Handle PR#14228 comments

common/dds-model.cpp

@@ -22,13 +22,13 @@ dds_model::dds_model( rs2::device dev )
 {
     if( check_DDS_support() )
     {
-        get_eth_config();
-        reset_to_current_values();
+        load_eth_config_from_device();
+        reset_to_current_device_values();
         _dds_supported = true;
     }
 }
 
-void dds_model::get_eth_config()
+void dds_model::load_eth_config_from_device()
 {
     _domain_current = _eth_device.get_dds_domain();
     _link_priority_current = _eth_device.get_link_priority();
@@ -49,7 +49,7 @@ void dds_model::get_eth_config()
     _link_speed_read_only = _eth_device.get_link_speed();
 }
 
-void dds_model::set_eth_config( std::string & error_message, bool reset_to_default )
+void dds_model::save_eth_config_in_device( std::string & error_message, bool reset_to_default )
 {
     try
     {
@@ -89,21 +89,14 @@ void dds_model::set_eth_config( std::string & error_message, bool reset_to_defau
     }
 }
 
-bool dds_model::supports_DDS()
-{
-    return _dds_supported;
-}
-
-rs2::dds_model::priority dds_model::classifyPriority( rs2_eth_link_priority pr )
+rs2::dds_model::priority dds_model::classify_priority( rs2_eth_link_priority pr ) const
 {
     if( pr == RS2_LINK_PRIORITY_USB_ONLY || pr == RS2_LINK_PRIORITY_USB_FIRST )
-    {
         return priority::USB_FIRST;
-    }
-    else if( pr == RS2_LINK_PRIORITY_ETH_ONLY || pr == RS2_LINK_PRIORITY_ETH_FIRST )
-    {
+
+    if( pr == RS2_LINK_PRIORITY_ETH_ONLY || pr == RS2_LINK_PRIORITY_ETH_FIRST )
         return priority::ETH_FIRST;
-    }
+
     return priority::DYNAMIC;
 }
 
@@ -112,7 +105,7 @@ bool dds_model::check_DDS_support()
     return _eth_device.supports_eth_config();
 }
 
-void dds_model::reset_to_current_values()
+void dds_model::reset_to_current_device_values()
 {
     _domain_to_set = _domain_current;
     _link_priority_to_set = _link_priority_current;
@@ -137,7 +130,7 @@ bool dds_model::has_changed_values() const
         _mtu_to_set != _mtu_current || _tx_delay_to_set != _tx_delay_current;
 }
 
-void rs2::dds_model::ipInputText( std::string label, ip_address & ip )
+void rs2::dds_model::ip_input_text( std::string label, ip_address & ip ) const
 {
     char buffer[16];
     std::string ip_str = ip.to_string();
@@ -167,8 +160,8 @@ void dds_model::render_dds_config_window( ux_window & window, std::string & erro
     {
         try
         {
-            get_eth_config();
-            reset_to_current_values();
+            load_eth_config_from_device();
+            reset_to_current_device_values();
             ImGui::OpenPopup( window_name );
         }
         catch( std::exception e )
@@ -241,7 +234,7 @@ void dds_model::render_dds_config_window( ux_window & window, std::string & erro
 
         if( ImGui::CollapsingHeader( "Connection Priority" ) )
         {
-            priority connection_priority = classifyPriority( _link_priority_to_set );
+            priority connection_priority = classify_priority( _link_priority_to_set );
             ImGui::Text( "Select connection priority:" );
             ImGui::RadioButton( "Ethernet First", reinterpret_cast< int * >( &connection_priority ), 0 );
             if( static_cast< int >( connection_priority ) == 0 )
@@ -286,16 +279,16 @@ void dds_model::render_dds_config_window( ux_window & window, std::string & erro
                 ImGui::Text( "Static IP Address" );
                 ImGui::SameLine();
                 float textbox_align = ImGui::GetCursorPosX();
-                ipInputText( "Static IP Address", _ip_to_set );
+                ip_input_text( "Static IP Address", _ip_to_set );
                 ImGui::Text( "Subnet Mask" );
                 ImGui::SameLine();
                 ImGui::SetCursorPosX( textbox_align );
                 bool maskStylePushed = false;
-                ipInputText( "Subnet Mask", _netmask_to_set );
+                ip_input_text( "Subnet Mask", _netmask_to_set );
                 ImGui::Text( "Gateway" );
                 ImGui::SameLine();
                 ImGui::SetCursorPosX( textbox_align );
-                ipInputText( "Gateway", _gateway_to_set );
+                ip_input_text( "Gateway", _gateway_to_set );
             }
             else
             {
@@ -342,7 +335,7 @@ void dds_model::render_dds_config_window( ux_window & window, std::string & erro
         ImGui::Checkbox( "No Reset after changes", &_no_reset );
         if( ImGui::Button( "Revert changes" ) )
         {
-            reset_to_current_values();
+            reset_to_current_device_values();
         }
         if( ImGui::IsItemHovered() )
         {
@@ -369,7 +362,7 @@ void dds_model::render_dds_config_window( ux_window & window, std::string & erro
         ImGui::SameLine();
         if( ImGui::Button( "Factory Reset", ImVec2( button_width, 25 ) ) )
         {
-            set_eth_config( error_message, true );
+            save_eth_config_in_device( error_message, true );
             close_window();
         }
         if( ImGui::IsItemHovered() )
@@ -383,7 +376,7 @@ void dds_model::render_dds_config_window( ux_window & window, std::string & erro
             {
                 if( ImGui::ButtonEx( "Apply", ImVec2( button_width, 25 ) ) )
                 {
-                    set_eth_config( error_message );
+                    save_eth_config_in_device( error_message );
                     close_window();
                 };
             },

common/dds-model.h

@@ -24,8 +24,7 @@ namespace rs2
 
         void close_window() { ImGui::CloseCurrentPopup(); }
 
-        bool supports_DDS();
-
+        bool supports_DDS() const { return _dds_supported; }
 
     private:
         enum priority
@@ -54,12 +53,12 @@ namespace rs2
         bool _no_reset;
         bool _dds_supported;
 
-        void get_eth_config();
-        void set_eth_config( std::string & error_message, bool reset_to_default = false );
-        void ipInputText( std::string label, rsutils::type::ip_address & ip );
-        priority classifyPriority( rs2_eth_link_priority pr );
+        void load_eth_config_from_device();
+        void save_eth_config_in_device( std::string & error_message, bool reset_to_default = false );
+        void ip_input_text( std::string label, rsutils::type::ip_address & ip ) const;
+        priority classify_priority( rs2_eth_link_priority pr ) const;
         bool check_DDS_support();
-        void reset_to_current_values();
+        void reset_to_current_device_values();
         bool has_changed_values() const;
     };
 }

examples/eth-config/CMakeLists.txt

@@ -1,7 +1,7 @@
 # License: Apache 2.0. See LICENSE file in root directory.
 # Copyright(c) 2025 RealSense, Inc. All Rights Reserved.
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.10)
 
 project( rs-eth-config )
 

include/librealsense2/h/rs_eth_config.h

@@ -51,7 +51,7 @@ int rs2_supports_eth_config( const rs2_device * device, rs2_error ** error );
     * \param[out] error    If non-null, receives any error that occurs during this call, otherwise, errors are ignored
     * \return              Current Ethernet link speed Mbps. 0 if link is not available.
     */
-int rs2_get_link_speed( const rs2_device * device, rs2_error ** error );
+unsigned int rs2_get_link_speed( const rs2_device * device, rs2_error ** error );
 
 /**
     * Get link priority
@@ -86,17 +86,17 @@ unsigned int rs2_get_link_timeout( const rs2_device * device, rs2_error ** error
 void rs2_set_link_timeout( const rs2_device * device, unsigned int timeout, rs2_error ** error );
 
 /**
- * Get current DDS domain (0-232)
+ * Get current DDS domain id (0-232) used when connected through Ethernet
  * \param[in] device    RealSense device
  * \param[out] error    If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- * \return              Current link timeout in milliseconds
+ * \return              Current DDS domain id used when connected through Ethernet
  */
 unsigned int rs2_get_dds_domain( const rs2_device * device, rs2_error ** error );
 
 /**
- * Set DDS domain to use
+ * Set DDS domain id to use when connected through Ethernet
  * \param[in] device    RealSense device
- * \param[in] domain    DDS domain to use (0-232)
+ * \param[in] domain    DDS domain id to use (0-232)
  * \param[out] error    If non-null, receives any error that occurs during this call, otherwise, errors are ignored
  */
 void rs2_set_dds_domain( const rs2_device * device, unsigned int domain, rs2_error ** error );
@@ -122,7 +122,7 @@ void rs2_set_ip_address( const rs2_device * device, const rs2_ip_address ip, rs2
     * Get network mask
     * \param[in] device    RealSense device
     * \param[out] configured_netmask  Configured network mask to populate
-    * \param[out] actual_netmask      Actual network mask to populate. Might be different from configured_ip if DHCP is enabled
+    * \param[out] actual_netmask      Actual network mask to populate. Might be different from configured_netmask if DHCP is enabled
     * \param[out] error    If non-null, receives any error that occurs during this call, otherwise, errors are ignored
     */
 void rs2_get_netmask( const rs2_device * device, rs2_ip_address configured_netmask, rs2_ip_address actual_netmask, rs2_error ** error );
@@ -139,7 +139,7 @@ void rs2_set_netmask( const rs2_device * device, const rs2_ip_address netmask, r
     * Get gateway address
     * \param[in] device    RealSense device
     * \param[out] configured_gateway  Configured gateway address to populate
-    * \param[out] actual_gateway      Actual gateway address to populate. Might be different from configured_ip if DHCP is enabled
+    * \param[out] actual_gateway      Actual gateway address to populate. Might be different from configured_gateway if DHCP is enabled
     * \param[out] error    If non-null, receives any error that occurs during this call, otherwise, errors are ignored
     */
 void rs2_get_gateway( const rs2_device * device, rs2_ip_address configured_gateway, rs2_ip_address actual_gateway, rs2_error ** error );

include/librealsense2/h/rs_types.h

@@ -196,6 +196,7 @@ typedef enum rs2_extension
     RS2_EXTENSION_SAFETY_SENSOR,
     RS2_EXTENSION_DEPTH_MAPPING_SENSOR,
     RS2_EXTENSION_LABELED_POINTS,
+    RS2_EXTENSION_ETH_CONFIG,
     RS2_EXTENSION_COUNT
 } rs2_extension;
 const char* rs2_extension_type_to_string(rs2_extension type);

include/librealsense2/hpp/rs_eth_config.hpp

@@ -23,10 +23,8 @@ namespace rs2
         eth_config_device( rs2::device d ) : device( d.get() )
         {
             rs2_error * e = nullptr;
-            // Ethernet configuration is supported through HWM commands, must be extensible to RS2_EXTENSION_DEBUG
-            if( rs2_is_device_extendable_to( _dev.get(), RS2_EXTENSION_DEBUG, &e ) == 0 && ! e )
-                _dev.reset();
-            else if( ! rs2_supports_eth_config( _dev.get(), &e ) && ! e )
+            bool extendable = rs2_is_device_extendable_to( _dev.get(), RS2_EXTENSION_ETH_CONFIG, &e ) && ! e;
+            if( ! extendable || ! rs2_supports_eth_config( _dev.get(), &e ) || e )
                 _dev.reset();
             error::handle( e );
         }
@@ -36,6 +34,8 @@ namespace rs2
          */
         bool supports_eth_config() const
         {
+            if( ! _dev )
+                return false; // Was reset in constructor because not supporting Ethernet configuration
             rs2_error * e = nullptr;
             auto result = rs2_supports_eth_config( _dev.get(), &e );
             error::handle( e );
@@ -45,7 +45,7 @@ namespace rs2
         /**
          * Get Ethernet link speed, 0 if not linked
          */
-        int get_link_speed() const
+        uint32_t get_link_speed() const
         {
             rs2_error * e = nullptr;
             auto result = rs2_get_link_speed( _dev.get(), &e );

include/librealsense2/hpp/rs_types.hpp

@@ -12,7 +12,6 @@
 #include "../h/rs_record_playback.h"
 #include "../h/rs_sensor.h"
 #include "../h/rs_pipeline.h"
-#include "../h/rs_eth_config.h"
 
 #include <string>
 #include <vector>

src/CMakeLists.txt

@@ -104,6 +104,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/points.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/labeled-points.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/to-string.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/eth-config-device.cpp"
 
         "${CMAKE_CURRENT_LIST_DIR}/algo.h"
         "${CMAKE_CURRENT_LIST_DIR}/api.h"
@@ -187,6 +188,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/feature-interface.h"
         "${CMAKE_CURRENT_LIST_DIR}/synthetic-options-watcher.h"
         "${CMAKE_CURRENT_LIST_DIR}/synthetic-options-watcher.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/eth-config-device.h"
 )
 
 if(BUILD_WITH_DDS)

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

@@ -173,6 +173,8 @@ dds_device_proxy::dds_device_proxy( std::shared_ptr< const device_info > const &
     register_info( RS2_CAMERA_INFO_CAMERA_LOCKED, j.nested( "locked" ).default_value( true ) ? "YES" : "NO" );
     register_info(RS2_CAMERA_INFO_CONNECTION_TYPE, "DDS" );
 
+    eth_config_device::init( static_cast< debug_interface * >( this ) ); // Call after registering device info
+
     // Assumes dds_device initialization finished
     struct sensor_info
     {
@@ -834,5 +836,14 @@ std::vector< sensor_interface const * > dds_device_proxy::get_serializable_senso
     return sensors;
 }
 
+bool dds_device_proxy::supports_ethernet_configuration()
+{
+    std::string dev_name = get_info( RS2_CAMERA_INFO_NAME ); // Info supported, registered at constructor
+    if( dev_name.find( "D555" ) == std::string::npos ) // Currently only D555 devices support eth_config
+        return false;
+
+    return eth_config_device::supports_ethernet_configuration();
+}
+
 
 }  // namespace librealsense

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

@@ -9,6 +9,7 @@
 #include "rsdds-serializable.h"
 #include <src/auto-calibrated-proxy.h>
 #include <src/device-calibration.h>
+#include <src/eth-config-device.h>
 
 #include <rsutils/json-fwd.h>
 #include <memory>
@@ -48,6 +49,7 @@ class dds_device_proxy
     , public dds_serializable
     , public auto_calibrated_proxy
     , public calibration_change_device
+    , public eth_config_device
 {
     std::shared_ptr< realdds::dds_device > _dds_dev;
     std::map< std::string, std::vector< std::shared_ptr< stream_profile_interface > > > _stream_name_to_profiles;
@@ -117,8 +119,10 @@ class dds_device_proxy
     device_interface const & get_serializable_device() const override { return *this; }
     std::vector< sensor_interface * > get_serializable_sensors() override;
     std::vector< sensor_interface const * > get_serializable_sensors() const override;
-};
-
 
+    // eth_config_device
+public:
+    bool supports_ethernet_configuration() override;
+};
 
 }  // namespace librealsense

src/ds/d500/d500-factory.cpp

@@ -8,6 +8,7 @@
 #include <src/core/matcher-factory.h>
 #include <src/proc/color-formats-converter.h>
 #include <src/core/advanced_mode.h>
+#include <src/eth-config-device.h>
 
 #include "d500-info.h"
 #include "d500-private.h"
@@ -163,6 +164,7 @@ class d555_device
     , public d500_motion
     , public ds_advanced_mode_base
     , public extended_firmware_logger_device
+    , public eth_config_device
 {
 public:
     d555_device( std::shared_ptr< const d500_info > dev_info )
@@ -173,10 +175,10 @@ class d555_device
         , d500_color( dev_info, RS2_FORMAT_YUYV )
         , d500_motion( dev_info )
         , ds_advanced_mode_base( d500_device::_hw_monitor, get_depth_sensor() )
-        , extended_firmware_logger_device( dev_info,
-                                           d500_device::_hw_monitor,
-                                           get_firmware_logs_command() )
+        , extended_firmware_logger_device( dev_info, d500_device::_hw_monitor, get_firmware_logs_command() )
     {
+        eth_config_device::init( static_cast< debug_interface * >( this ) );
+
         auto & depth_sensor = get_depth_sensor();
         group_multiple_fw_calls(depth_sensor, [&]()
         {