PR IntelRealSense#12983 from Eran: enable dds flow controller

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

@@ -615,7 +615,11 @@ bool dds_device_proxy::check_fw_compatibility( const std::vector< uint8_t > & im
                                                               _dds_dev->device_info().topic_root()
                                                                   + realdds::topics::DFU_TOPIC_NAME );
         auto writer = std::make_shared< realdds::dds_topic_writer >( topic );
-        writer->run( realdds::dds_topic_writer::qos( eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS ) );
+        realdds::dds_topic_writer::qos wqos( eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS );
+        wqos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
+        wqos.publish_mode().flow_controller_name = "dfu";
+        writer->override_qos_from_json( wqos, _dds_dev->participant()->settings().nested( "device", "dfu" ) );
+        writer->run( wqos );
         if( ! writer->wait_for_readers( { 3, 0 } ) )
             throw std::runtime_error( "timeout waiting for DFU subscriber" );
         auto blob = realdds::topics::blob_msg( std::vector< uint8_t >( image ) );

src/dds/rsdds-device-factory.cpp

@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2023-4 Intel Corporation. All Rights Reserved.
 
 #include "rsdds-device-factory.h"
 #include "context.h"
@@ -10,6 +10,7 @@
 #include <realdds/dds-device-watcher.h>
 #include <realdds/dds-participant.h>
 #include <realdds/dds-device.h>
+#include <realdds/dds-serialization.h>
 #include <realdds/topics/device-info-msg.h>
 
 #include <rsutils/easylogging/easyloggingpp.h>
@@ -96,7 +97,33 @@ rsdds_device_factory::rsdds_device_factory( std::shared_ptr< context > const & c
         _participant = domain.participant.instance();
         if( ! _participant->is_valid() )
         {
-            _participant->init( domain_id, participant_name, dds_settings.default_object() );
+            realdds::dds_participant::qos qos( participant_name );  // default settings
+
+            // As a client, we send messages to a server; sometimes big messages. E.g., for DFU these may be up to
+            // 20MB... flexible messages are up to 4K. The UDP protocol is supposed to break messages (by default, up to
+            // 64K) into fragmented packed, but the server may not be able to handle these; certain hardware cannot
+            // handle more than 1500 bytes!
+            // 
+            // FastDDS does provide a 'udp/max-message-size' setting (as of v2.10.4), but this applies to both send and
+            // receive. We want to only limit sends! So we use a new property of FastDDS:
+            qos.properties().properties().emplace_back( "fastdds.max_message_size", "1470" );
+            // (overridable with "max-out-message-bytes" in our settings)
+
+            // Create a flow-controller that will be used for DFU, because of similar possible IP stack limitations at
+            // the server side: if we send too many packets all at once, some servers get overloaded...
+            auto dfu_flow_control = std::make_shared< eprosima::fastdds::rtps::FlowControllerDescriptor >();
+            dfu_flow_control->name = "dfu";
+            // Max bytes to be sent to network per period; [1, 2147483647]; default=0 -> no limit.
+            // -> We allow 256 buffers, each the size of the UDP max-message-size
+            dfu_flow_control->max_bytes_per_period = 256 * 1470; // qos.transport().user_transports.front()->maxMessageSize;
+            // -> Every 100ms
+            dfu_flow_control->period_ms = 100;  // default=100
+            // Further override with settings from device/dfu
+            realdds::override_flow_controller_from_json( *dfu_flow_control, dds_settings.nested( "device", "dfu" ) );
+            qos.flow_controllers().push_back( dfu_flow_control );
+
+            // qos will get further overriden with the settings we pass in
+            _participant->init( domain_id, qos, dds_settings.default_object() );
         }
         else if( participant_name_j.exists() && participant_name != _participant->name() )
         {

third-party/realdds/scripts/topic-send.py

@@ -42,14 +42,17 @@ def e( *a, **kw ):
 
 dds.debug( args.debug )
 
+max_sample_size = 1470                     # assuming ~1500 max packet size at destination IP stack
+flow_period_bytes = 256 * max_sample_size  # 256=quarter of number of buffers available at destination
+flow_period_ms = 100                       # how often to send
 settings = {
     'flow-controllers': {
         'blob': {
-            'max-bytes-per-period': 256 * 1470,
-            'period-ms': 250
+            'max-bytes-per-period': flow_period_bytes,
+            'period-ms': flow_period_ms
             }
         },
-    'max-out-message-bytes': 1470
+    'max-out-message-bytes': max_sample_size
     }
 
 participant = dds.participant()
@@ -68,9 +71,9 @@ def e( *a, **kw ):
         sys.exit( 1 )
     writer = dds.topic_writer( dds.message.blob.create_topic( participant, topic_path ))
     wqos = dds.topic_writer.qos()  # reliable
-    #writer.override_qos_from_json( wqos, { 'publish-mode': { 'flow-control': 'blob' } } )
+    writer.override_qos_from_json( wqos, { 'publish-mode': { 'flow-control': 'blob' } } )
     writer.run( wqos )
-    if not writer.wait_for_readers( dds.time( 2. ) ):
+    if not writer.wait_for_readers( dds.time( 3. ) ):
         e( 'Timeout waiting for readers' )
         sys.exit( 1 )
     with open( args.blob, mode='rb' ) as file: # b is important -> binary
@@ -80,7 +83,8 @@ def e( *a, **kw ):
     blob.write_to( writer )
     # We must wait for acks, since we use a flow controller and write_to() will return before we've
     # actually finished the send
-    if not writer.wait_for_acks( dds.time( 5. ) ):  # seconds
+    seconds_to_send = blob.size() / flow_period_bytes / (1000. / flow_period_ms)
+    if not writer.wait_for_acks( dds.time( 5. + seconds_to_send ) ):
         e( 'Timeout waiting for ack' )
         sys.exit( 1 )
     i( f'Acknowledged' )

third-party/realdds/scripts/topic-sink.py

@@ -22,7 +22,7 @@ def time_arg(x):
         raise ValueError( f'--time should be >=0' )
     return t
 args.add_argument( '--wait', metavar='<seconds>', type=time_arg, default=5., help='seconds to wait for writers (default 5; 0=disable)' )
-args.add_argument( '--time', metavar='<seconds>', type=time_arg, default=5., help='runtime before stopping, in seconds (default 0=forever)' )
+args.add_argument( '--time', metavar='<seconds>', type=time_arg, help='runtime before stopping, in seconds (default 0=forever)' )
 args.add_argument( '--not-ready', action='store_true', help='start output immediately, without waiting for all topics' )
 args = args.parse_args()
 

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

@@ -398,7 +398,8 @@ std::ostream & operator<<( std::ostream & os, WriterProxyData const & info )
         os << /*field::separator << "durability" << field::group() <<*/ info.m_qos.m_durability;
     if( ! ( info.m_qos.m_liveliness == eprosima::fastdds::dds::LivelinessQosPolicy() ) )
         os << field::separator << "liveliness" << field::value << info.m_qos.m_liveliness;
-    if( info.m_qos.m_publishMode.flow_controller_name )
+    if( info.m_qos.m_publishMode.flow_controller_name
+        && info.m_qos.m_publishMode.flow_controller_name != eprosima::fastdds::rtps::FASTDDS_FLOW_CONTROLLER_DEFAULT )
         os << field::separator << "flow-controller" << field::value << "'"
            << info.m_qos.m_publishMode.flow_controller_name << "'";
     return os;