PR #13624 from SamerKhshiboun: get/set/list/describe parameters (cont…

…rols)
IntelRealSense · Dec 24, 2024 · 81ed555 · 81ed555
2 parents e18af41 + 165ec91
commit 81ed555
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Showing 67 changed files with 13,237 additions and 2 deletions.
diff --git a/third-party/realdds/include/realdds/dds-device-server.h b/third-party/realdds/include/realdds/dds-device-server.h
@@ -65,6 +65,7 @@ class dds_device_server
     dds_guid const & guid() const;
     std::shared_ptr< dds_participant > participant() const;
     std::shared_ptr< dds_subscriber > subscriber() const { return _subscriber; }
+    std::shared_ptr< dds_publisher > publisher() const { return _publisher; }
     std::string const & topic_root() const { return _topic_root; }
     rsutils::string::slice debug_name() const;
 

diff --git a/third-party/realdds/include/realdds/dds-stream-sensor-bridge.h b/third-party/realdds/include/realdds/dds-stream-sensor-bridge.h
@@ -101,6 +101,9 @@ class dds_stream_sensor_bridge
     // Return true if the stream for the given server is currently streaming
     bool is_streaming( std::shared_ptr< dds_stream_server > const & ) const;
 
+    // Return the profile a server is set to, even if not yet streaming
+    std::shared_ptr< dds_stream_profile > get_profile( std::shared_ptr< dds_stream_server > const & ) const;
+
     // Notifications
 public:
     void on_readers_changed( readers_changed_callback callback ) { _on_readers_changed = std::move( callback ); }

diff --git a/third-party/realdds/include/realdds/topics/dds-topic-names.h b/third-party/realdds/include/realdds/topics/dds-topic-names.h
@@ -16,6 +16,11 @@ constexpr char SEPARATOR = '/';
 constexpr char const * ROOT = "realsense/";
 constexpr size_t ROOT_LEN = 10;
 // NOTE: actual streams will be ROS-compatible, meaning rt/ROOT
+constexpr char const * ROS2_ROOT = "rt/";
+constexpr char const * ROS2_SERVICE_REQUEST_ROOT = "rq/";
+constexpr char const * ROS2_SERVICE_RESPONSE_ROOT = "rr/";
+
+constexpr size_t ROS2_ROOT_LEN = 3;
 
 constexpr char const * DEVICE_INFO_TOPIC_NAME = "realsense/device-info";
 
@@ -25,6 +30,14 @@ constexpr char const * CONTROL_TOPIC_NAME = "/control";
 constexpr char const * METADATA_TOPIC_NAME = "/metadata";
 constexpr char const * DFU_TOPIC_NAME = "/dfu";
 
+constexpr char const * GET_PARAMETERS_NAME = "/get_parameters";
+constexpr char const * SET_PARAMETERS_NAME = "/set_parameters";
+constexpr char const * LIST_PARAMETERS_NAME = "/list_parameters";
+constexpr char const * DESCRIBE_PARAMETERS_NAME = "/describe_parameters";
+
+constexpr char const * REQUEST_SUFFIX = "Request";
+constexpr char const * RESPONSE_SUFFIX = "Reply";
+
 
 namespace notification {
     namespace key {

diff --git a/third-party/realdds/include/realdds/topics/readme.md b/third-party/realdds/include/realdds/topics/readme.md
@@ -16,7 +16,7 @@ The various topics are arranged hierarchically:
 
 The code for each message type in this directory is generated from IDL files if the message format is defined by RealDDS.
 
-For [ROS](#ros2), the IDLs are not available.
+For [ROS](#ros2), the IDLs are available in the `/opt/ros/<distro>/share/` installation folder.
 
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