PR #12448 from Eran: Participant & liveliness QoS overrides

third-party/realdds/doc/device.md

@@ -74,11 +74,10 @@ If available, the [`query-option` and `set-option` controls](control.md#query-op
 
 The following device options may be available:
 
-| Setting        | Default | Type             | `option-name`   | Description
-|----------------|--------:|------------------|-----------------|---------------
-| Domain ID      |       0 | int 0-232        | `domain-id`     | The DDS domain number to use to segment communications on the network
-| IP address     |       ? | string "#.#.#.#" | `ip-address`    | The static IP that the server uses for itself (if DHCP is off)
-| DHCP enable    |       ? | bool             | `dhcp`          | If on, the `ip-address` is ignored and retrieved on startup from a DHCP server
+| Setting        | Default | Type             | `option-name`   | Description          |
+|----------------|--------:|------------------|-----------------|---------------|
+| Domain ID      |       0 | int, 0-232       | `domain-id`     | The DDS domain number to use to segment communications on the network
+| IP address     |   empty | string "#.#.#.#" | `ip-address`    | The static IP that the server uses for itself (empty=DHCP on)
 | Multicast IP   |       - | string "#.#.#.#" | `multicast-ip` | The IP address to use for multicasting (empty to disable)
 
 

third-party/realdds/doc/discovery.md

@@ -130,9 +130,10 @@ When a context is created, a JSON representation may be passed to it, e.g.: `{"d
 
 The `dds` is there by default (i.e., not `false`). The value may contain the following settings dealing with discovery:
 
-| Field                | Description                            |
-|----------------------|----------------------------------------|
-| domain               | The domain number to use (0-232); `0` is the default
-| participant          | The name given this context (how other participants will see it); defaults to the executable name
+| Field            | Default         | Description                      |
+|------------------|----------------:|----------------------------------|
+| domain           | `0`               | The domain number to use (0-232)
+| participant      | Executable name | The name given this context (how other participants will see it)
+| participant-id   | Automatic       | The ID; not recommended to use, but may be needed in special circumstances
 
 See a comprehensive list of settings under [device](device.md#Settings).

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

@@ -16,14 +16,22 @@ std::ostream & operator<<( std::ostream &, ReliabilityQosPolicy const & );
 std::ostream & operator<<( std::ostream &, DurabilityQosPolicyKind );
 std::ostream & operator<<( std::ostream &, DurabilityQosPolicy const & );
 std::ostream & operator<<( std::ostream &, HistoryQosPolicy const & );
+std::ostream & operator<<( std::ostream &, LivelinessQosPolicyKind );
+std::ostream & operator<<( std::ostream &, LivelinessQosPolicy const & );
 std::ostream & operator<<( std::ostream &, DataSharingQosPolicy const & );
 std::ostream & operator<<( std::ostream &, RTPSEndpointQos const & );
+
+class DomainParticipantQos;
 }  // namespace dds
 }  // namespace fastdds
 }  // namespace eprosima
 
 namespace eprosima {
 namespace fastrtps {
+// Allow j["key"] = qos.lease_duration;
+void to_json( nlohmann::json &, Duration_t const & );
+// Allow j.get< eprosima::fastrtps::Duration_t >();
+void from_json( nlohmann::json const &, Duration_t & );
 namespace rtps {
 std::ostream & operator<<( std::ostream &, class WriterProxyData const & );
 std::ostream & operator<<( std::ostream &, class ReaderProxyData const & );
@@ -38,6 +46,7 @@ namespace realdds {
 eprosima::fastdds::dds::ReliabilityQosPolicyKind reliability_kind_from_string( std::string const & );
 eprosima::fastdds::dds::DurabilityQosPolicyKind durability_kind_from_string( std::string const & );
 eprosima::fastdds::dds::HistoryQosPolicyKind history_kind_from_string( std::string const & );
+eprosima::fastdds::dds::LivelinessQosPolicyKind liveliness_kind_from_string( std::string const & );
 eprosima::fastrtps::rtps::MemoryManagementPolicy_t history_memory_policy_from_string( std::string const & );
 
 // Override QoS reliability from a JSON source.
@@ -71,19 +80,41 @@ void override_durability_qos_from_json( eprosima::fastdds::dds::DurabilityQosPol
 //
 void override_history_qos_from_json( eprosima::fastdds::dds::HistoryQosPolicy & qos, nlohmann::json const & );
 
+
+// Override QoS liveliness from a JSON source.
+// Liveliness settings are an object
+//      {
+//          "kind": "automatic",
+//          "lease-duration": 5,      // seconds
+//          "announcement-period": 3  // seconds
+//      }
+//
+void override_liveliness_qos_from_json( eprosima::fastdds::dds::LivelinessQosPolicy & qos, nlohmann::json const & );
+
+
 // Override QoS data-sharing from a JSON source.
 // The JSON can be a simple boolean indicating off or automatic mode:
 //      "data-sharing": true  // <-- the JSON is the true value
 //
 void override_data_sharing_qos_from_json( eprosima::fastdds::dds::DataSharingQosPolicy & qos, nlohmann::json const & );
 
 // Override QoS endpoint from a JSON source.
-// The JSON can is an object:
-//      "endpoint": {  // <-- the JSON is the true value
+// The JSON is an object:
+//      {
 //          "history-memory-policy": "preallocated-with-realloc"
-//          }
+//      }
 //
 void override_endpoint_qos_from_json( eprosima::fastdds::dds::RTPSEndpointQos & qos, nlohmann::json const & );
 
 
+// Override participant QoS from a JSON source.
+// The JSON is an object:
+//      {
+//          "participant-id": -1,
+//          "lease-duration": 10,  // seconds
+//      }
+//
+void override_participant_qos_from_json( eprosima::fastdds::dds::DomainParticipantQos & qos, nlohmann::json const & );
+
+
 }  // namespace realdds

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

@@ -191,8 +191,8 @@ void dds_participant::init( dds_domain_id domain_id, std::string const & partici
     if( is_valid() )
     {
         DDS_THROW( runtime_error,
-                   "participant is already initialized; cannot init '" + participant_name + "' on domain id "
-                       + std::to_string( domain_id ) );
+                   "participant is already initialized; cannot init '" << participant_name << "' on domain id "
+                                                                       << domain_id );
     }
 
     if( domain_id == -1 )
@@ -225,6 +225,9 @@ void dds_participant::init( dds_domain_id domain_id, std::string const & partici
     pqos.transport().use_builtin_transports = false;
     pqos.transport().user_transports.push_back( udp_transport );
 
+    // Above are defaults
+    override_participant_qos_from_json( pqos, settings );
+
     // Listener will call DataReaderListener::on_data_available for a specific reader,
     // not SubscriberListener::on_data_on_readers for any reader
     // ( See note on https://fast-dds.docs.eprosima.com/en/v2.7.0/fastdds/dds_layer/core/entity/entity.html )

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

@@ -3,10 +3,16 @@
 
 #include <realdds/dds-serialization.h>
 #include <realdds/dds-utilities.h>
+#include <realdds/dds-time.h>
 
 #include <fastdds/rtps/writer/WriterDiscoveryInfo.h>
 #include <fastdds/rtps/reader/ReaderDiscoveryInfo.h>
 
+#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
+#include <fastdds/rtps/transport/UDPTransportDescriptor.h>
+
+#include <rsutils/string/from.h>
+#include <rsutils/string/nocase.h>
 #include <rsutils/json.h>
 
 
@@ -63,6 +69,33 @@ std::ostream & operator<<( std::ostream & os, HistoryQosPolicy const & qos )
 }
 
 
+std::ostream & operator<<( std::ostream & os, LivelinessQosPolicyKind kind )
+{
+    switch( kind )
+    {
+    case eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS:
+        return os << "automatic";
+    case eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS:
+        return os << "by-participant";
+    case eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS:
+        return os << "by-topic";
+    }
+    return os << (int) kind;
+}
+
+
+std::ostream & operator<<( std::ostream & os, LivelinessQosPolicy const & qos )
+{
+    os << qos.kind;
+    if( qos.lease_duration != eprosima::fastrtps::c_TimeInfinite )
+        os << "/" << rsutils::string::from( qos.lease_duration.to_ns() / 1e9 ) << 's';
+    if( qos.kind == eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS
+        && qos.announcement_period != eprosima::fastrtps::c_TimeInfinite )
+        os << "/" << rsutils::string::from( qos.announcement_period.to_ns() / 1e9 ) << 's';
+    return os;
+}
+
+
 std::ostream & operator<<( std::ostream & os, DataSharingQosPolicy const & qos )
 {
     return os;
@@ -82,6 +115,38 @@ std::ostream & operator<<( std::ostream & os, RTPSEndpointQos const & qos )
 
 namespace eprosima {
 namespace fastrtps {
+
+
+// Allow j["key"] = qos.lease_duration;
+void to_json( nlohmann::json & j, Duration_t const & duration )
+{
+    if( duration == c_TimeInfinite )
+        j = "infinite";
+    else if( duration == c_TimeInvalid )
+        j = "invalid";
+    else
+        j = realdds::time_to_double( duration );
+}
+
+
+// Allow j.get< eprosima::fastrtps::Duration_t >();
+void from_json( nlohmann::json const & j, Duration_t & duration )
+{
+    if( j.is_string() )
+    {
+        auto & s = rsutils::json::string_ref( j );
+        if( rsutils::string::nocase_equal( s, "infinite" ) )
+            duration = c_TimeInfinite;
+        else if( rsutils::string::nocase_equal( s, "invalid" ) )
+            duration = c_TimeInvalid;
+        else
+            throw nlohmann::json::type_error::create( 317, "unknown duration value '" + s + "'", &j );
+    }
+    else
+        duration = realdds::dds_time( j.get< double >() );
+}
+
+
 namespace rtps {
 
 
@@ -92,6 +157,8 @@ std::ostream & operator<<( std::ostream & os, WriterProxyData const & info )
     os << /*" reliability"*/ " " << info.m_qos.m_reliability;
     if( ! ( info.m_qos.m_durability == eprosima::fastdds::dds::DurabilityQosPolicy() ) )
         os << /*" durability"*/ " " << info.m_qos.m_durability;
+    if( ! ( info.m_qos.m_liveliness == eprosima::fastdds::dds::LivelinessQosPolicy() ) )
+        os << " liveliness" " " << info.m_qos.m_liveliness;
     os << "]";
     return os;
 }
@@ -151,6 +218,18 @@ eprosima::fastdds::dds::HistoryQosPolicyKind history_kind_from_string( std::stri
 }
 
 
+eprosima::fastdds::dds::LivelinessQosPolicyKind liveliness_kind_from_string( std::string const & s )
+{
+    if( s == "automatic" )
+        return eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS;
+    if( s == "by-participant" )
+        return eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;
+    if( s == "by-topic" )
+        return eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS;
+    DDS_THROW( runtime_error, "invalid liveliness kind '" << s << "'" );
+}
+
+
 eprosima::fastrtps::rtps::MemoryManagementPolicy_t history_memory_policy_from_string( std::string const & s )
 {
     if( s == "preallocated" )
@@ -211,20 +290,49 @@ void override_history_qos_from_json( eprosima::fastdds::dds::HistoryQosPolicy &
 }
 
 
+void override_liveliness_qos_from_json( eprosima::fastdds::dds::LivelinessQosPolicy & qos, nlohmann::json const & j )
+{
+    if( j.is_object() )
+    {
+        if( auto kind = rsutils::json::nested( j, "kind" ) )
+        {
+            if( kind->is_string() )
+                qos.kind = liveliness_kind_from_string( rsutils::json::string_ref( kind ) );
+            else
+                DDS_THROW( runtime_error, "liveliness kind not a string: " << kind );
+        }
+
+        if( auto lease = rsutils::json::nested( j, "lease-duration" ) )
+        {
+            if( lease->is_null() )
+                qos.lease_duration = eprosima::fastdds::dds::LivelinessQosPolicy().lease_duration;
+            else
+                lease->get_to( qos.lease_duration );
+        }
+
+        if( auto announce = rsutils::json::nested( j, "announcement-period" ) )
+        {
+            if( announce->is_null() )
+                qos.announcement_period = eprosima::fastdds::dds::LivelinessQosPolicy().announcement_period;
+            else
+                announce->get_to( qos.announcement_period );
+        }
+    }
+}
+
+
 void override_data_sharing_qos_from_json( eprosima::fastdds::dds::DataSharingQosPolicy & qos, nlohmann::json const & j )
 {
-    if( j.is_null() )
-        return;
     if( j.is_boolean() )
     {
         if( rsutils::json::value< bool >( j ) )
             qos.automatic();
         else
             qos.off();
     }
-    else
+    else if( ! j.is_null() )
     {
-        DDS_THROW( runtime_error, "data-sharing must be a boolean (off/automatic)" );
+        DDS_THROW( runtime_error, "data-sharing must be a boolean (off/automatic); got " << j );
     }
 }
 
@@ -242,4 +350,51 @@ void override_endpoint_qos_from_json( eprosima::fastdds::dds::RTPSEndpointQos &
 }
 
 
+static bool parse_ip_list( nlohmann::json const & j, std::string const & key, std::vector< std::string > * output )
+{
+    if( auto whitelist_j = rsutils::json::nested( j, key ) )
+    {
+        if( ! whitelist_j->is_array() )
+            return false;
+        for( auto & ip : whitelist_j.get() )
+        {
+            if( ! ip.is_string() )
+                return false;
+            if( output )
+                output->push_back( rsutils::json::string_ref( ip ) );
+        }
+    }
+    return true;
+}
+
+
+static void override_udp_settings( eprosima::fastdds::rtps::UDPTransportDescriptor & udp, nlohmann::json const & j )
+{
+    rsutils::json::get_ex( j, "send-buffer-size", &udp.sendBufferSize );
+    rsutils::json::get_ex( j, "receive-buffer-size", &udp.receiveBufferSize );
+    if( ! parse_ip_list( j, "whitelist", &udp.interfaceWhiteList ) )
+        LOG_WARNING( "invalid UDP whitelist in settings" );
+}
+
+
+void override_participant_qos_from_json( eprosima::fastdds::dds::DomainParticipantQos & qos, nlohmann::json const & j )
+{
+    if( ! j.is_object() )
+        return;
+    rsutils::json::get_ex( j, "participant-id", &qos.wire_protocol().participant_id );
+    rsutils::json::get_ex( j, "lease-duration", &qos.wire_protocol().builtin.discovery_config.leaseDuration );
+
+    rsutils::json::get_ex( j, "use-builtin-transports", &qos.transport().use_builtin_transports );
+    if( auto udp_j = rsutils::json::nested( j, "udp" ) )
+    {
+        for( auto t : qos.transport().user_transports )
+            if( auto udp_t = std::dynamic_pointer_cast<eprosima::fastdds::rtps::UDPTransportDescriptor>(t) )
+            {
+                override_udp_settings( *udp_t, udp_j );
+                break;
+            }
+    }
+}
+
+
 }  // namespace realdds

third-party/realdds/src/dds-topic-reader.cpp

@@ -97,6 +97,7 @@ void dds_topic_reader::qos::override_from_json( nlohmann::json const & qos_setti
     override_reliability_qos_from_json( reliability(), rsutils::json::nested( qos_settings, "reliability" ) );
     override_durability_qos_from_json( durability(), rsutils::json::nested( qos_settings, "durability" ) );
     override_history_qos_from_json( history(), rsutils::json::nested( qos_settings, "history" ) );
+    override_liveliness_qos_from_json( liveliness(), rsutils::json::nested( qos_settings, "liveliness" ) );
     override_data_sharing_qos_from_json( data_sharing(), rsutils::json::nested( qos_settings, "data-sharing" ) );
     override_endpoint_qos_from_json( endpoint(), rsutils::json::nested( qos_settings, "endpoint" ) );
 }

third-party/realdds/src/dds-topic-writer.cpp

@@ -95,6 +95,7 @@ void dds_topic_writer::qos::override_from_json( nlohmann::json const & qos_setti
     override_reliability_qos_from_json( reliability(), rsutils::json::nested( qos_settings, "reliability" ) );
     override_durability_qos_from_json( durability(), rsutils::json::nested( qos_settings, "durability" ) );
     override_history_qos_from_json( history(), rsutils::json::nested( qos_settings, "history" ) );
+    override_liveliness_qos_from_json( liveliness(), rsutils::json::nested( qos_settings, "liveliness" ) );
     override_data_sharing_qos_from_json( data_sharing(), rsutils::json::nested( qos_settings, "data-sharing" ) );
     override_endpoint_qos_from_json( endpoint(), rsutils::json::nested( qos_settings, "endpoint" ) );
 }