DDS using generic format types #11946
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…erting commit c34c956, because we will have a unified topic for IMU and that will force same frequency in DDS stream)
…t than USB debaults), DDS device tags correctly
src/device.h
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| @@ -87,6 +87,8 @@ class device : public virtual device_interface, public info_container | |||
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| bool device_changed_notifications_on() const { return _device_changed_notifications; } | |||
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| bool should_use_basic_formats() const; | |||
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A few things: :)
- Not sure about the name - if we stuck to the existing convention, it would be
use_basic_formats_on()? - Should we really expose a function from the device? I'd bet the sensor pretty much knows how to get the context? If so, why not query the context directly and no go through the device? It's really not a device function, is it?
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The sensor uses it's device "owner" to access the context, no direct access.
Conceptually we can make this a per sensor decision, but I don't really see a case where it is not an application wide resolution. It is whether we convert at server side or host side and the CPU/bandwidth resources needed.
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I would argue it's not actually per device, though. It's per context.
I think the sensor should query the context.
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Updated sensor to parse this parameter
src/sensor.cpp
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| // Invoke processing blocks callback | ||
| const auto&& process_cb = make_callback([&, this](frame_holder f) { | ||
| const auto & process_cb = make_callback( [&, this]( frame_holder f ) { |
| @@ -41,6 +41,13 @@ class lrs_device_controller | |||
| void start_streaming( const nlohmann::json & msg ); | |||
| void publish_frame_metadata( const rs2::frame & f, realdds::dds_time const & ); | |||
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| void override_default_profiles( const std::map< std::string, realdds::dds_stream_profiles > & stream_name_to_profiles, | |||
| std::map< std::string, size_t > & stream_name_to_default_profile ) const; | |||
| size_t get_index_of_profile( const realdds::dds_stream_profiles & profiles, | |||
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These two look like they don't belong in the class and can be static in the cpp
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I don't like creating static functions just to hide the signature. This is why they are private functions of the class. All the public interface is on the first lines of the class so users don't need to scroll down and "get to know" the private parts if it is not important for them. I considered making the parameters members of the class but decided not to, currently.
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But then it dirties the header and pollutes the build space when changes are made. It's implementation. If it doesn't need to be in class, it shouldn't. My opinion. Do what you think is right.
| "}" ); | ||
| nlohmann::json j = { | ||
| { "dds-discovery", false }, | ||
| { "use-basic-formats", true } |
unit-tests/dds/d405.py
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| @@ -41,142 +42,142 @@ def colored_infrared_stream_profiles(): | |||
| # dds.video_stream_profile( 30, dds.stream_format("BGRA"), 1280, 720 ), | |||
| # dds.video_stream_profile( 30, dds.stream_format("RGBA"), 1280, 720 ), | |||
| # dds.video_stream_profile( 30, dds.stream_format("RGB2"), 1280, 720 ), | |||
| # dds.video_stream_profile( 30, dds.stream_format("rgb8"), 1280, 720 ), | |||
| dds.video_stream_profile( 30, dds.stream_format("rgb8"), 1280, 720 ), | |||
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I don't know if your question is for the colored infrared stream or general.
For the D405 color stream and also for the other modules I re-enabled rgb8 because that is what the users will see after LibRS will convert the received streams.
For the colored infrared it was more of inertia, doing the same all over the files. The stream is not broadcasted anyway.
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Fixed, as previously discussed
OhadMeir
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rs-dds-adaptersends only profiles of "generic" formats: YUYV/UYVY for color, no interleaved formats etc...The adapter also sets default profiles that are different from the USB defaults. D400 default color format is RGB8 for USB, here using YUYV, Infrared default resolution matches depth default resolution.
Context is saving the json params it receives during construction, device is using relevant parameters without the need for context to parse the parameters