samer

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

@@ -123,6 +123,10 @@ class dds_device_server
     std::shared_ptr< dds_topic_reader > _control_reader;
     std::shared_ptr< dds_topic_writer > _metadata_writer;
     std::shared_ptr< dds_device_broadcaster > _broadcaster;
+
+    std::shared_ptr< dds_topic_reader > _get_control_value_reader;
+    std::shared_ptr< dds_topic_writer > _get_control_value_writer;
+
     dispatcher _control_dispatcher;
 
     set_option_callback _set_option_callback;

third-party/realdds/include/realdds/topics/dds-topic-names.h

@@ -24,6 +24,8 @@ constexpr char const * NOTIFICATION_TOPIC_NAME = "/notification";
 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_CONTROL_VALUE_REQUEST_TOPIC = "rq/get_control_valueRequest";
+constexpr char const * GET_CONTROL_VALUE_RESPONSE_TOPIC = "rr/get_control_valueReply";
 
 
 namespace notification {

third-party/realdds/include/realdds/topics/getcontrolvalue-request-msg.h

@@ -0,0 +1,49 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023-4 Intel Corporation. All Rights Reserved.
+
+#pragma once
+
+#include <realdds/dds-defines.h>
+#include <realdds/topics/ros2/ros2getcontrolvalue-request.h>
+
+#include <memory>
+
+namespace realdds
+{
+    namespace topics
+    {
+        class GetControlValueRequestPubSubType;
+    } // namespace msg
+} // namespace sensor_msgs
+
+namespace realdds
+{
+
+    class dds_participant;
+    class dds_topic;
+    class dds_topic_reader;
+
+    namespace topics
+    {
+
+        class GetControlValueRequestMsg
+        {
+        public:
+            using type = realdds::topics::GetControlValueRequestPubSubType;
+
+            GetControlValueRequestMsg() = default;
+            ~GetControlValueRequestMsg() = default;
+
+            uint64_t const get_control_id() const { return _data.get_control_id(); }
+            void set_control_id(uint64_t new_control_id) { _data.set_control_id(new_control_id); }
+
+            static std::shared_ptr<dds_topic> create_topic(std::shared_ptr<dds_participant> const &participant,
+                                                           char const *topic_name);
+
+
+        private:
+            realdds::topics::GetControlValueRequest _data;
+        };
+
+    } // namespace topics
+} // namespace realdds

third-party/realdds/include/realdds/topics/getcontrolvalue-response-msg.h

@@ -0,0 +1,49 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023-4 Intel Corporation. All Rights Reserved.
+
+#pragma once
+
+#include <realdds/dds-defines.h>
+#include <realdds/topics/ros2/ros2getcontrolvalue-response.h>
+
+#include <memory>
+
+namespace realdds
+{
+    namespace topics
+    {
+        class GetControlValueResponsePubSubType;
+    } // namespace msg
+} // namespace sensor_msgs
+
+namespace realdds
+{
+
+    class dds_participant;
+    class dds_topic;
+    class dds_topic_reader;
+
+    namespace topics
+    {
+
+        class GetControlValueResponseMsg
+        {
+        public:
+            using type = realdds::topics::GetControlValueResponsePubSubType;
+
+            GetControlValueResponseMsg() = default;
+            ~GetControlValueResponseMsg() = default;
+
+            long const get_result() const { return _data.get_result(); }
+            void set_result(uint64_t new_result) { _data.set_result(new_result); }
+
+            static std::shared_ptr<dds_topic> create_topic(std::shared_ptr<dds_participant> const &participant,
+                                                           char const *topic_name);
+
+
+        private:
+            realdds::topics::GetControlValueResponse _data;
+        };
+
+    } // namespace topics
+} // namespace realdds

third-party/realdds/include/realdds/topics/ros2/ros2getcontrolvalue-request.h

@@ -0,0 +1,120 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023-4 Intel Corporation. All Rights Reserved.
+
+#ifndef _GET_CONTROL_VALUE_REQSPONSE_H_
+#define _GET_CONTROL_VALUE_REQSPONSE_H_
+
+#include <fastrtps/utils/fixed_size_string.hpp>
+#include <stdint.h>
+
+#include <array>
+#include <string>
+#include <vector>
+#include <map>
+#include <bitset>
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec(dllexport)
+#else
+#define eProsima_user_DllExport
+#endif // EPROSIMA_USER_DLL_EXPORT
+#else
+#define eProsima_user_DllExport
+#endif // _WIN32
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#if defined(GETCONTROLRESPONSE_SOURCE)
+#define GETCONTROLRESPONSE_DllAPI __declspec(dllexport)
+#else
+#define GETCONTROLRESPONSE_DllAPI __declspec(dllimport)
+#endif // 
+#else
+#define GETCONTROLRESPONSE_DllAPI
+#endif // 
+#else
+#define GETCONTROLRESPONSE_DllAPI
+#endif // _WIN32
+
+namespace eprosima
+{
+    namespace fastcdr
+    {
+        class Cdr;
+    } // namespace fastcdr
+} // namespace eprosima
+
+namespace realdds
+{
+    namespace topics
+    {
+
+        class GetControlValueRequest
+        {
+        public:
+            // Default constructor
+            eProsima_user_DllExport GetControlValueRequest() = default;
+
+            // Default constructor
+            eProsima_user_DllExport ~GetControlValueRequest() = default;
+
+            eProsima_user_DllExport static size_t getMaxCdrSerializedSize(
+                size_t current_alignment = 0);
+
+            /*!
+             * @brief This function returns the serialized size of a data depending on the buffer alignment.
+             * @param data Data which is calculated its serialized size.
+             * @param current_alignment Buffer alignment.
+             * @return Serialized size.
+             */
+            eProsima_user_DllExport static size_t getCdrSerializedSize(
+                const realdds::topics::GetControlValueRequest &data,
+                size_t current_alignment = 0);
+
+            /*!
+             * @brief This function serializes an object using CDR serialization.
+             * @param cdr CDR serialization object.
+             */
+            eProsima_user_DllExport void serialize(
+                eprosima::fastcdr::Cdr &cdr) const;
+
+            /*!
+             * @brief This function deserializes an object using CDR serialization.
+             * @param cdr CDR serialization object.
+             */
+            eProsima_user_DllExport void deserialize(
+                eprosima::fastcdr::Cdr &cdr);
+
+            /*!
+             * @brief This function returns the maximum serialized size of the Key of an object
+             * depending on the buffer alignment.
+             * @param current_alignment Buffer alignment.
+             * @return Maximum serialized size.
+             */
+            eProsima_user_DllExport static size_t getKeyMaxCdrSerializedSize(
+                size_t current_alignment = 0);
+
+            /*!
+             * @brief This function tells you if the Key has been defined for this type
+             */
+            eProsima_user_DllExport static bool isKeyDefined();
+
+            /*!
+             * @brief This function serializes the key members of an object using CDR serialization.
+             * @param cdr CDR serialization object.
+             */
+            eProsima_user_DllExport void serializeKey(
+                eprosima::fastcdr::Cdr &cdr) const;
+
+            eProsima_user_DllExport void set_control_id(uint64_t new_control_id);
+            eProsima_user_DllExport uint64_t get_control_id() const;
+
+        private:
+            uint64_t control_id;
+        };
+
+    } // namespace topics
+} // namespace realdds
+
+#endif

third-party/realdds/include/realdds/topics/ros2/ros2getcontrolvalue-requestPubSubTypes.h

@@ -0,0 +1,70 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023-4 Intel Corporation. All Rights Reserved.
+
+
+#ifndef _GET_CONTROL_VALUE_REQUEST_PUBSUBTYPES_H_
+#define _GET_CONTROL_VALUE_REQUEST_PUBSUBTYPES_H_
+
+#include <fastdds/dds/topic/TopicDataType.hpp>
+#include <fastrtps/utils/md5.h>
+#include "ros2getcontrolvalue-request.h"
+
+#if !defined(GEN_API_VER) || (GEN_API_VER != 1)
+#error Generated Header is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
+#endif // GEN_API_VER
+
+namespace realdds
+{
+    namespace topics
+    {
+
+        class GetControlValueRequestPubSubType : public eprosima::fastdds::dds::TopicDataType
+        {
+        public:
+            typedef GetControlValueRequest type;
+
+            eProsima_user_DllExport GetControlValueRequestPubSubType();
+            eProsima_user_DllExport virtual ~GetControlValueRequestPubSubType() override;
+
+            eProsima_user_DllExport bool serialize(void *data, eprosima::fastrtps::rtps::SerializedPayload_t *payload) override;
+            eProsima_user_DllExport bool deserialize(eprosima::fastrtps::rtps::SerializedPayload_t *payload, void *data) override;
+            eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(void *data) override;
+            eProsima_user_DllExport void *createData() override;
+            eProsima_user_DllExport void deleteData(void *data) override;
+            eProsima_user_DllExport bool getKey(void *data, eprosima::fastrtps::rtps::InstanceHandle_t *handle, bool force_md5 = false) override;
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+            eProsima_user_DllExport inline bool is_bounded() const override
+            {
+                return false;
+            }
+
+#endif // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+            eProsima_user_DllExport inline bool is_plain() const override
+            {
+                return false;
+            }
+
+#endif // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+            eProsima_user_DllExport inline bool construct_sample(
+                void *memory) const override
+            {
+                (void)memory;
+                return false;
+            }
+
+#endif // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+        private:
+            MD5 m_md5;
+            unsigned char *m_keyBuffer;
+        };
+
+    } // namespace topics
+} // namespace realdds
+
+#endif