update viewer code plus misc

maloel · Jan 31, 2024 · dc67a1f · dc67a1f
1 parent bc496ce
commit dc67a1f
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Showing 2 changed files with 15 additions and 14 deletions.
diff --git a/common/subdevice-model.cpp b/common/subdevice-model.cpp
@@ -82,12 +82,13 @@ namespace rs2
             {
                 s->on_options_changed( [this]( const options_list & list )
                 {
-                    for( auto opt_id : list )
+                    for( auto changed_option : list )
                     {
-                        auto it = options_metadata.find( opt_id );
+                        auto it = options_metadata.find( changed_option->id );
                         if( it != options_metadata.end() && ! _destructing ) // Callback runs in different context, check options_metadata still valid
                         {
-                            it->second.value = it->second.endpoint->get_option( opt_id );
+                            if( RS2_OPTION_TYPE_FLOAT == changed_option->type )
+                                it->second.value = changed_option->as_float;
                         }
                     }
                 } );

diff --git a/tools/dds/dds-adapter/lrs-device-controller.cpp b/tools/dds/dds-adapter/lrs-device-controller.cpp
@@ -337,7 +337,7 @@ extrinsics_map get_extrinsics_map( const rs2::device & dev )
 }
 
 
-std::shared_ptr< dds_stream_profile > create_dds_stream_profile( std::string const & type_string, rsutils::json const & j )
+std::shared_ptr< dds_stream_profile > create_dds_stream_profile( std::string const & type_string, json const & j )
 {
     if( "motion" == type_string )
         return dds_stream_profile::from_json< dds_motion_stream_profile >( j );
@@ -503,7 +503,7 @@ lrs_device_controller::lrs_device_controller( rs2::device dev, std::shared_ptr<
         return query_option( option );
     } );
     _dds_device_server->on_control(
-        [this]( std::string const & id, rsutils::json const & control, rsutils::json & reply )
+        [this]( std::string const & id, json const & control, json & reply )
         { return on_control( id, control, reply ); } );
 
     _device_sn = _rs_dev.get_info( RS2_CAMERA_INFO_SERIAL_NUMBER );
@@ -599,7 +599,7 @@ lrs_device_controller::lrs_device_controller( rs2::device dev, std::shared_ptr<
     _bridge.on_error(
         [this]( std::string const & error_string )
         {
-            rsutils::json j = rsutils::json::object( {
+            json j = json::object( {
                 { "id", "error" },
                 { "error", error_string },
             } );
@@ -622,7 +622,7 @@ lrs_device_controller::~lrs_device_controller()
 }
 
 
-bool lrs_device_controller::on_open_streams( rsutils::json const & control, rsutils::json & reply )
+bool lrs_device_controller::on_open_streams( json const & control, json & reply )
 {
     // Note that this function is called "start-streaming" but it's really a response to "open-streams" so does not
     // actually start streaming. It simply sets and locks in which streams should be open when streaming starts.
@@ -666,23 +666,23 @@ void lrs_device_controller::publish_frame_metadata( const rs2::frame & f, realdd
     if( ! _dds_device_server->has_metadata_readers() )
         return;
 
-    rsutils::json md_header = rsutils::json::object( {
+    json md_header = json::object( {
         { "frame-number", f.get_frame_number() },               // communicated; up to client to pick up
         { "timestamp", timestamp.to_ns() },                     // syncer key: needs to match the image timestamp, bit-for-bit!
         { "timestamp-domain", f.get_frame_timestamp_domain() }  // needed if we're dealing with different domains!
     } );
     if( f.is< rs2::depth_frame >() )
         md_header["depth-units"] = f.as< rs2::depth_frame >().get_units();
 
-    rsutils::json metadata = rsutils::json::object();
+    json metadata = json::object();
     for( size_t i = 0; i < static_cast< size_t >( RS2_FRAME_METADATA_COUNT ); ++i )
     {
         rs2_frame_metadata_value val = static_cast< rs2_frame_metadata_value >( i );
         if( f.supports_frame_metadata( val ) )
             metadata[rs2_frame_metadata_to_string( val )] = f.get_frame_metadata( val );
     }
 
-    rsutils::json md_msg = rsutils::json::object( {
+    json md_msg = json::object( {
         { "stream-name", stream_name_from_rs2( f.get_profile() ) },
         { "header", std::move( md_header ) },
         { "metadata", std::move( metadata ) },
@@ -838,9 +838,9 @@ size_t lrs_device_controller::get_index_of_profile( const realdds::dds_stream_pr
 }
 
 
-bool lrs_device_controller::on_control( std::string const & id, rsutils::json const & control, rsutils::json & reply )
+bool lrs_device_controller::on_control( std::string const & id, json const & control, json & reply )
 {
-    static std::map< std::string, bool ( lrs_device_controller::* )(rsutils::json const &, rsutils::json & ) > const
+    static std::map< std::string, bool ( lrs_device_controller::* )( json const &, json & ) > const
         control_handlers{
             { "hw-reset", &lrs_device_controller::on_hardware_reset },
             { "open-streams", &lrs_device_controller::on_open_streams },
@@ -854,14 +854,14 @@ bool lrs_device_controller::on_control( std::string const & id, rsutils::json co
 }
 
 
-bool lrs_device_controller::on_hardware_reset( rsutils::json const & control, rsutils::json & reply )
+bool lrs_device_controller::on_hardware_reset( json const & control, json & reply )
 {
     _rs_dev.hardware_reset();
     return true;
 }
 
 
-bool lrs_device_controller::on_hwm( rsutils::json const & control, rsutils::json & reply )
+bool lrs_device_controller::on_hwm( json const & control, json & reply )
 {
     rs2::debug_protocol dp( _rs_dev );
     if( ! dp )