f'--domain should be [0,232]' )
     return t
-args.add_argument( '--domain', metavar='<0-232>', type=domain_arg, default=0, help='DDS domain to use (default=0)' )
+args.add_argument( '--domain', metavar='<0-232>', type=domain_arg, default=-1, help='DDS domain to use (default=0)' )
 args = args.parse_args()
 
 
@@ -36,7 +36,7 @@ def e( *a, **kw ):
 dds.debug( args.debug )
 
 participant = dds.participant()
-participant.init( args.domain, 'devices' )
+participant.init( dds.load_rs_settings( settings ), args.domain )
 
 watcher = dds.device_watcher( participant )
 watcher.start()

third-party/realdds/scripts/fps.py

@@ -17,7 +17,7 @@ def domain_arg(x):
     if t <= 0 or t > 232:
         raise ValueError( f'--domain should be [0,232]' )
     return t
-args.add_argument( '--domain', metavar='<0-232>', type=domain_arg, default=0, help='DDS domain to use (default=0)' )
+args.add_argument( '--domain', metavar='<0-232>', type=domain_arg, default=-1, help='DDS domain to use (default=0)' )
 args.add_argument( '--with-metadata', action='store_true', help='stream with metadata, if available (default off)' )
 args = args.parse_args()
 
@@ -43,7 +43,7 @@ def e( *a, **kw ):
     settings['device'] = { 'metadata' : False };
 
 participant = dds.participant()
-participant.init( args.domain, 'fps', settings )
+participant.init( dds.load_rs_settings( settings ), args.domain )
 
 # Most important is the topic-root: this assumes we know it in advance and do not have to
 # wait for a device-info message (which would complicate the code here).

third-party/realdds/scripts/topic-send.py

@@ -15,12 +15,13 @@ def json_arg(x):
     except Exception as e:
         raise ArgumentError( str(e) )
 args.add_argument( '--message', metavar='<json>', type=json_arg, help='a message to send', default='{"id":"ping","message":"some message"}' )
+args.add_argument( '--ack', action='store_true', help='wait for acks' )
 def domain_arg(x):
     t = int(x)
     if t <= 0 or t > 232:
         raise ArgumentError( f'--domain should be [0-232]' )
     return t
-args.add_argument( '--domain', metavar='<0-232>', type=domain_arg, default=0, help='DDS domain to use (default=0)' )
+args.add_argument( '--domain', metavar='<0-232>', type=domain_arg, default=-1, help='DDS domain to use (default=0)' )
 args = args.parse_args()
 
 
@@ -43,7 +44,7 @@ def e( *a, **kw ):
 settings = {}
 
 participant = dds.participant()
-participant.init( args.domain, 'topic-send', settings )
+participant.init( dds.load_rs_settings( settings ), args.domain )
 
 message = args.message
 
@@ -78,7 +79,16 @@ def e( *a, **kw ):
     writer.run( dds.topic_writer.qos() )
     # Let the client pick up on the new entity - if we send it too quickly, they won't see it before we disappear...
     time.sleep( 1 )
+    if not writer.has_readers():
+        e( 'No readers exist on topic:', topic_path )
+        sys.exit( 1 )
+    start = dds.now()
     dds.message.flexible( message ).write_to( writer )
     i( f'Sent {message} on {topic_path}' )
+    if args.ack:
+        if not writer.wait_for_acks( dds.time( 5. ) ):  # seconds
+            e( 'Timeout waiting for ack' )
+            sys.exit( 1 )
+        i( f'Acknowledged ({dds.timestr( dds.now(), start )})' )
 
 

third-party/realdds/src/dds-device-impl.cpp

@@ -201,9 +201,9 @@ void dds_device::impl::handle_notification( nlohmann::json const & j,
             if( sample.size() == 2 && sample.is_array() )
             {
                 // We have to be the ones who sent the control!
-                auto const guid_string = rsutils::json::get< std::string >( sample, 0 );
-                auto const control_guid_string = realdds::print( _control_writer->get()->guid(), false );  // raw guid
-                if( guid_string == control_guid_string )
+                auto const reply_guid = guid_from_string( rsutils::json::get< std::string >( sample, 0 ) );
+                auto const control_guid = _control_writer->get()->guid();
+                if( reply_guid == control_guid )
                 {
                     auto const sequence_number = rsutils::json::get< uint64_t >( sample, 1 );
                     std::unique_lock< std::mutex > lock( _replies_mutex );

third-party/realdds/src/dds-device-server.cpp

@@ -282,7 +282,7 @@ void dds_device_server::on_control_message_received()
             {
                 json reply;
                 reply[sample_key] = json::array( {
-                    realdds::print( sample.sample_identity.writer_guid(), false ),  // raw guid
+                    rsutils::string::from( realdds::print_raw_guid( sample.sample_identity.writer_guid() ) ),
                     sample.sample_identity.sequence_number().to64long(),
                 } );
                 try

third-party/realdds/src/dds-device-watcher.cpp

@@ -110,7 +110,7 @@ void dds_device_watcher::start()
         init();
     }
     LOG_DEBUG( "DDS device watcher started on '" << _participant->get()->get_qos().name() << "' "
-                                                 << realdds::print( _participant->guid() ) );
+                                                 << realdds::print_guid( _participant->guid() ) );
 }
 
 void dds_device_watcher::stop()