DDS device signals, bulk query-option & misc

src/context.cpp

@@ -98,7 +98,7 @@ namespace librealsense {
 
     /*static*/ std::shared_ptr< context > context::make( char const * json_settings )
     {
-        return make( json_settings ? json::parse( json_settings ) : json::object() );
+        return make( ( ! json_settings || ! *json_settings ) ? json::object() : json::parse( json_settings ) );
     }
 
 

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

@@ -38,7 +38,7 @@ void dds_depth_sensor_proxy::add_no_metadata( frame * const f, streaming_impl &
 }
 
 
-void dds_depth_sensor_proxy::add_frame_metadata( frame * const f, nlohmann::json && dds_md, streaming_impl & streaming )
+void dds_depth_sensor_proxy::add_frame_metadata( frame * const f, nlohmann::json const & dds_md, streaming_impl & streaming )
 {
     if( auto du = rsutils::json::nested( dds_md, metadata_header_key, depth_units_key ) )
     {
@@ -56,7 +56,7 @@ void dds_depth_sensor_proxy::add_frame_metadata( frame * const f, nlohmann::json
         f->additional_data.depth_units = get_depth_scale();
     }
 
-    super::add_frame_metadata( f, std::move( dds_md ), streaming );
+    super::add_frame_metadata( f, dds_md, streaming );
 }
 
 

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

@@ -29,7 +29,7 @@ class dds_depth_sensor_proxy
 
 protected:
     void add_no_metadata( frame *, streaming_impl & ) override;
-    void add_frame_metadata( frame * const f, nlohmann::json && dds_md, streaming_impl & streaming ) override;
+    void add_frame_metadata( frame *, nlohmann::json const & md, streaming_impl & ) override;
 };
 
 

src/dds/rs-dds-device-proxy.cpp

@@ -282,13 +282,13 @@ dds_device_proxy::dds_device_proxy( std::shared_ptr< const device_info > const &
 
     if( _dds_dev->supports_metadata() )
     {
-        _dds_dev->on_metadata_available(
-            [this]( nlohmann::json && dds_md )
+        _metadata_subscription = _dds_dev->on_metadata_available(
+            [this]( std::shared_ptr< const nlohmann::json > const & dds_md )
             {
-                std::string stream_name = rsutils::json::get< std::string >( dds_md, stream_name_key );
+                std::string const & stream_name = rsutils::json::nested( *dds_md, stream_name_key ).string_ref();
                 auto it = _stream_name_to_owning_sensor.find( stream_name );
                 if( it != _stream_name_to_owning_sensor.end() )
-                    it->second->handle_new_metadata( stream_name, std::move( dds_md ) );
+                    it->second->handle_new_metadata( stream_name, dds_md );
             } );
     }
 
@@ -496,10 +496,6 @@ void dds_device_proxy::hardware_reset()
     nlohmann::json control = nlohmann::json::object( { { "id", "hw-reset" } } );
     nlohmann::json reply;
     _dds_dev->send_control( control, &reply );
-    std::string default_status( "OK", 2 );
-    if( rsutils::json::get( reply, "status", default_status ) != default_status )
-        throw std::runtime_error( "Failed to reset: "
-                                  + rsutils::json::get( reply, "explanation", std::string( "unknown reason" ) ) );
 }
 
 
@@ -510,10 +506,6 @@ std::vector< uint8_t > dds_device_proxy::send_receive_raw_data( const std::vecto
     nlohmann::json control = nlohmann::json::object( { { "id", "hwm" }, { "data", hexdata } } );
     nlohmann::json reply;
     _dds_dev->send_control( control, &reply );
-    std::string default_status( "OK", 2 );
-    if( rsutils::json::get( reply, "status", default_status ) != default_status )
-        throw std::runtime_error( "Failed HWM: "
-                                  + rsutils::json::get( reply, "explanation", std::string( "unknown reason" ) ) );
     rsutils::string::hexarray data;
     if( ! rsutils::json::get_ex( reply, "data", &data ) )
         throw std::runtime_error( "Failed HWM: missing 'data' in reply" );
@@ -541,10 +533,6 @@ std::vector< uint8_t > dds_device_proxy::build_command( uint32_t opcode,
                                                        { "build-command", true } } );
     nlohmann::json reply;
     _dds_dev->send_control( control, &reply );
-    std::string default_status( "OK", 2 );
-    if( rsutils::json::get( reply, "status", default_status ) != default_status )
-        throw std::runtime_error( "Failed build-command: "
-                                  + rsutils::json::get( reply, "explanation", std::string( "unknown reason" ) ) );
     if( ! rsutils::json::get_ex( reply, "data", &hexdata ) )
         throw std::runtime_error( "Failed HWM: missing 'data' in reply" );
     return hexdata.detach();

src/dds/rs-dds-device-proxy.h

@@ -44,6 +44,8 @@ class dds_device_proxy
     std::map< std::string, std::shared_ptr< librealsense::stream > > _stream_name_to_librs_stream;
     std::map< std::string, std::shared_ptr< dds_sensor_proxy > > _stream_name_to_owning_sensor;
 
+    rsutils::subscription _metadata_subscription;
+
     int get_index_from_stream_name( const std::string & name ) const;
     void set_profile_intrinsics( std::shared_ptr< stream_profile_interface > & profile,
                                  const std::shared_ptr< realdds::dds_stream > & stream ) const;

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

@@ -337,16 +337,20 @@ void dds_sensor_proxy::handle_motion_data( realdds::topics::imu_msg && imu,
 }
 
 
-void dds_sensor_proxy::handle_new_metadata( std::string const & stream_name, nlohmann::json && dds_md )
+void dds_sensor_proxy::handle_new_metadata( std::string const & stream_name,
+                                            std::shared_ptr< const nlohmann::json > const & dds_md )
 {
     if( ! _md_enabled )
         return;
 
     auto it = _streaming_by_name.find( stream_name );
     if( it != _streaming_by_name.end() )
-        it->second.syncer.enqueue_metadata(
-            rsutils::json::get< realdds::dds_nsec >( dds_md[metadata_header_key], timestamp_key ),
-            std::move( dds_md ) );
+    {
+        if( auto timestamp = rsutils::json::nested( *dds_md, metadata_header_key, timestamp_key ) )
+            it->second.syncer.enqueue_metadata( timestamp.value< realdds::dds_nsec >(), dds_md );
+        else
+            throw std::runtime_error( "missing metadata header/timestamp" );
+    }
     // else we're not streaming -- must be another client that's subscribed
 }
 
@@ -361,7 +365,9 @@ void dds_sensor_proxy::add_no_metadata( frame * const f, streaming_impl & stream
 }
 
 
-void dds_sensor_proxy::add_frame_metadata( frame * const f, nlohmann::json && dds_md, streaming_impl & streaming )
+void dds_sensor_proxy::add_frame_metadata( frame * const f,
+                                           nlohmann::json const & dds_md,
+                                           streaming_impl & streaming )
 {
     nlohmann::json const & md_header = rsutils::json::nested( dds_md, metadata_header_key );
     nlohmann::json const & md = rsutils::json::nested( dds_md, metadata_key );
@@ -434,14 +440,14 @@ void dds_sensor_proxy::start( rs2_frame_callback_sptr callback )
         auto & streaming = _streaming_by_name[dds_stream->name()];
         streaming.syncer.on_frame_release( frame_releaser );
         streaming.syncer.on_frame_ready(
-            [this, &streaming]( syncer_type::frame_holder && fh, nlohmann::json && md )
+            [this, &streaming]( syncer_type::frame_holder && fh, std::shared_ptr< const nlohmann::json > const & md )
             {
                 if( _is_streaming ) // stop was not called
                 {
-                    if( md.empty() )
+                    if( ! md )
                         add_no_metadata( static_cast< frame * >( fh.get() ), streaming );
                     else
-                        add_frame_metadata( static_cast< frame * >( fh.get() ), std::move( md ), streaming );
+                        add_frame_metadata( static_cast< frame * >( fh.get() ), *md, streaming );
                     invoke_new_frame( static_cast< frame * >( fh.release() ), nullptr, nullptr );
                 }
             } );

src/dds/rs-dds-sensor-proxy.h

@@ -95,10 +95,11 @@ class dds_sensor_proxy : public software_sensor
     void handle_motion_data( realdds::topics::imu_msg &&,
                              const std::shared_ptr< stream_profile_interface > &,
                              streaming_impl & );
-    void handle_new_metadata( std::string const & stream_name, nlohmann::json && metadata );
+    void handle_new_metadata( std::string const & stream_name,
+                              std::shared_ptr< const nlohmann::json > const & metadata );
 
     virtual void add_no_metadata( frame *, streaming_impl & );
-    virtual void add_frame_metadata( frame * const, nlohmann::json && metadata, streaming_impl & );
+    virtual void add_frame_metadata( frame *, nlohmann::json const & metadata, streaming_impl & );
 
     friend class dds_device_proxy;  // Currently calls handle_new_metadata
 };

src/ds/d500/d500-private.h

@@ -14,6 +14,7 @@ namespace librealsense
     namespace ds
     {
         const uint16_t D555E_PID = 0x0B56;
+        const uint16_t D555E_RECOVERY_PID = 0x0ADE;
 
         namespace xu_id
         {
@@ -37,7 +38,8 @@ namespace librealsense
         };
 
         static const std::map< std::uint16_t, std::string > rs500_sku_names = {
-            { ds::D555E_PID, "Intel RealSense D555e" }
+            { ds::D555E_PID,          "Intel RealSense D555e" },
+            { ds::D555E_RECOVERY_PID, "Intel RealSense D555e Recovery" }
         };
 
         bool d500_try_fetch_usb_device(std::vector<platform::usb_device_info>& devices,

src/fw-update/fw-update-factory.cpp

@@ -23,6 +23,8 @@ namespace librealsense
             return RS2_PRODUCT_LINE_D400;
         if( ds::RS_D400_USB2_RECOVERY_PID == usb_info.pid )
             return RS2_PRODUCT_LINE_D400;
+        if( ds::D555E_RECOVERY_PID == usb_info.pid )
+            return RS2_PRODUCT_LINE_D500;
         return 0;
     }
 
@@ -57,6 +59,8 @@ namespace librealsense
                 case ds::RS_D400_RECOVERY_PID:
                 case ds::RS_D400_USB2_RECOVERY_PID:
                     return std::make_shared< ds_d400_update_device >( shared_from_this(), usb );
+                case ds::D555E_RECOVERY_PID:
+                    return std::make_shared< ds_d500_update_device >( shared_from_this(), usb );
                 default:
                     // Do nothing
                     break;

third-party/realdds/doc/control.md

@@ -61,6 +61,7 @@ Returns or sets the current `value` of an option within a device.
 
 - `id` is `query-option` or `set-option`
 - `option-name` is the unique option name within its owner
+    - Usually this is a single string value, but can also be an array of names for bulk queries: `["option1", "option2", ...]`
 - `stream-name` is the unique name of the stream it's in within the device
     - for a device option, this may be omitted
 - for `set-option`, `value` is the new value (float)
@@ -75,6 +76,8 @@ Returns or sets the current `value` of an option within a device.
 The reply should include the original control, plus:
 
 - `value` will include the current or new value
+    - In the case of bulk queries, this will be an array of values, in the same size and ordering as the control's `option-name` array: `[<value-of-option1>, <value-of-option2>, ...]`
+    - If the `option-name` array is empty, all option values will be returned in a `option-values` key, instead (see below)
 
 ```JSON
 {

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

@@ -7,6 +7,7 @@
 #include "dds-stream-profile.h"
 #include "dds-stream.h"
 
+#include <rsutils/subscription.h>
 #include <nlohmann/json_fwd.hpp>
 #include <memory>
 #include <vector>
@@ -46,6 +47,11 @@ class dds_device
     // Wait until ready. Will throw if not ready within the timeout!
     void wait_until_ready( size_t timeout_ns = 5000 );
 
+    // Utility function for checking replies:
+    // If 'p_explanation' is nullptr, will throw if the reply status is not 'ok'.
+    // Otherise will return a false if not 'ok', and the explanation will be filled out.
+    static bool check_reply( nlohmann::json const & reply, std::string * p_explanation = nullptr );
+
     //----------- below this line, a device must be running!
 
     size_t number_of_streams() const;
@@ -65,16 +71,16 @@ class dds_device
 
     bool supports_metadata() const;
 
-    typedef std::function< void( nlohmann::json && md ) > on_metadata_available_callback;
-    void on_metadata_available( on_metadata_available_callback cb );
+    typedef std::function< void( std::shared_ptr< const nlohmann::json > const & md ) > on_metadata_available_callback;
+    rsutils::subscription on_metadata_available( on_metadata_available_callback && );
 
     typedef std::function< void(
         dds_time const & timestamp, char type, std::string const & text, nlohmann::json const & data ) >
         on_device_log_callback;
-    void on_device_log( on_device_log_callback cb );
+    rsutils::subscription on_device_log( on_device_log_callback && cb );
 
-    typedef std::function< bool( std::string const & id, nlohmann::json const & ) > on_notification_callback;
-    void on_notification( on_notification_callback );
+    typedef std::function< void( std::string const & id, nlohmann::json const & ) > on_notification_callback;
+    rsutils::subscription on_notification( on_notification_callback && );
 
 private:
     class impl;

third-party/realdds/include/realdds/dds-metadata-syncer.h

@@ -54,13 +54,13 @@ class dds_metadata_syncer
     typedef std::unique_ptr< frame_type, on_frame_release_callback > frame_holder;
 
     // Metadata is intended to be JSON
-    typedef nlohmann::json metadata_type;
+    typedef std::shared_ptr< const nlohmann::json > metadata_type;
 
     // So our main callback gets this generic frame and metadata:
-    typedef std::function< void( frame_holder &&, metadata_type && metadata ) > on_frame_ready_callback;
+    typedef std::function< void( frame_holder &&, metadata_type const & metadata ) > on_frame_ready_callback;
 
     // And we provide other callbacks, for control, testing, etc.
-    typedef std::function< void( key_type, metadata_type && ) > on_metadata_dropped_callback;
+    typedef std::function< void( key_type, metadata_type const & ) > on_metadata_dropped_callback;
 
 private:
     using key_frame = std::pair< key_type, frame_holder >;
@@ -70,9 +70,9 @@ class dds_metadata_syncer
     std::deque< key_metadata > _metadata_queue;
     std::mutex _queues_lock;
 
-    on_frame_release_callback _on_frame_release = nullptr;
-    on_frame_ready_callback _on_frame_ready = nullptr;
-    on_metadata_dropped_callback _on_metadata_dropped = nullptr;
+    on_frame_release_callback _on_frame_release;
+    on_frame_ready_callback _on_frame_ready;
+    on_metadata_dropped_callback _on_metadata_dropped;
 
     std::shared_ptr< bool > _is_alive; // Ensures object can be accessed
 
@@ -81,7 +81,7 @@ class dds_metadata_syncer
     virtual ~dds_metadata_syncer();
 
     void enqueue_frame( key_type, frame_holder && );
-    void enqueue_metadata( key_type, metadata_type && );
+    void enqueue_metadata( key_type, metadata_type const & );
 
     void on_frame_release( on_frame_release_callback cb ) { _on_frame_release = cb; }
     void on_frame_ready( on_frame_ready_callback cb ) { _on_frame_ready = cb; }

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

@@ -9,6 +9,7 @@
 
 #include <nlohmann/json_fwd.hpp>
 #include <memory>
+#include <atomic>
 
 
 namespace eprosima {
@@ -39,7 +40,7 @@ class dds_topic_writer : protected eprosima::fastdds::dds::DataWriterListener
 
     eprosima::fastdds::dds::DataWriter * _writer = nullptr;
 
-    int _n_readers = 0;
+    std::atomic< int > _n_readers;
 
 public:
     dds_topic_writer( std::shared_ptr< dds_topic > const & topic );
@@ -80,6 +81,9 @@ 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 readers are detected; return false on timeout
+    bool wait_for_readers( dds_time timeout );
+
     // Waits until all changes were acknowledged; return false on timeout
     bool wait_for_acks( dds_time timeout );