diff --git a/.gitignore b/.gitignore index c41cc9e..27c7c3d 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,3 @@ -/target \ No newline at end of file +/target +/out +/_work diff --git a/Cargo.lock b/Cargo.lock index 570a838..462a025 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -562,7 +562,7 @@ dependencies = [ "tokio", "tracing", "uuid", - "which", + "which 5.0.0", ] [[package]] @@ -575,6 +575,7 @@ dependencies = [ "port_check", "tokio", "tracing", + "which 8.0.0", ] [[package]] @@ -668,6 +669,12 @@ version = "1.15.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719" +[[package]] +name = "env_home" +version = "0.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c7f84e12ccf0a7ddc17a6c41c93326024c42920d7ee630d04950e6926645c0fe" + [[package]] name = "equivalent" version = "1.0.2" @@ -1424,6 +1431,12 @@ version = "0.4.15" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "d26c52dbd32dccf2d10cac7725f8eae5296885fb5703b261f7d0a0739ec807ab" +[[package]] +name = "linux-raw-sys" +version = "0.9.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cd945864f07fe9f5371a27ad7b52a172b4b499999f1d97574c9fa68373937e12" + [[package]] name = "litemap" version = "0.8.0" @@ -2235,7 +2248,20 @@ dependencies = [ "bitflags 2.9.1", "errno", "libc", - "linux-raw-sys", + "linux-raw-sys 0.4.15", + "windows-sys 0.59.0", +] + +[[package]] +name = "rustix" +version = "1.0.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "11181fbabf243db407ef8df94a6ce0b2f9a733bd8be4ad02b4eda9602296cac8" +dependencies = [ + "bitflags 2.9.1", + "errno", + "libc", + "linux-raw-sys 0.9.4", "windows-sys 0.59.0", ] @@ -3043,10 +3069,21 @@ dependencies = [ "either", "home", "once_cell", - "rustix", + "rustix 0.38.44", "windows-sys 0.48.0", ] +[[package]] +name = "which" +version = "8.0.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d3fabb953106c3c8eea8306e4393700d7657561cb43122571b172bbfb7c7ba1d" +dependencies = [ + "env_home", + "rustix 1.0.8", + "winsafe", +] + [[package]] name = "win-sys" version = "0.3.1" @@ -3424,6 +3461,12 @@ version = "0.52.6" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec" +[[package]] +name = "winsafe" +version = "0.0.19" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d135d17ab770252ad95e9a872d365cf3090e3be864a34ab46f48555993efc904" + [[package]] name = "wit-bindgen-rt" version = "0.39.0" diff --git a/Cargo.toml b/Cargo.toml index e11a8b5..6fcdb27 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -20,3 +20,4 @@ dunce = "1.0.2" tracing = "0.1.36" port_check = "0.3" +which = "8.0.0" diff --git a/README.md b/README.md index 2f8fa53..06b88d9 100644 --- a/README.md +++ b/README.md @@ -18,3 +18,5 @@ available example name (verified :ok_hand:): - rust-dataflow-url - rust-dataflow-git - multiple-daemons(ci run is not implemented yet) +- [customed-ros2-dataflow](./examples/customed-ros2-dataflow/README.md) +- zenoh-dataflow diff --git a/examples/c-dataflow/main.rs b/examples/c-dataflow/main.rs index 7884bf5..2b33f4b 100644 --- a/examples/c-dataflow/main.rs +++ b/examples/c-dataflow/main.rs @@ -1,5 +1,5 @@ use dora_tracing::set_up_tracing; -use eyre::{bail, Context}; +use eyre::{Context, bail}; use std::{ env::consts::{DLL_PREFIX, DLL_SUFFIX, EXE_SUFFIX}, path::Path, @@ -8,7 +8,7 @@ use std::{ #[tokio::main] async fn main() -> eyre::Result<()> { set_up_tracing("c-dataflow-runner").wrap_err("failed to set up tracing")?; - + let dora = std::path::PathBuf::from(std::env::var("DORA").unwrap()); let root = Path::new(env!("CARGO_MANIFEST_DIR")); std::env::set_current_dir(root.join(file!()).parent().unwrap()) @@ -25,7 +25,7 @@ async fn main() -> eyre::Result<()> { build_dir.join("node_api.h"), ) .await?; - + build_c_node(&dora, "node.c", "c_node").await?; build_c_node(&dora, "sink.c", "c_sink").await?; build_c_node(&dora, "counter.c", "c_counter").await?; @@ -39,13 +39,14 @@ async fn main() -> eyre::Result<()> { async fn build_package(package: &str) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let cargo = std::env::var("CARGO").unwrap(); - + let mut cmd = tokio::process::Command::new("bash"); let manifest = std::path::PathBuf::from(dora).join("Cargo.toml"); let manifest = manifest.to_str().unwrap(); - cmd.args(["-c", - &format!("cargo build --release --manifest-path {manifest} --package {package}", - )]); + cmd.args([ + "-c", + &format!("cargo build --release --manifest-path {manifest} --package {package}",), + ]); if !cmd.status().await?.success() { bail!("failed to compile {package}"); }; @@ -57,7 +58,8 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--") diff --git a/examples/cmake-dataflow/main.rs b/examples/cmake-dataflow/main.rs index b4530f2..34e828d 100644 --- a/examples/cmake-dataflow/main.rs +++ b/examples/cmake-dataflow/main.rs @@ -1,5 +1,5 @@ use dora_tracing::set_up_tracing; -use eyre::{bail, Context}; +use eyre::{Context, bail}; use std::path::Path; #[tokio::main] diff --git a/examples/customed-ros2-dataflow/README.md b/examples/customed-ros2-dataflow/README.md new file mode 100644 index 0000000..7090db5 --- /dev/null +++ b/examples/customed-ros2-dataflow/README.md @@ -0,0 +1,57 @@ +# ROS2 Integration with Dora + +This example demonstrates how to integrate ROS2 nodes with Dora's dataflow framework. + +## Prerequisites + +- ROS2 installed (tested with ROS2 Jazzy) +- Dora framework installed +- Rust toolchain +- `colcon` build system + +## Environment Setup + +Set the following environment variables: + +```bash +# Point to your Dora repository +export DORA=/path/to/dora + +# Point to your ROS2 setup script +export ROS=/opt/ros/jazzy/setup.bash +``` + +## Examples + +### 1. ROS2 Service Integration (Dora as Server) + +```bash +cargo run --example customed-ros2-dataflow service +``` + +Uses `dataflow.yml` and the `add_client` ROS package. + +### 2. ROS2 Action Integration (Dora as Client) + +```bash +cargo run --example customed-ros2-dataflow action +``` + +Uses `dataflow_action.yml` and the `fibonacci_action_server` ROS package. + +## Usage + +``` +cargo run --example customed-ros2-dataflow [service|action] +``` + +- `service`: Dora acts as a server, terminates after ROS client finishes +- `action`: Dora acts as a client, terminates the ROS server after completing its work + +## Files + +- `main.rs` - Example runner +- `dataflow.yml` - Service example configuration +- `dataflow_action.yml` - Action example configuration +- `dora_nodes/src/dora_server.rs` - ROS2 service server implementation +- `dora_nodes/src/dora_action_client.rs` - ROS2 action client implementation \ No newline at end of file diff --git a/examples/customed-ros2-dataflow/customed_interfaces/CMakeLists.txt b/examples/customed-ros2-dataflow/customed_interfaces/CMakeLists.txt index 722d6ae..b4bd9c1 100644 --- a/examples/customed-ros2-dataflow/customed_interfaces/CMakeLists.txt +++ b/examples/customed-ros2-dataflow/customed_interfaces/CMakeLists.txt @@ -18,6 +18,7 @@ rosidl_generate_interfaces( "msg/Num.msg" "msg/Sphere.msg" "srv/AddThreeInts.srv" + "action/Fibonacci.action" DEPENDENCIES geometry_msgs ) diff --git a/examples/customed-ros2-dataflow/customed_interfaces/action/Fibonacci.action b/examples/customed-ros2-dataflow/customed_interfaces/action/Fibonacci.action new file mode 100644 index 0000000..9183d9e --- /dev/null +++ b/examples/customed-ros2-dataflow/customed_interfaces/action/Fibonacci.action @@ -0,0 +1,5 @@ +int32 order +--- +int32[] sequence +--- +int32[] partial_sequence diff --git a/examples/customed-ros2-dataflow/customed_nodes/CMakeLists.txt b/examples/customed-ros2-dataflow/customed_nodes/CMakeLists.txt index 75e39b5..281edf1 100644 --- a/examples/customed-ros2-dataflow/customed_nodes/CMakeLists.txt +++ b/examples/customed-ros2-dataflow/customed_nodes/CMakeLists.txt @@ -13,13 +13,18 @@ find_package(ament_cmake REQUIRED) find_package(customed_interfaces REQUIRED) find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) +find_package(rclcpp_action REQUIRED) + +# Three Ints Add Server add_executable(add_service src/add_service.cpp) ament_target_dependencies(add_service rclcpp customed_interfaces) install(TARGETS add_service DESTINATION lib/${PROJECT_NAME}) - + +# Three Ints Add Client add_executable(add_client src/add_client.cpp) ament_target_dependencies(add_client rclcpp customed_interfaces) install(TARGETS @@ -27,6 +32,38 @@ install(TARGETS DESTINATION lib/${PROJECT_NAME}) +# Fibonacci Action Server +add_library(fib_server SHARED src/fib_server.cpp) +target_include_directories(fib_server PRIVATE + $ + $) +target_compile_definitions(fib_server + PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL") +ament_target_dependencies(fib_server rclcpp customed_interfaces rclcpp_components rclcpp_action) +rclcpp_components_register_node(fib_server PLUGIN "customed_nodes::FibonacciActionServer" EXECUTABLE fibonacci_server) +install(TARGETS + fib_server + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +# Fibonacci Action Client +add_library(fib_client SHARED src/fib_client.cpp) +target_include_directories(fib_client PRIVATE + $ + $) +target_compile_definitions(fib_client + PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL") +ament_target_dependencies(fib_client rclcpp customed_interfaces rclcpp_components rclcpp_action) +rclcpp_components_register_node(fib_client PLUGIN "customed_nodes::FibonacciActionClient" EXECUTABLE fibonacci_client) +install(TARGETS + fib_client + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights diff --git a/examples/customed-ros2-dataflow/customed_nodes/include/customed_nodes/visibility_control.hpp b/examples/customed-ros2-dataflow/customed_nodes/include/customed_nodes/visibility_control.hpp new file mode 100644 index 0000000..f8e669d --- /dev/null +++ b/examples/customed-ros2-dataflow/customed_nodes/include/customed_nodes/visibility_control.hpp @@ -0,0 +1,44 @@ +#ifndef CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_ +#define CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ + #ifdef __GNUC__ + #define CUSTOM_ACTION_CPP_EXPORT __attribute__ ((dllexport)) + #define CUSTOM_ACTION_CPP_IMPORT __attribute__ ((dllimport)) + #else + #define CUSTOM_ACTION_CPP_EXPORT __declspec(dllexport) + #define CUSTOM_ACTION_CPP_IMPORT __declspec(dllimport) + #endif + #ifdef CUSTOM_ACTION_CPP_BUILDING_DLL + #define CUSTOM_ACTION_CPP_PUBLIC CUSTOM_ACTION_CPP_EXPORT + #else + #define CUSTOM_ACTION_CPP_PUBLIC CUSTOM_ACTION_CPP_IMPORT + #endif + #define CUSTOM_ACTION_CPP_PUBLIC_TYPE CUSTOM_ACTION_CPP_PUBLIC + #define CUSTOM_ACTION_CPP_LOCAL +#else + #define CUSTOM_ACTION_CPP_EXPORT __attribute__ ((visibility("default"))) + #define CUSTOM_ACTION_CPP_IMPORT + #if __GNUC__ >= 4 + #define CUSTOM_ACTION_CPP_PUBLIC __attribute__ ((visibility("default"))) + #define CUSTOM_ACTION_CPP_LOCAL __attribute__ ((visibility("hidden"))) + #else + #define CUSTOM_ACTION_CPP_PUBLIC + #define CUSTOM_ACTION_CPP_LOCAL + #endif + #define CUSTOM_ACTION_CPP_PUBLIC_TYPE +#endif + +#ifdef __cplusplus +} +#endif + +#endif // CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_ diff --git a/examples/customed-ros2-dataflow/customed_nodes/package.xml b/examples/customed-ros2-dataflow/customed_nodes/package.xml index 25ca43d..8aa5bf9 100644 --- a/examples/customed-ros2-dataflow/customed_nodes/package.xml +++ b/examples/customed-ros2-dataflow/customed_nodes/package.xml @@ -10,7 +10,9 @@ ament_cmake customed_interfaces - + rclcpp_components + rclcpp_action + ament_lint_auto ament_lint_common diff --git a/examples/customed-ros2-dataflow/customed_nodes/src/fib_client.cpp b/examples/customed-ros2-dataflow/customed_nodes/src/fib_client.cpp new file mode 100644 index 0000000..c94d6f1 --- /dev/null +++ b/examples/customed-ros2-dataflow/customed_nodes/src/fib_client.cpp @@ -0,0 +1,105 @@ +#include +#include +#include +#include +#include + +#include "customed_interfaces/action/fibonacci.hpp" + +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_action/rclcpp_action.hpp" +#include "rclcpp_components/register_node_macro.hpp" + +namespace customed_nodes +{ +class FibonacciActionClient : public rclcpp::Node +{ +public: + using Fibonacci = customed_interfaces::action::Fibonacci; + using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle; + + explicit FibonacciActionClient(const rclcpp::NodeOptions & options) + : Node("fibonacci_action_client", options) + { + this->client_ptr_ = rclcpp_action::create_client( + this, + "fibonacci"); + + auto timer_callback_lambda = [this](){ return this->send_goal(); }; + this->timer_ = this->create_wall_timer( + std::chrono::milliseconds(500), + timer_callback_lambda); + } + + void send_goal() + { + using namespace std::placeholders; + + this->timer_->cancel(); + + if (!this->client_ptr_->wait_for_action_server()) { + RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting"); + rclcpp::shutdown(); + } + + auto goal_msg = Fibonacci::Goal(); + goal_msg.order = 10; + + RCLCPP_INFO(this->get_logger(), "Sending goal"); + + auto send_goal_options = rclcpp_action::Client::SendGoalOptions(); + send_goal_options.goal_response_callback = [this](const GoalHandleFibonacci::SharedPtr & goal_handle) + { + if (!goal_handle) { + RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server"); + } else { + RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result"); + } + }; + + send_goal_options.feedback_callback = [this]( + GoalHandleFibonacci::SharedPtr, + const std::shared_ptr feedback) + { + std::stringstream ss; + ss << "Next number in sequence received: "; + for (auto number : feedback->partial_sequence) { + ss << number << " "; + } + RCLCPP_INFO(this->get_logger(), ss.str().c_str()); + }; + + send_goal_options.result_callback = [this](const GoalHandleFibonacci::WrappedResult & result) + { + switch (result.code) { + case rclcpp_action::ResultCode::SUCCEEDED: + break; + case rclcpp_action::ResultCode::ABORTED: + RCLCPP_ERROR(this->get_logger(), "Goal was aborted"); + return; + case rclcpp_action::ResultCode::CANCELED: + RCLCPP_ERROR(this->get_logger(), "Goal was canceled"); + return; + default: + RCLCPP_ERROR(this->get_logger(), "Unknown result code"); + return; + } + std::stringstream ss; + ss << "Result received: "; + for (auto number : result.result->sequence) { + ss << number << " "; + } + RCLCPP_INFO(this->get_logger(), ss.str().c_str()); + rclcpp::shutdown(); + }; + this->client_ptr_->async_send_goal(goal_msg, send_goal_options); + } + +private: + rclcpp_action::Client::SharedPtr client_ptr_; + rclcpp::TimerBase::SharedPtr timer_; +}; // class FibonacciActionClient + +} // namespace customed_nodes + +RCLCPP_COMPONENTS_REGISTER_NODE(customed_nodes::FibonacciActionClient) diff --git a/examples/customed-ros2-dataflow/customed_nodes/src/fib_server.cpp b/examples/customed-ros2-dataflow/customed_nodes/src/fib_server.cpp new file mode 100644 index 0000000..1e96e96 --- /dev/null +++ b/examples/customed-ros2-dataflow/customed_nodes/src/fib_server.cpp @@ -0,0 +1,102 @@ +#include +#include +#include + +#include "customed_interfaces/action/fibonacci.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_action/rclcpp_action.hpp" +#include "rclcpp_components/register_node_macro.hpp" + +#include "customed_nodes/visibility_control.hpp" + +namespace customed_nodes +{ +class FibonacciActionServer : public rclcpp::Node +{ +public: + using Fibonacci = customed_interfaces::action::Fibonacci; + using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle; + + CUSTOM_ACTION_CPP_PUBLIC + explicit FibonacciActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()) + : Node("fibonacci_action_server", options) + { + using namespace std::placeholders; + + auto handle_goal = [this]( + const rclcpp_action::GoalUUID & uuid, + std::shared_ptr goal) + { + RCLCPP_INFO(this->get_logger(), "Received goal request with order %d", goal->order); + (void)uuid; + return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; + }; + + auto handle_cancel = [this]( + const std::shared_ptr goal_handle) + { + RCLCPP_INFO(this->get_logger(), "Received request to cancel goal"); + (void)goal_handle; + return rclcpp_action::CancelResponse::ACCEPT; + }; + + auto handle_accepted = [this]( + const std::shared_ptr goal_handle) + { + // this needs to return quickly to avoid blocking the executor, + // so we declare a lambda function to be called inside a new thread + auto execute_in_thread = [this, goal_handle](){return this->execute(goal_handle);}; + std::thread{execute_in_thread}.detach(); + }; + + this->action_server_ = rclcpp_action::create_server( + this, + "fibonacci", + handle_goal, + handle_cancel, + handle_accepted); + } + +private: + rclcpp_action::Server::SharedPtr action_server_; + + void execute(const std::shared_ptr goal_handle) { + RCLCPP_INFO(this->get_logger(), "Executing goal"); + rclcpp::Rate loop_rate(1); + const auto goal = goal_handle->get_goal(); + auto feedback = std::make_shared(); + auto & sequence = feedback->partial_sequence; + sequence.push_back(0); + sequence.push_back(1); + auto result = std::make_shared(); + + for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) { + // Check if there is a cancel request + if (goal_handle->is_canceling()) { + result->sequence = sequence; + goal_handle->canceled(result); + RCLCPP_INFO(this->get_logger(), "Goal canceled"); + return; + } + // Update sequence + sequence.push_back(sequence[i] + sequence[i - 1]); + // Publish feedback + goal_handle->publish_feedback(feedback); + RCLCPP_INFO(this->get_logger(), "Publish feedback"); + + loop_rate.sleep(); + } + + // Check if goal is done + if (rclcpp::ok()) { + result->sequence = sequence; + goal_handle->succeed(result); + RCLCPP_INFO(this->get_logger(), "Goal succeeded"); + } + }; + +}; // class FibonacciActionServer + +} // namespace customed_nodes + +RCLCPP_COMPONENTS_REGISTER_NODE(customed_nodes::FibonacciActionServer) diff --git a/examples/customed-ros2-dataflow/dataflow.yml b/examples/customed-ros2-dataflow/dataflow.yml index a4a0246..7aeac0f 100644 --- a/examples/customed-ros2-dataflow/dataflow.yml +++ b/examples/customed-ros2-dataflow/dataflow.yml @@ -1,9 +1,7 @@ nodes: - - id: add_server - build: bash -c "source $ROS && cd dora_nodes && cargo build --release" - path: dora_nodes/target/release/dora-server - inputs: - tick: dora/timer/millis/10 - env: - DORA: $DORA - ROS: $ROS + - id: add_server + build: bash -c "source $ROS; source ./install/setup.bash; cd dora_nodes; cargo build --release --bin dora-server" + path: dora_nodes/target/release/dora-server + inputs: + tick: dora/timer/millis/10 + env: diff --git a/examples/customed-ros2-dataflow/dataflow_action.yml b/examples/customed-ros2-dataflow/dataflow_action.yml new file mode 100644 index 0000000..e3c7c66 --- /dev/null +++ b/examples/customed-ros2-dataflow/dataflow_action.yml @@ -0,0 +1,7 @@ +nodes: + - id: fibonacci_client + build: bash -c "source $ROS; source ./install/setup.bash; cd dora_nodes; cargo build --release --bin dora-action-client" + path: dora_nodes/target/release/dora-action-client + inputs: + tick: dora/timer/secs/5 + env: diff --git a/examples/customed-ros2-dataflow/dora_nodes/Cargo.toml b/examples/customed-ros2-dataflow/dora_nodes/Cargo.toml index 8ee7ee4..89fc535 100644 --- a/examples/customed-ros2-dataflow/dora_nodes/Cargo.toml +++ b/examples/customed-ros2-dataflow/dora_nodes/Cargo.toml @@ -5,10 +5,16 @@ edition = "2024" # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html +[workspace] + [[bin]] name = "dora-server" path = "src/dora_server.rs" +[[bin]] +name = "dora-action-client" +path = "src/dora_action_client.rs" + [dependencies] dora-node-api = { git = "https://github.com/dora-rs/dora.git", rev = "77c277910b0ce87b902faa1ab369a33cbcd555f4"} eyre = "0.6.8" @@ -18,4 +24,3 @@ rand = "0.8.5" tokio = { version = "1.24.2", features = ["rt", "macros"] } dora-ros2-bridge = { git = "https://github.com/dora-rs/dora.git" } serde_json = "1.0.99" - diff --git a/examples/customed-ros2-dataflow/dora_nodes/src/dora_action_client.rs b/examples/customed-ros2-dataflow/dora_nodes/src/dora_action_client.rs new file mode 100644 index 0000000..c476267 --- /dev/null +++ b/examples/customed-ros2-dataflow/dora_nodes/src/dora_action_client.rs @@ -0,0 +1,284 @@ +use dora_node_api::{ + DoraNode, Event, + merged::{MergeExternal, MergedEvent}, +}; +use dora_ros2_bridge::{ + messages::customed_interfaces::action::{ + Fibonacci, FibonacciFeedback, FibonacciGoal, FibonacciResult, + }, + ros2_client::{ + self, NodeOptions, + action::{ActionClientQosPolicies, GoalId}, + }, + rustdds::{self, policy}, +}; +use eyre::{Context, eyre}; +use futures::{Stream, StreamExt, pin_mut, task::SpawnExt}; +use serde_json::json; +use std::{error::Error, pin::Pin, sync::Arc}; +use tokio::sync::mpsc; + +fn main() -> Result<(), Box> { + let mut ros_node = init_ros_node()?; + + // spawn a background spinner task that handles service discovery (and other things) + // Create a thread pool for async tasks and wrap it in Arc for sharing + let pool = Arc::new(futures::executor::ThreadPool::new()?); + let spinner = ros_node + .spinner() + .map_err(|e| eyre::eyre!("failed to create spinner: {e:?}"))?; + pool.spawn(async { + if let Err(err) = spinner.spin().await { + eprintln!("ros2 spinner failed: {err:?}"); + } + }) + .context("failed to spawn ros2 spinner")?; + + // create an example service client + let qos = rustdds::QosPolicyBuilder::new() + .reliability(policy::Reliability::Reliable { + max_blocking_time: rustdds::Duration::from_millis(100), + }) + .history(policy::History::KeepLast { depth: 1 }) + .build(); + let action_qos = ActionClientQosPolicies { + goal_service: qos.clone(), + result_service: qos.clone(), + cancel_service: qos.clone(), + feedback_subscription: qos.clone(), + status_subscription: qos.clone(), + }; + let fib_client = Arc::new(ros_node.create_action_client::( + ros2_client::ServiceMapping::Enhanced, + &ros2_client::Name::new("/", "fibonacci").unwrap(), + &ros2_client::ActionTypeName::new("customed_interfaces", "Fibonacci"), + action_qos, + )?); + + // Create channels for Fibonacci action events + let (tx, rx) = mpsc::channel(10); + let tx = Arc::new(tx); + + // Create a stream from ROS2 action events + let action_stream = ActionEventStream::new(rx); + + let (node, dora_events) = DoraNode::init_from_env()?; + + println!("ROS2 Fibonacci action client initialized and ready"); + + // Merge Dora events with our action events + let merged = dora_events.merge_external(Box::pin(action_stream)); + let mut events = futures::executor::block_on_stream(merged); + let mut requesting = false; + + loop { + let event = match events.next() { + Some(input) => input, + None => break, + }; + + match event { + MergedEvent::Dora(event) => { + match event { + Event::Input { + id, + metadata: _, + data: _, + } => { + match id.as_str() { + "tick" => { + if requesting { + break; + } + + println!("Received tick, sending Fibonacci goal"); + + // Hardcode the order value as 10 + let order = 10; + + println!("Sending Fibonacci goal with order: {}", order); + + // Clone action client and sender for use in async task + let client = fib_client.clone(); + let tx_clone = tx.clone(); + + // Spawn a task to initiate the goal and set up the event pipeline + let pool_clone = pool.clone(); + pool_clone + .clone() + .spawn(async move { + let goal = FibonacciGoal { order }; + match client.async_send_goal(goal).await { + Ok((goal_id, response)) => { + if response.accepted { + // Send acceptance event + let _ = tx_clone + .clone() + .send(FibonacciEvent::Accepted { + goal_id, + order, + }) + .await; + + // Set up feedback handling + let feedback_tx = tx_clone.clone(); + let client_clone = client.clone(); + + // Spawn a task to handle feedback + pool_clone.clone().spawn(async move { + let feedback_stream = + client_clone.feedback_stream(goal_id); + pin_mut!(feedback_stream); + while let Some(feedback_result) = + feedback_stream.next().await + { + if let Ok(feedback) = feedback_result { + let _ = feedback_tx + .clone() + .send(FibonacciEvent::Feedback { + feedback, + }) + .await; + } + } + }) + .unwrap_or_else(|e| { + eprintln!( + "Failed to spawn feedback handler: {:?}", + e + ) + }); + + // Request and wait for the result + match client.async_request_result(goal_id).await + { + Ok((status, result)) => { + let sequence = result.sequence.clone(); + let _ = tx_clone + .clone() + .send(FibonacciEvent::Result { + result, + }) + .await; + } + Err(e) => { + let _ = tx_clone + .clone() + .send(FibonacciEvent::Error { + message: format!( + "Failed to get result: {:#?}", + e + ), + }) + .await; + } + } + } else { + // Goal was rejected + let _ = tx_clone + .clone() + .send(FibonacciEvent::Error { + message: + "Goal rejected by the action server" + .to_string(), + }) + .await; + } + } + Err(e) => { + let _ = tx_clone + .clone() + .send(FibonacciEvent::Error { + message: format!( + "Failed to initiate goal: {:#?}", + e + ), + }) + .await; + } + } + }) + .unwrap_or_else(|e| { + eprintln!("Failed to spawn goal handler task: {:?}", e) + }); + } + other => eprintln!("Ignoring unexpected input `{other}`"), + } + } + Event::Stop(_) => { + println!("Received stop"); + break; + } + other => eprintln!("Received unexpected input: {other:?}"), + } + } + MergedEvent::External(event) => match event { + FibonacciEvent::Accepted { goal_id, order } => { + requesting = true; + println!( + "Fibonacci calculation started for order {}, goal_id: {:#?}", + order, goal_id + ); + } + FibonacciEvent::Feedback { feedback } => { + println!("Received Fibonacci feedback: {:#?}", feedback); + } + FibonacciEvent::Result { result } => { + println!( + "Fibonacci calculation completed. Final result is {:#?}", + result + ); + break; + } + FibonacciEvent::Error { message } => { + eprintln!("Fibonacci action error: {}", message); + } + }, + } + } + + Ok(()) +} + +fn init_ros_node() -> eyre::Result { + let ros_context = ros2_client::Context::new() + .map_err(|e| eyre::eyre!("failed to create ROS2 context: {e:?}"))?; + + ros_context + .new_node( + ros2_client::NodeName::new("/dora", "fibonacci_action_client") + .map_err(|e| eyre!("failed to create ROS2 node name: {e}"))?, + NodeOptions::new().enable_rosout(true), + ) + .map_err(|e| eyre::eyre!("failed to create ros2 node: {e:?}")) +} + +// Define the events we'll use for Fibonacci action client +enum FibonacciEvent { + Accepted { goal_id: GoalId, order: i32 }, + Feedback { feedback: FibonacciFeedback }, + Result { result: FibonacciResult }, + Error { message: String }, +} + +// Stream adapter for Fibonacci events +struct ActionEventStream { + receiver: mpsc::Receiver, +} + +impl ActionEventStream { + fn new(receiver: mpsc::Receiver) -> Self { + Self { receiver } + } +} + +impl Stream for ActionEventStream { + type Item = FibonacciEvent; + + fn poll_next( + mut self: Pin<&mut Self>, + cx: &mut std::task::Context<'_>, + ) -> std::task::Poll> { + Pin::new(&mut self.receiver).poll_recv(cx) + } +} diff --git a/examples/customed-ros2-dataflow/dora_nodes/src/dora_server.rs b/examples/customed-ros2-dataflow/dora_nodes/src/dora_server.rs index c5e5c49..477eabb 100644 --- a/examples/customed-ros2-dataflow/dora_nodes/src/dora_server.rs +++ b/examples/customed-ros2-dataflow/dora_nodes/src/dora_server.rs @@ -1,21 +1,17 @@ use dora_node_api::{ DoraNode, Event, - merged::{MergeExternal, MergedEvent} + merged::{MergeExternal, MergedEvent}, }; -use std::error::Error; use dora_ros2_bridge::{ - messages::{ - customed_interfaces::service::{ - AddThreeInts, - AddThreeIntsRequest, - AddThreeIntsResponse - }, + messages::customed_interfaces::service::{ + AddThreeInts, AddThreeIntsRequest, AddThreeIntsResponse, }, - ros2_client::{self, ros2, NodeOptions}, + ros2_client::{self, NodeOptions, ros2}, rustdds::{self, policy}, }; -use eyre::{eyre, Context}; +use eyre::{Context, eyre}; use futures::task::SpawnExt; +use std::error::Error; fn main() -> Result<(), Box> { let mut ros_node = init_ros_node()?; @@ -29,7 +25,8 @@ fn main() -> Result<(), Box> { if let Err(err) = spinner.spin().await { eprintln!("ros2 spinner failed: {err:?}"); } - }).context("failed to spawn ros2 spinner")?; + }) + .context("failed to spawn ros2 spinner")?; // create an example service client let service_qos = { @@ -72,7 +69,7 @@ fn main() -> Result<(), Box> { Event::Stop(_) => { println!("Received stop"); break; - }, + } other => eprintln!("Received unexpected input: {other:?}"), }, MergedEvent::External(add) => { @@ -80,13 +77,12 @@ fn main() -> Result<(), Box> { if let Ok((req_id, req)) = add { let sum = req.a + req.b + req.c; println!("the sum is {sum}"); - let resp = AddThreeIntsResponse {sum}; + let resp = AddThreeIntsResponse { sum }; let sr = add_server.send_response(req_id, resp); if let Err(e) = sr { println!("Failed to send error {e:?}"); } } - } } } diff --git a/examples/customed-ros2-dataflow/main.rs b/examples/customed-ros2-dataflow/main.rs index 8a50610..59d0b92 100644 --- a/examples/customed-ros2-dataflow/main.rs +++ b/examples/customed-ros2-dataflow/main.rs @@ -1,81 +1,153 @@ use dora_tracing::set_up_tracing; -use eyre::{bail, Context}; -use std::path::Path; +use eyre::{Context, bail}; +use std::{env, path::Path}; use tokio::process::Child; #[tokio::main] async fn main() -> eyre::Result<()> { set_up_tracing("rust-ros2-dataflow-runner").wrap_err("failed to set up tracing subscriber")?; - install_ros_pkg().await?; - let root = Path::new(env!("CARGO_MANIFEST_DIR")); std::env::set_current_dir(root.join(file!()).parent().unwrap()) .wrap_err("failed to set working dir")?; - let dataflow = Path::new("dataflow.yml"); + // Get argument for which example to run + let args: Vec = env::args().collect(); + let (dataflow_file, ros_pkg, dora_is_server) = if args.len() > 1 { + match args[1].as_str() { + "service" => ("dataflow.yml", "add_client", true), + "action" => ("dataflow_action.yml", "fibonacci_server", false), + other => { + println!("Unknown example: {}. Using default service example.", other); + ("dataflow.yml", "add_client", true) + } + } + } else { + // Default to service example + ("dataflow.yml", "add_client", true) + }; + + println!("Running example with:"); + println!(" Dataflow file: {}", dataflow_file); + println!(" ROS package: {}", ros_pkg); + + // Install ROS packages + println!("Installing ROS packages..."); + install_ros_pkg().await?; + + // Check if dataflow file exists + let dataflow = Path::new(dataflow_file); + if !dataflow.exists() { + bail!("Dataflow file '{}' not found", dataflow.display()); + } + + println!("Building dataflow: {}", dataflow.display()); build_dataflow(dataflow).await?; + let mut dataflow_process = run_dataflow(dataflow).await?; - let mut dataflow = run_dataflow(dataflow).await?; + println!("Running ROS package: {}", ros_pkg); + let mut ros_node = run_ros_pkg(ros_pkg).await?; - let mut ros_client = run_ros_pkg("add_client").await?; + // Different shutdown sequence based on whether Dora is server or client + if dora_is_server { + // When Dora is server, ROS client finishes first + println!("Dora acting as server, waiting for ROS client to finish..."); + ros_node.wait().await?; + println!("ROS client finished successfully"); - ros_client.wait().await?; - dataflow.kill().await?; - - println!("Everything Done"); + // Clean shutdown of Dora server + println!("Shutting down Dora dataflow process..."); + dataflow_process.kill().await?; + } else { + // When Dora is client, we need to wait for ROS server to complete + println!("Dora acting as client, waiting for ROS server to finish..."); + + dataflow_process.wait().await?; + + println!("Shutting down ROS node..."); + ros_node.kill().await?; + } + println!("Everything Done"); Ok(()) } async fn run_ros_pkg(node_name: &str) -> eyre::Result { let ros_path = if let Ok(path) = std::env::var("ROS") { - path - } else {String::from("/opt/ros/jazzy/setup.bash")}; - Ok(tokio::process::Command::new("bash").args( - ["-c", &format!("source {ros_path} && source ./install/setup.bash && ros2 run customed_nodes {node_name}")]).spawn()?) + path + } else { + String::from("/opt/ros/jazzy/setup.bash") + }; + + println!("Executing ROS node: {}", node_name); + let command = format!( + "source {ros_path}; source ./install/setup.bash; ros2 run customed_nodes {node_name}" + ); + + let child = tokio::process::Command::new("bash") + .args(["-c", &command]) + .spawn()?; + + println!("ROS node '{}' started successfully", node_name); + Ok(child) } async fn install_ros_pkg() -> eyre::Result<()> { let ros_path = if let Ok(path) = std::env::var("ROS") { - path - } else {String::from("/opt/ros/jazzy/setup.bash")}; + path + } else { + String::from("/opt/ros/jazzy/setup.bash") + }; + + println!("Installing ROS packages..."); let mut cmd = tokio::process::Command::new("bash"); cmd.args(["-c", - &format!("rosdep install --from-paths ./ -y --ignore-src && source {ros_path} && colcon build --symlink-install"), + &format!("source {ros_path}; rosdep install --from-paths ./ -y --ignore-src; colcon build --symlink-install"), ]); if !cmd.status().await?.success() { bail!("failed to install related package"); } + println!("ROS packages installed successfully"); Ok(()) } async fn build_dataflow(dataflow: &Path) -> eyre::Result<()> { - let cargo = std::env::var("CARGO").unwrap(); - let dora = std::env::var("DORA").unwrap(); + let cargo = std::env::var("CARGO").unwrap_or_else(|_| "cargo".to_string()); + let dora = std::env::var("DORA").context("DORA environment variable not set")?; + + println!("Building dataflow: {}", dataflow.display()); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--").arg("build").arg(dataflow); + if !cmd.status().await?.success() { bail!("failed to build dataflow"); }; + println!("Dataflow built successfully"); Ok(()) } async fn run_dataflow(dataflow: &Path) -> eyre::Result { - let cargo = std::env::var("CARGO").unwrap(); - let dora = std::env::var("DORA").unwrap(); + let cargo = std::env::var("CARGO").unwrap_or_else(|_| "cargo".to_string()); + let dora = std::env::var("DORA").context("DORA environment variable not set")?; + + println!("Running dataflow: {}", dataflow.display()); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--") .arg("daemon") .arg("--run-dataflow") .arg(dataflow); - Ok(cmd.spawn()?) + + let child = cmd.spawn()?; + println!("Dataflow process started"); + Ok(child) } diff --git a/examples/cxx-arrow-dataflow/main.rs b/examples/cxx-arrow-dataflow/main.rs index a792808..92e7546 100644 --- a/examples/cxx-arrow-dataflow/main.rs +++ b/examples/cxx-arrow-dataflow/main.rs @@ -1,5 +1,5 @@ use dora_tracing::set_up_tracing; -use eyre::{bail, Context}; +use eyre::{Context, bail}; use std::{env::consts::EXE_SUFFIX, path::Path, process::Command}; struct ArrowConfig { @@ -78,7 +78,9 @@ fn find_arrow_config() -> eyre::Result { .wrap_err("Failed to run pkg-config. Make sure Arrow C++ is installed")?; if !output.status.success() { - bail!("Arrow C++ not found via pkg-config. Make sure it's installed and in your PKG_CONFIG_PATH"); + bail!( + "Arrow C++ not found via pkg-config. Make sure it's installed and in your PKG_CONFIG_PATH" + ); } let cflags = String::from_utf8(output.stdout)?.trim().to_string(); @@ -103,9 +105,10 @@ async fn build_package(package: &str) -> eyre::Result<()> { let mut cmd = tokio::process::Command::new("bash"); let manifest = std::path::PathBuf::from(dora).join("Cargo.toml"); let manifest = manifest.to_str().unwrap(); - cmd.args(["-c", - &format!("cargo build --release --manifest-path {manifest} --package {package}", - )]); + cmd.args([ + "-c", + &format!("cargo build --release --manifest-path {manifest} --package {package}",), + ]); if !cmd.status().await?.success() { bail!("failed to compile {package}"); }; @@ -117,7 +120,8 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--") diff --git a/examples/cxx-dataflow/main.rs b/examples/cxx-dataflow/main.rs index 46fb353..5031c90 100644 --- a/examples/cxx-dataflow/main.rs +++ b/examples/cxx-dataflow/main.rs @@ -1,5 +1,5 @@ use dora_tracing::set_up_tracing; -use eyre::{bail, Context}; +use eyre::{Context, bail}; use std::{ env::consts::{DLL_PREFIX, DLL_SUFFIX, EXE_SUFFIX}, path::Path, @@ -82,9 +82,10 @@ async fn build_package(package: &str) -> eyre::Result<()> { let mut cmd = tokio::process::Command::new("bash"); let manifest = std::path::PathBuf::from(dora).join("Cargo.toml"); let manifest = manifest.to_str().unwrap(); - cmd.args(["-c", - &format!("cargo build --release --manifest-path {manifest} --package {package}", - )]); + cmd.args([ + "-c", + &format!("cargo build --release --manifest-path {manifest} --package {package}",), + ]); if !cmd.status().await?.success() { bail!("failed to compile {package}"); }; @@ -96,7 +97,8 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--") diff --git a/examples/cxx-ros2-dataflow/main.rs b/examples/cxx-ros2-dataflow/main.rs index f9f0f13..b531d9d 100644 --- a/examples/cxx-ros2-dataflow/main.rs +++ b/examples/cxx-ros2-dataflow/main.rs @@ -1,5 +1,5 @@ use dora_tracing::set_up_tracing; -use eyre::{bail, Context}; +use eyre::{Context, bail}; use std::{env::consts::EXE_SUFFIX, path::Path}; use tokio::process::Child; @@ -17,11 +17,11 @@ async fn main() -> eyre::Result<()> { } let root = Path::new(env!("CARGO_MANIFEST_DIR")); let dora = std::path::PathBuf::from(std::env::var("DORA").unwrap()); - + let target = dora.join("target"); std::env::set_current_dir(root.join(file!()).parent().unwrap()) .wrap_err("failed to set working dir")?; - + tokio::fs::create_dir_all("build").await?; let build_dir = Path::new("build"); @@ -61,7 +61,7 @@ async fn main() -> eyre::Result<()> { .await?; let mut ros_node = run_ros_pkg().await?; - + let dataflow = Path::new("dataflow.yml").to_owned(); run_dataflow(&dataflow).await?; @@ -75,12 +75,28 @@ async fn main() -> eyre::Result<()> { async fn run_ros_pkg() -> eyre::Result> { let mut ros_node = vec![]; let ros_path = if let Ok(path) = std::env::var("ROS") { - path - } else {String::from("/opt/ros/jazzy/setup.bash")}; - ros_node.push(tokio::process::Command::new("bash").args( - ["-c", &format!("source {ros_path} && ros2 run turtlesim turtlesim_node")]).spawn()?); - ros_node.push(tokio::process::Command::new("bash").args( - ["-c", &format!("source {ros_path} && ros2 run examples_rclcpp_minimal_service service_main")]).spawn()?); + path + } else { + String::from("/opt/ros/jazzy/setup.bash") + }; + ros_node.push( + tokio::process::Command::new("bash") + .args([ + "-c", + &format!("source {ros_path} && ros2 run turtlesim turtlesim_node"), + ]) + .spawn()?, + ); + ros_node.push( + tokio::process::Command::new("bash") + .args([ + "-c", + &format!( + "source {ros_path} && ros2 run examples_rclcpp_minimal_service service_main" + ), + ]) + .spawn()?, + ); Ok(ros_node) } @@ -98,8 +114,10 @@ async fn install_ros_pkg() -> eyre::Result<()> { async fn build_package(package: &str, features: &[&str]) -> eyre::Result<()> { let ros_path = if let Ok(path) = std::env::var("ROS") { - path - } else {String::from("/opt/ros/jazzy/setup.bash")}; + path + } else { + String::from("/opt/ros/jazzy/setup.bash") + }; let cargo = std::env::var("CARGO").unwrap(); let dora = std::env::var("DORA").unwrap(); @@ -199,7 +217,8 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--") diff --git a/examples/multiple-daemons/dataflow.yml b/examples/multiple-daemons/dataflow.yml index 716e3fe..8a623a2 100644 --- a/examples/multiple-daemons/dataflow.yml +++ b/examples/multiple-daemons/dataflow.yml @@ -3,33 +3,27 @@ nodes: _unstable_deploy: machine: A build: cargo build --release -p rust-dataflow-example-node - path: $EXAMPLE_PATH/target/release/rust-dataflow-example-node + path: $DORA_EXAMPLES/target/release/rust-dataflow-example-node inputs: tick: dora/timer/millis/10 outputs: - random - env: - EXAMPLE_PATH: ${EXAMPLE_PATH} - id: rust-status-node _unstable_deploy: machine: A build: cargo build --release -p rust-dataflow-example-status-node - path: $EXAMPLE_PATH/target/release/rust-dataflow-example-status-node + path: $DORA_EXAMPLES/target/release/rust-dataflow-example-status-node inputs: tick: dora/timer/millis/100 random: rust-node/random outputs: - status - env: - EXAMPLE_PATH: ${EXAMPLE_PATH} - id: rust-sink _unstable_deploy: machine: B build: cargo build --release -p rust-dataflow-example-sink - path: $EXAMPLE_PATH/target/release/rust-dataflow-example-sink + path: $DORA_EXAMPLES/target/release/rust-dataflow-example-sink inputs: message: rust-status-node/status - env: - EXAMPLE_PATH: ${EXAMPLE_PATH} diff --git a/examples/python-dataflow/dataflow.yml b/examples/python-dataflow/dataflow.yml index c34d6b5..8562915 100644 --- a/examples/python-dataflow/dataflow.yml +++ b/examples/python-dataflow/dataflow.yml @@ -1,27 +1,27 @@ nodes: - - id: camera - build: pip install -e ../../node-hub/opencv-video-capture - path: opencv-video-capture - inputs: - tick: dora/timer/millis/20 - outputs: - - image - env: - CAPTURE_PATH: 0 - IMAGE_WIDTH: 640 - IMAGE_HEIGHT: 480 + - id: camera + build: bash -c "uv pip install -e $DORA/node-hub/opencv-video-capture" + path: opencv-video-capture + inputs: + tick: dora/timer/millis/20 + outputs: + - image + env: + CAPTURE_PATH: 0 + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 - - id: object-detection - build: pip install -e ../../node-hub/dora-yolo - path: dora-yolo - inputs: - image: camera/image - outputs: - - bbox + - id: object-detection + build: bash -c "uv pip install -e $DORA/node-hub/dora-yolo" + path: dora-yolo + inputs: + image: camera/image + outputs: + - bbox - - id: plot - build: pip install -e ../../node-hub/dora-rerun - path: dora-rerun - inputs: - image: camera/image - boxes2d: object-detection/bbox + - id: plot + build: bash -c "uv pip install -e $DORA/node-hub/dora-rerun" + path: dora-rerun + inputs: + image: camera/image + boxes2d: object-detection/bbox diff --git a/examples/python-dataflow/main.rs b/examples/python-dataflow/main.rs index de96795..d5f35a2 100644 --- a/examples/python-dataflow/main.rs +++ b/examples/python-dataflow/main.rs @@ -1,7 +1,19 @@ -use dora_core::{get_uv_path, run}; use dora_tracing::set_up_tracing; -use eyre::{bail, WrapErr}; -use std::path::Path; +use eyre::{WrapErr, bail}; +use std::path::{Path, PathBuf}; + +pub async fn run(program: &PathBuf, args: &[&str], pwd: Option<&Path>) -> eyre::Result<()> { + let mut run = tokio::process::Command::new(program); + run.args(args); + + if let Some(pwd) = pwd { + run.current_dir(pwd); + } + if !run.status().await?.success() { + eyre::bail!("failed to run {args:?}"); + }; + Ok(()) +} #[tokio::main] async fn main() -> eyre::Result<()> { @@ -11,19 +23,21 @@ async fn main() -> eyre::Result<()> { std::env::set_current_dir(root.join(file!()).parent().unwrap()) .wrap_err("failed to set working dir")?; - let uv = get_uv_path().context("Could not get uv binary")?; + let uv = which::which("uv") + .context("failed to find `uv`. Make sure to install it using: https://docs.astral.sh/uv/getting-started/installation/")?; - run(&uv, &["venv", "-p", "3.10", "--seed"], None) + run(&uv, &["venv", "-p", "3.11", "--seed"], None) .await .context("failed to create venv")?; + let dora = std::env::var("DORA").unwrap(); run( &uv, &[ "pip", "install", "-e", - "../../apis/python/node", + &format!("{dora}/apis/python/node"), "--reinstall", ], None, @@ -41,8 +55,11 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> { let cargo = std::env::var("CARGO").unwrap(); // First build the dataflow (install requirements) + let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(&dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--").arg("build").arg(dataflow).arg("--uv"); @@ -52,6 +69,8 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> { let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(&dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--").arg("run").arg(dataflow).arg("--uv"); diff --git a/examples/python-multi-env/main.rs b/examples/python-multi-env/main.rs index de96795..15e5a67 100644 --- a/examples/python-multi-env/main.rs +++ b/examples/python-multi-env/main.rs @@ -1,6 +1,6 @@ use dora_core::{get_uv_path, run}; use dora_tracing::set_up_tracing; -use eyre::{bail, WrapErr}; +use eyre::{WrapErr, bail}; use std::path::Path; #[tokio::main] diff --git a/examples/python-ros2-dataflow/main.rs b/examples/python-ros2-dataflow/main.rs index de96795..15e5a67 100644 --- a/examples/python-ros2-dataflow/main.rs +++ b/examples/python-ros2-dataflow/main.rs @@ -1,6 +1,6 @@ use dora_core::{get_uv_path, run}; use dora_tracing::set_up_tracing; -use eyre::{bail, WrapErr}; +use eyre::{WrapErr, bail}; use std::path::Path; #[tokio::main] diff --git a/examples/rust-dataflow-git/main.rs b/examples/rust-dataflow-git/main.rs index a173915..ca72026 100644 --- a/examples/rust-dataflow-git/main.rs +++ b/examples/rust-dataflow-git/main.rs @@ -1,5 +1,5 @@ use dora_tracing::set_up_tracing; -use eyre::{bail, Context}; +use eyre::{Context, bail}; use std::path::Path; #[tokio::main] @@ -28,7 +28,8 @@ async fn build_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--").arg("build").arg(dataflow); @@ -43,7 +44,8 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--") diff --git a/examples/rust-dataflow-url/main.rs b/examples/rust-dataflow-url/main.rs index 2817f41..2b5c8f2 100644 --- a/examples/rust-dataflow-url/main.rs +++ b/examples/rust-dataflow-url/main.rs @@ -1,5 +1,5 @@ use dora_tracing::set_up_tracing; -use eyre::{bail, Context}; +use eyre::{Context, bail}; use std::path::Path; #[tokio::main] @@ -23,7 +23,8 @@ async fn build_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--").arg("build").arg(dataflow); @@ -38,7 +39,8 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--") diff --git a/examples/rust-dataflow/main.rs b/examples/rust-dataflow/main.rs index 6586942..4d16d7a 100644 --- a/examples/rust-dataflow/main.rs +++ b/examples/rust-dataflow/main.rs @@ -1,5 +1,5 @@ use dora_tracing::set_up_tracing; -use eyre::{bail, Context}; +use eyre::{Context, bail}; use std::path::Path; #[tokio::main] @@ -29,7 +29,8 @@ async fn build_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--").arg("build").arg(dataflow); @@ -44,7 +45,8 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--") diff --git a/examples/rust-ros2-dataflow/dataflow.yml b/examples/rust-ros2-dataflow/dataflow.yml index 95948a4..dce737a 100644 --- a/examples/rust-ros2-dataflow/dataflow.yml +++ b/examples/rust-ros2-dataflow/dataflow.yml @@ -1,9 +1,9 @@ nodes: - - id: rust-node - build: bash -c "cd node && cargo build --release" - path: node/target/release/rust-ros2-dataflow-example-node - inputs: - tick: dora/timer/millis/500 - service_timer: dora/timer/secs/1 - outputs: - - pose + - id: rust-node + build: bash -c "source $ROS; cd node && cargo build --release" + path: node/target/release/rust-ros2-dataflow-example-node + inputs: + tick: dora/timer/millis/500 + service_timer: dora/timer/secs/1 + outputs: + - pose diff --git a/examples/rust-ros2-dataflow/main.rs b/examples/rust-ros2-dataflow/main.rs index 330f5bf..8c8553b 100644 --- a/examples/rust-ros2-dataflow/main.rs +++ b/examples/rust-ros2-dataflow/main.rs @@ -1,5 +1,5 @@ use dora_tracing::set_up_tracing; -use eyre::{bail, Context}; +use eyre::{Context, bail}; use std::path::Path; use tokio::process::Child; @@ -23,7 +23,7 @@ async fn main() -> eyre::Result<()> { for mut node in ros_node { node.kill().await?; } - + println!("Everything Done"); Ok(()) @@ -32,12 +32,28 @@ async fn main() -> eyre::Result<()> { async fn run_ros_pkg() -> eyre::Result> { let mut ros_node = vec![]; let ros_path = if let Ok(path) = std::env::var("ROS") { - path - } else {String::from("/opt/ros/jazzy/setup.bash")}; - ros_node.push(tokio::process::Command::new("bash").args( - ["-c", &format!("source {ros_path} && ros2 run turtlesim turtlesim_node")]).spawn()?); - ros_node.push(tokio::process::Command::new("bash").args( - ["-c", &format!("source {ros_path} && ros2 run examples_rclcpp_minimal_service service_main")]).spawn()?); + path + } else { + String::from("/opt/ros/jazzy/setup.bash") + }; + ros_node.push( + tokio::process::Command::new("bash") + .args([ + "-c", + &format!("source {ros_path}; ros2 run turtlesim turtlesim_node"), + ]) + .spawn()?, + ); + ros_node.push( + tokio::process::Command::new("bash") + .args([ + "-c", + &format!( + "source {ros_path}; ros2 run examples_rclcpp_minimal_service service_main" + ), + ]) + .spawn()?, + ); Ok(ros_node) } @@ -58,7 +74,8 @@ async fn build_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--").arg("build").arg(dataflow); @@ -73,7 +90,8 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> { let dora = std::env::var("DORA").unwrap(); let mut cmd = tokio::process::Command::new(&cargo); cmd.arg("run"); - cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); cmd.arg("--package").arg("dora-cli"); cmd.arg("--release"); cmd.arg("--") diff --git a/examples/rust-ros2-dataflow/node/Cargo.toml b/examples/rust-ros2-dataflow/node/Cargo.toml index 9636453..d1ccd40 100644 --- a/examples/rust-ros2-dataflow/node/Cargo.toml +++ b/examples/rust-ros2-dataflow/node/Cargo.toml @@ -5,6 +5,9 @@ publish = false # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html +# an empty workspace field to divide the workspace from the external one +[workspace] + [dependencies] dora-node-api = { git = "https://github.com/dora-rs/dora.git", rev = "77c277910b0ce87b902faa1ab369a33cbcd555f4"} eyre = "0.6.8" diff --git a/examples/rust-ros2-dataflow/node/src/main.rs b/examples/rust-ros2-dataflow/node/src/main.rs index 32ad597..f21acea 100644 --- a/examples/rust-ros2-dataflow/node/src/main.rs +++ b/examples/rust-ros2-dataflow/node/src/main.rs @@ -1,10 +1,9 @@ use std::time::Duration; use dora_node_api::{ - self, + self, DoraNode, Event, dora_core::config::DataId, merged::{MergeExternal, MergedEvent}, - DoraNode, Event, }; use dora_ros2_bridge::{ messages::{ @@ -12,10 +11,10 @@ use dora_ros2_bridge::{ geometry_msgs::msg::{Twist, Vector3}, turtlesim::msg::Pose, }, - ros2_client::{self, ros2, NodeOptions}, + ros2_client::{self, NodeOptions, ros2}, rustdds::{self, policy}, }; -use eyre::{eyre, Context}; +use eyre::{Context, eyre}; use futures::task::SpawnExt; fn main() -> eyre::Result<()> { @@ -147,7 +146,7 @@ async fn add_two_ints_request( ) -> eyre::Result { let request = AddTwoIntsRequest { a, b }; println!("sending add request {request:?}"); - let request_id = add_client.async_send_request(request.clone()).await?; + let request_id = add_client.async_send_request(request).await?; println!("{request_id:?}"); let response = add_client.async_receive_response(request_id); diff --git a/examples/speech-to-text/.gitignore b/examples/speech-to-text/.gitignore index eede66d..7f310dc 100644 --- a/examples/speech-to-text/.gitignore +++ b/examples/speech-to-text/.gitignore @@ -1 +1,2 @@ -*.pt \ No newline at end of file +*.pt +/out diff --git a/examples/zenoh-dataflow/.gitignore b/examples/zenoh-dataflow/.gitignore new file mode 100644 index 0000000..0229c91 --- /dev/null +++ b/examples/zenoh-dataflow/.gitignore @@ -0,0 +1,3 @@ +/out +/zenoh-app/target +/dora-node/target diff --git a/examples/zenoh-dataflow/README.md b/examples/zenoh-dataflow/README.md new file mode 100644 index 0000000..353eed9 --- /dev/null +++ b/examples/zenoh-dataflow/README.md @@ -0,0 +1,33 @@ +# Dora-Zenoh Integration Example + +This example shows how to connect Dora with [Zenoh](https://zenoh.io/) for bidirectional communication. + +## Overview + +Two components communicate with each other: + +1. **Dora Node**: Publishes to and subscribes from Zenoh topics +2. **Zenoh App**: Exchanges messages with the Dora node through Zenoh + +## Structure + +- `dataflow.yml`: Dora dataflow configuration +- `dora-node/`: The Dora node implementation with Zenoh integration +- `zenoh-app/`: A standalone Zenoh application that subscribes to data +- `main.rs`: Runner for the Dora dataflow + +## Prerequisites + +- Rust and Cargo +- Dora installed and available in your PATH or set via the `DORA` environment variable +- Zenoh dependencies installed + +## How It Works + +- **Dora Node**: + - Publishes "Hello" messages to `dora/data` + - Subscribes to messages on `zenoh/data` + +- **Zenoh App**: + - Subscribes to `zenoh/data` + - Publishes messages to `dora/data` diff --git a/examples/zenoh-dataflow/dataflow.yml b/examples/zenoh-dataflow/dataflow.yml new file mode 100644 index 0000000..10a5fd5 --- /dev/null +++ b/examples/zenoh-dataflow/dataflow.yml @@ -0,0 +1,6 @@ +nodes: + - id: dora-zenoh-publisher + build: bash -c "cd dora-node && cargo build --release" + path: ./dora-node/target/release/dora-node + inputs: + tick: dora/timer/millis/500 diff --git a/examples/zenoh-dataflow/dora-node/Cargo.lock b/examples/zenoh-dataflow/dora-node/Cargo.lock new file mode 100644 index 0000000..f436e80 --- /dev/null +++ b/examples/zenoh-dataflow/dora-node/Cargo.lock @@ -0,0 +1,5695 @@ +# This 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+futures-timer = "3.0.3" +rand = "0.9.2" +zenoh = "1.5" diff --git a/examples/zenoh-dataflow/dora-node/src/main.rs b/examples/zenoh-dataflow/dora-node/src/main.rs new file mode 100644 index 0000000..4b928cb --- /dev/null +++ b/examples/zenoh-dataflow/dora-node/src/main.rs @@ -0,0 +1,102 @@ +use dora_node_api::{ + self, DoraNode, Event, + merged::{MergeExternal, MergedEvent}, +}; +use eyre::eyre; +use zenoh::bytes::Encoding; +use zenoh::{Wait, config::Config}; + +/// The zenoh app receives 5 msgs from dora node first. +/// Then, zenoh app's publication starts. +/// After the dora node receive 5 msgs from zenoh app, +/// dora node ends itself +fn main() -> eyre::Result<()> { + // Initialize the Dora node + let (_node, events) = DoraNode::init_from_env()?; + + // Initialize Zenoh + println!("Initializing Zenoh session..."); + let zenoh_config = Config::default(); + let session = zenoh::open(zenoh_config) + .wait() + .map_err(|e| eyre!("Failed to open Zenoh session: {}", e))?; + + println!("Declaring Zenoh publisher for 'dora/data'..."); + let publisher = session.declare_publisher("dora/data").wait().unwrap(); + + // Set up a subscriber to receive messages + println!("Declaring Zenoh subscriber for 'zenoh/data'..."); + let subscriber = session.declare_subscriber("zenoh/data").wait().unwrap(); + + println!("Dora node with Zenoh integration started!"); + + // Counter for message numbering + let mut counter = 0; + + let zenoh_stream = subscriber.stream(); + + // Merge Dora events with Zenoh events + let merged = events.merge_external(Box::pin(zenoh_stream)); + + // Use block_on_stream to process the merged events in a non-async context + let mut merged_events = futures::executor::block_on_stream(merged); + + let mut counter = 0; + while let Some(event) = merged_events.next() { + match event { + MergedEvent::Dora(event) => match event { + Event::Input { + id, + metadata: _, + data: _, + } => match id.as_str() { + "tick" => { + // Increment counter for message numbering + counter += 1; + + // Create a simple hello message + let message = format!("Hello from Dora node! Message #{}", counter); + + // Publish to Zenoh + println!("Publishing message: {}", message); + publisher + .put(message) + .encoding(Encoding::TEXT_PLAIN) + .wait() + .map_err(|e| eyre!("Failed to publish data: {}", e))?; + + // Also output to Dora + } + other => eprintln!("Ignoring unexpected input `{other}`"), + }, + Event::Stop(_) => { + println!("Received stop"); + break; + } + Event::InputClosed { id } => { + println!("Input `{id}` was closed"); + } + other => eprintln!("Received unexpected input: {other:?}"), + }, + MergedEvent::External(sample) => { + let payload = sample + .payload() + .try_to_string() + .unwrap_or_else(|e| e.to_string().into()); + print!( + ">> [Subscriber] Received {} ('{}': '{}')", + sample.kind(), + sample.key_expr().as_str(), + payload + ); + println!(); + counter += 1; + if counter > 5 { + break; + } + } + } + } + + Ok(()) +} diff --git a/examples/zenoh-dataflow/main.rs b/examples/zenoh-dataflow/main.rs new file mode 100644 index 0000000..c95cccc --- /dev/null +++ b/examples/zenoh-dataflow/main.rs @@ -0,0 +1,74 @@ +use dora_tracing::set_up_tracing; +use eyre::{Context, bail}; +use std::path::Path; +use tokio::process::Child; + +#[tokio::main] +async fn main() -> eyre::Result<()> { + set_up_tracing("rust-dataflow-runner").wrap_err("failed to set up tracing subscriber")?; + + let root = Path::new(env!("CARGO_MANIFEST_DIR")); + std::env::set_current_dir(root.join(file!()).parent().unwrap()) + .wrap_err("failed to set working dir")?; + + let args: Vec = std::env::args().collect(); + let dataflow = if args.len() > 1 { + Path::new(&args[1]) + } else { + Path::new("dataflow.yml") + }; + + build_dataflow(dataflow).await?; + + let mut dataflow_proc = run_dataflow(dataflow).await?; + let mut zenoh_proc = run_zenoh_app().await?; + + dataflow_proc.wait().await?; + zenoh_proc.kill().await?; + + Ok(()) +} + +async fn build_dataflow(dataflow: &Path) -> eyre::Result<()> { + let cargo = std::env::var("CARGO").unwrap(); + let dora = std::env::var("DORA").unwrap(); + let mut cmd = tokio::process::Command::new(&cargo); + cmd.arg("run"); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--package").arg("dora-cli"); + cmd.arg("--release"); + cmd.arg("--").arg("build").arg(dataflow); + if !cmd.status().await?.success() { + bail!("failed to build dataflow"); + }; + Ok(()) +} + +async fn run_dataflow(dataflow: &Path) -> eyre::Result { + let cargo = std::env::var("CARGO").unwrap(); + let dora = std::env::var("DORA").unwrap(); + let mut cmd = tokio::process::Command::new(&cargo); + cmd.arg("run"); + cmd.arg("--manifest-path") + .arg(std::path::PathBuf::from(dora).join("Cargo.toml")); + cmd.arg("--package").arg("dora-cli"); + cmd.arg("--release"); + cmd.arg("--") + .arg("daemon") + .arg("--run-dataflow") + .arg(dataflow); + let child = cmd.spawn()?; + Ok(child) +} + +async fn run_zenoh_app() -> eyre::Result { + let cargo = std::env::var("CARGO").unwrap(); + let mut cmd = 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= "0.1.0" +edition = "2024" + +[workspace] + +[dependencies] +zenoh = "1.5" +tokio = "1.47" diff --git a/examples/zenoh-dataflow/zenoh-app/src/main.rs b/examples/zenoh-dataflow/zenoh-app/src/main.rs new file mode 100644 index 0000000..60f12a8 --- /dev/null +++ b/examples/zenoh-dataflow/zenoh-app/src/main.rs @@ -0,0 +1,57 @@ +use std::time::Duration; +use zenoh::bytes::Encoding; + +#[tokio::main] +async fn main() { + // Using hardcoded parameters + let selector = "dora/data"; + let publish_topic = "zenoh/data"; + + println!("Zenoh App - Will subscribe to: {}", selector); + + // Initialize Zenoh + println!("Opening Zenoh session..."); + let config = zenoh::config::Config::default(); + let session = zenoh::open(config).await.unwrap(); + + // Subscribe to the topic + println!("Subscribing to {}...", selector); + let subscriber = session.declare_subscriber(selector).await.unwrap(); + + // Start publishing messages + let mut count = 0; + while let Ok(sample) = subscriber.recv_async().await { + let payload = sample + .payload() + .try_to_string() + .unwrap_or_else(|e| e.to_string().into()); + print!( + ">> [Subscriber] Received {} ('{}': '{}')", + sample.kind(), + sample.key_expr().as_str(), + payload + ); + println!(); + count += 1; + if count > 5 { + break; + } + } + + // Create a publisher for sending messages to Dora + println!("Creating publisher for '{}'...", publish_topic); + let publisher = session.declare_publisher(publish_topic).await.unwrap(); + + let mut counter = 0; + loop { + tokio::time::sleep(Duration::from_secs(1)).await; + let buf = format!("Hello, payload counter: {counter}"); + println!("sent payload(counter = {counter})"); + publisher + .put(buf) + .encoding(Encoding::TEXT_PLAIN) + .await + .unwrap(); + counter += 1; + } +} diff --git a/nodes/random-node/src/main.rs b/nodes/random-node/src/main.rs index bf1cd42..4a4cc3f 100644 --- a/nodes/random-node/src/main.rs +++ b/nodes/random-node/src/main.rs @@ -1,4 +1,4 @@ -use dora_node_api::{self, dora_core::config::DataId, DoraNode, Event, IntoArrow}; +use dora_node_api::{self, DoraNode, Event, IntoArrow, dora_core::config::DataId}; fn main() -> eyre::Result<()> { println!("hello"); diff --git a/nodes/sink-node/src/main.rs b/nodes/sink-node/src/main.rs index feb0139..03453f2 100644 --- a/nodes/sink-node/src/main.rs +++ b/nodes/sink-node/src/main.rs @@ -1,5 +1,5 @@ use dora_node_api::{self, DoraNode, Event}; -use eyre::{bail, Context}; +use eyre::{Context, bail}; fn main() -> eyre::Result<()> { let (_node, mut events) = DoraNode::init_from_env()?; @@ -16,7 +16,9 @@ fn main() -> eyre::Result<()> { TryFrom::try_from(&data).context("expected string message")?; println!("sink received message: {received_string}"); if !received_string.starts_with("operator received random value ") { - bail!("unexpected message format (should start with 'operator received random value')") + bail!( + "unexpected message format (should start with 'operator received random value')" + ) } if !received_string.ends_with(" ticks") { bail!("unexpected message format (should end with 'ticks')")