PR #11536 from Eran: change dds participant name in context to the ex…

…ecutable name

src/context.cpp

@@ -30,6 +30,7 @@
 #include <realdds/topics/device-info-msg.h>
 #include <realdds/topics/image/image-msg.h>
 #include <rsutils/shared-ptr-singleton.h>
+#include <rsutils/os/executable-name.h>
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 
 // We manage one participant and device-watcher per domain:
@@ -168,7 +169,7 @@ namespace librealsense
             auto & domain = dds_domain_context_by_id[domain_id];
             _dds_participant = domain.participant.instance();
             if( ! _dds_participant->is_valid() )
-                _dds_participant->init( domain_id, "librealsense" );
+                _dds_participant->init( domain_id, rsutils::os::executable_name() );
             _dds_watcher = domain.device_watcher.instance( _dds_participant );
         }
 #endif //BUILD_WITH_DDS
@@ -194,7 +195,8 @@ namespace librealsense
         if( rsutils::json::get< bool >( settings, "dds-discovery", true ) )
         {
             realdds::dds_domain_id domain_id = rsutils::json::get< int >( settings, "dds-domain", 0 );
-            std::string participant_name = rsutils::json::get< std::string >( settings, "dds-participant-name", "librealsense" );
+            std::string participant_name
+                = rsutils::json::get< std::string >( settings, "dds-participant-name", rsutils::os::executable_name() );
 
             auto & domain = dds_domain_context_by_id[domain_id];
             _dds_participant = domain.participant.instance();

third-party/realdds/src/dds-participant.cpp

@@ -24,25 +24,38 @@ namespace {
     typedef int participant_id;
     participant_id last_participants_id = 0;
 
+    std::map< std::string, dds_guid_prefix > participant_by_name;
+
     struct participant_info
     {
         std::string name;
         participant_id id;
+        dds_guid_prefix const prefix;
 
-        participant_info( char const * name_sz )
+        participant_info( participant_info && ) = default;
+        participant_info( char const * name_sz, dds_guid_prefix const & prefix_ )
+            : prefix( prefix_ )
         {
-            {
-                std::lock_guard< std::mutex > lock( participants_mutex );
-                id = ++last_participants_id;
-            }
+            id = ++last_participants_id;
             if( name_sz )
             {
                 name = name_sz;
+                bool needs_disambiguation = false;
                 if( name_sz[0] == '/' && ! name_sz[1] )
                 {
                     // This is likely a ROS participant, without an actual name. There will be one per ROS process at
                     // least, so many could exist with the same name!
-                    // To make it readable, we use the id, converting to '/<id>'
+                    needs_disambiguation = true;
+                }
+                else if( participant_by_name.find( name ) != participant_by_name.end() )
+                {
+                    // Sometimes multiple participants (e.g., of the same executable, or on different hosts) come up
+                    // with the same name. We want to differentiate those, too...
+                    needs_disambiguation = true;
+                }
+                if( needs_disambiguation )
+                {
+                    // To make it readable, we use the id, converting to '/.<id>'
                     //      010f58cfc2dd816201000000.1c1  ->  /.1
                     // NOTE:
                     //      http://design.ros2.org/articles/topic_and_service_names.html#dds-topic-names
@@ -53,8 +66,15 @@ namespace {
                     name += '.';
                     name += std::to_string( id );
                 }
+                participant_by_name[name] = prefix;
             }
         }
+        ~participant_info()
+        {
+            auto it = participant_by_name.find( name );
+            if( it != participant_by_name.end()  &&  it->second == prefix )
+                participant_by_name.erase( it );
+        }
     };
 
     std::map< dds_guid_prefix, participant_info > participants;
@@ -77,13 +97,16 @@ struct dds_participant::listener_impl : public eprosima::fastdds::dds::DomainPar
         switch( info.status )
         {
         case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT: {
-            participant_info pinfo( info.info.m_participantName );
-            LOG_DEBUG( "+participant '" << pinfo.name << "' " << realdds::print( info.info.m_guid ) );
+            std::string name;
+            std::string guid = realdds::print( info.info.m_guid );  // has to be outside the mutex
             {
                 std::lock_guard< std::mutex > lock( participants_mutex );
-                participants.emplace( info.info.m_guid.guidPrefix, pinfo );
+                participant_info pinfo( info.info.m_participantName, info.info.m_guid.guidPrefix );
+                name = pinfo.name;
+                LOG_DEBUG( "+participant '" << name << "' " << guid );
+                participants.emplace( info.info.m_guid.guidPrefix, std::move( pinfo ) );
             }
-            _owner.on_participant_added( info.info.m_guid, pinfo.name.c_str() );
+            _owner.on_participant_added( info.info.m_guid, name.c_str() );
             break;
         }
         case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:

third-party/rsutils/include/rsutils/os/executable-name.h

@@ -0,0 +1,20 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+
+#pragma once
+
+#include <string>
+
+
+namespace rsutils {
+namespace os {
+
+
+// Returns the path to the executable currently running
+std::string executable_path();
+// Returns the filename component of the executable currently running
+std::string executable_name( bool with_extension = false );
+
+
+}
+}

third-party/rsutils/py/pyrsutils.cpp

@@ -8,6 +8,7 @@
 #include <rsutils/version.h>
 #include <rsutils/number/running-average.h>
 #include <rsutils/number/stabilized-value.h>
+#include <rsutils/os/executable-name.h>
 
 
 #define NAME pyrsutils
@@ -29,6 +30,8 @@ PYBIND11_MODULE(NAME, m) {
            py::arg( "logger" ) = LIBREALSENSE_ELPP_ID );
 
     m.def( "split", &rsutils::string::split );
+    m.def( "executable_path", &rsutils::os::executable_path );
+    m.def( "executable_name", &rsutils::os::executable_name, py::arg( "with_extension" ) = false );
 
     using rsutils::version;
     py::class_< version >( m, "version" )

third-party/rsutils/src/executable-name.cpp

@@ -0,0 +1,68 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+
+#include <rsutils/os/executable-name.h>
+
+#if defined( PLATFORM_POSIX ) || defined( __linux__ )
+#include <fstream>
+#elif defined( _WIN32 )
+#include <Windows.h>
+#elif defined( __APPLE__ )
+#include <mach-o/dyld.h>
+#include <limits.h>  // PATH_MAX is POSIX, rather than MAXPATHLEN
+#endif
+
+
+namespace rsutils {
+namespace os {
+
+
+std::string executable_path()
+{
+#if defined( PLATFORM_POSIX ) || defined( __linux__ )
+
+    std::string sp;
+    std::ifstream( "/proc/self/comm" ) >> sp;
+    return sp;
+
+#elif defined( _WIN32 )
+
+    char buf[MAX_PATH];
+    GetModuleFileNameA( nullptr, buf, MAX_PATH );
+    return buf;
+
+#elif defined( __APPLE__ )
+
+    // "With deep directories the total bufsize needed could be more than MAXPATHLEN."
+    uint32_t const max_size = PATH_MAX + 1;
+    char buf[max_size];
+    uint32_t size = max_size;
+    _NSGetExecutablePath( buf, &size );
+    return buf;
+
+#else
+
+    static_assert( false, "unrecognized platform" );
+
+#endif
+}
+
+
+std::string executable_name( bool with_extension )
+{
+    auto path = executable_path();
+    auto sep = path.find_last_of( "/\\" );
+    if( sep != std::string::npos )
+        path = path.substr( sep + 1 );
+    if( ! with_extension )
+    {
+        auto period = path.find_last_of( '.' );
+        if( period != std::string::npos )
+            path.resize( period );
+    }
+    return path;
+}
+
+
+}  // namespace os
+}  // namespace rsutils