Options: add BOOLEAN & ENUM; rs2_set_option_value

common/subdevice-model.cpp

@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
 
 #include "post-processing-filters-list.h"
 #include "post-processing-block-model.h"
@@ -89,7 +89,10 @@ namespace rs2
                     if( it != options_metadata.end() && ! _destructing ) // Callback runs in different context, check options_metadata still valid
                     {
                         if( RS2_OPTION_TYPE_FLOAT == changed_option->type )
-                            it->second.value = changed_option->as_float;
+                        {
+                            if( changed_option->is_valid )
+                                it->second.value = changed_option->as_float;
+                        }
                     }
                 }
             } );

include/librealsense2/h/rs_option.h

@@ -147,6 +147,7 @@ extern "C" {
         RS2_OPTION_TYPE_INTEGER, /**< 64-bit signed integer value */
         RS2_OPTION_TYPE_FLOAT,
         RS2_OPTION_TYPE_STRING,
+        RS2_OPTION_TYPE_BOOLEAN,
 
         RS2_OPTION_TYPE_COUNT
 
@@ -163,11 +164,12 @@ extern "C" {
     typedef struct rs2_option_value
     {
         rs2_option id;
-        rs2_option_type type;             /**< RS2_OPTION_TYPE_COUNT if no value is available */
+        int is_valid;                     /**< 0 if no value available; 1 otherwise */
+        rs2_option_type type;
         union {
             char const * as_string;       /**< valid only while rs2_option_value is alive! */
             float as_float;
-            int64_t as_integer;
+            int64_t as_integer;           /**< including boolean value */
         };
     } rs2_option_value;
 

src/core/option-interface.h

@@ -1,10 +1,11 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
 #pragma once
 
 #include "extension.h"
-
 #include <src/basics.h>
+#include <librealsense2/h/rs_option.h>
+#include <rsutils/json-fwd.h>
 
 
 namespace librealsense {
@@ -23,6 +24,14 @@ class LRS_EXTENSION_API option : public recordable< option >
 public:
     virtual void set( float value ) = 0;
     virtual float query() const = 0;
+
+    // Return the value currently assigned to the option
+    // By default, this is the result of query()
+    virtual rsutils::json get_value() const noexcept;
+
+    // Return the type of the option value
+    virtual rs2_option_type get_value_type() const noexcept;
+
     virtual option_range get_range() const = 0;
     virtual bool is_enabled() const = 0;
     virtual bool is_read_only() const { return false; }

src/dds/rs-dds-depth-sensor-proxy.cpp

@@ -16,13 +16,8 @@ namespace librealsense {
 float dds_depth_sensor_proxy::get_depth_scale() const
 {
     if( auto opt = get_option_handler( RS2_OPTION_DEPTH_UNITS ) )
-    {
-        // We don't want to do a long control-reply cycle on a value that gets updated automatically
-        if( auto dds_option = std::dynamic_pointer_cast< rs_dds_option >( opt ) )
-            return dds_option->get_last_known_value();
-        else
-            return opt->query();
-    }
+        return opt->get_value();
+
     // Rather than throwing an exception, we try to be a little more helpful: without depth units, the depth image will
     // show black, prompting bug reports. The D400 units min/max are taken from the HW, but the default is set to:
     return 0.001f;

src/dds/rs-dds-option.cpp

@@ -4,6 +4,9 @@
 #include "rs-dds-option.h"
 
 #include <realdds/dds-option.h>
+#include <rsutils/json.h>
+
+using rsutils::json;
 
 
 namespace librealsense {
@@ -19,15 +22,38 @@ static option_range range_from_realdds( std::shared_ptr< realdds::dds_option > c
                  dds_opt->get_stepping(),
                  dds_opt->get_default_value() };
     }
+    if( std::dynamic_pointer_cast< realdds::dds_boolean_option >( dds_opt ) )
+    {
+        return { 0, 1, 1, bool( dds_opt->get_default_value() ) ? 1.f : 0.f };
+    }
+    if( auto e = std::dynamic_pointer_cast< realdds::dds_enum_option >( dds_opt ) )
+    {
+        return { 0, float( e->get_choices().size() - 1 ), 1, (float)e->get_value_index( e->get_default_value() ) };
+    }
     return { 0, 0, 0, 0 };
 }
 
 
+static rs2_option_type rs_type_from_dds_option( std::shared_ptr< realdds::dds_option > const & dds_opt )
+{
+    if( std::dynamic_pointer_cast< realdds::dds_float_option >( dds_opt ) )
+        return RS2_OPTION_TYPE_FLOAT;
+    if( std::dynamic_pointer_cast< realdds::dds_string_option >( dds_opt ) )
+        return RS2_OPTION_TYPE_STRING;
+    if( std::dynamic_pointer_cast< realdds::dds_boolean_option >( dds_opt ) )
+        return RS2_OPTION_TYPE_BOOLEAN;
+    if( std::dynamic_pointer_cast< realdds::dds_integer_option >( dds_opt ) )
+        return RS2_OPTION_TYPE_INTEGER;
+    return RS2_OPTION_TYPE_COUNT;
+}
+
+
 rs_dds_option::rs_dds_option( const std::shared_ptr< realdds::dds_option > & dds_opt,
                               set_option_callback set_opt_cb,
                               query_option_callback query_opt_cb )
     : option_base( range_from_realdds( dds_opt ) )
     , _dds_opt( dds_opt )
+    , _rs_type( rs_type_from_dds_option( dds_opt ) )
     , _set_opt_cb( set_opt_cb )
     , _query_opt_cb( query_opt_cb )
 {
@@ -52,7 +78,7 @@ float rs_dds_option::query() const
 }
 
 
-float rs_dds_option::get_last_known_value() const
+json rs_dds_option::get_value() const noexcept
 {
     return _dds_opt->get_value();
 }
@@ -76,4 +102,21 @@ const char * rs_dds_option::get_description() const
 }
 
 
+const char * rs_dds_option::get_value_description( float v ) const
+{
+    auto e = std::dynamic_pointer_cast< realdds::dds_enum_option >( _dds_opt );
+    if( ! e )
+        return nullptr;
+    if( v < 0.f )
+        return nullptr;
+    auto & choices = e->get_choices();
+    auto i = size_t( v + 0.005 );
+    if( fabs( v - i ) > 0.01f )
+        return nullptr;
+    if( i >= choices.size() )
+        return nullptr;
+    return choices[i].c_str();
+}
+
+
 }  // namespace librealsense

src/dds/rs-dds-option.h

@@ -1,6 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright(c) 2024 Intel Corporation. All Rights Reserved.
-
 #pragma once
 
 #include <src/option.h>
@@ -21,6 +20,7 @@ namespace librealsense {
 class rs_dds_option : public option_base
 {
     std::shared_ptr< realdds::dds_option > _dds_opt;
+    rs2_option_type const _rs_type;
 
 public:
     typedef std::function< void( const std::string & name, float value ) > set_option_callback;
@@ -35,15 +35,17 @@ class rs_dds_option : public option_base
                    set_option_callback set_opt_cb,
                    query_option_callback query_opt_cb );
 
-    void set( float value ) override;
+    rsutils::json get_value() const noexcept override;
+    rs2_option_type get_value_type() const noexcept override { return _rs_type; }
 
-    float get_last_known_value() const;
+    void set( float value ) override;
 
     float query() const override;
 
     bool is_read_only() const override;
     bool is_enabled() const override;
     const char * get_description() const override;
+    const char * get_value_description( float ) const override;
 };
 
 

src/option.cpp

@@ -5,6 +5,9 @@
 #include "sensor.h"
 
 #include <rsutils/string/from.h>
+#include <rsutils/json.h>
+
+using rsutils::json;
 
 
 namespace librealsense {
@@ -36,6 +39,19 @@ void option_base::enable_recording(std::function<void(const option&)> recording_
     _recording_function = recording_action;
 }
 
+json option::get_value() const noexcept
+{
+    return query();
+}
+
+
+rs2_option_type option::get_value_type() const noexcept
+{
+    // By default, all options are floats
+    return RS2_OPTION_TYPE_FLOAT;
+}
+
+
 void option::create_snapshot(std::shared_ptr<option>& snapshot) const
 {
     snapshot = std::make_shared<const_value_option>(get_description(), query());