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Port to new plugin loading system #116

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merged 3 commits into from
Apr 22, 2024
Merged

Port to new plugin loading system #116

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94e0b87
New plugins loading
Mallets Apr 19, 2024
7ec1b4c
Merge main. Update zenoh branch to main.
Mallets Apr 22, 2024
eb1dfff
Sync Cargo.lock
Mallets Apr 22, 2024
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54 changes: 27 additions & 27 deletions Cargo.lock
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2 changes: 1 addition & 1 deletion Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ serde = "1.0.154"
serde_json = "1.0.94"
tracing = "0.1"
zenoh = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = [
"unstable",
"unstable", "plugins"
] }
zenoh-collections = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main" }
zenoh-core = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main" }
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31 changes: 10 additions & 21 deletions zenoh-bridge-ros2dds/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,8 @@ use clap::Parser;
use ros_args::RosArgs;
use std::time::{Duration, SystemTime};
use zenoh::config::{Config, ModeDependentValue};
use zenoh::prelude::r#async::*;
use zenoh_plugin_trait::Plugin;

mod bridge_args;
mod ros_args;
Expand Down Expand Up @@ -55,6 +57,11 @@ fn parse_args() -> (Option<f32>, Config) {
.set_enabled(Some(ModeDependentValue::Unique(true)))
.unwrap();

// Enable admin space
config.adminspace.set_enabled(true).unwrap();
// Enable loading plugins
config.plugins_loading.set_enabled(true).unwrap();

(watchdog_opt, config)
}

Expand All @@ -67,35 +74,17 @@ async fn main() {
);

let (watchdog_period, config) = parse_args();
let rest_plugin = config.plugin("rest").is_some();

if let Some(period) = watchdog_period {
run_watchdog(period);
}

// create a zenoh Runtime (to share with plugins)
let runtime = zenoh::runtime::Runtime::new(config)
.await
.unwrap_or_else(|e| {
println!("{e}. Exiting...");
std::process::exit(-1);
});

// start REST plugin
if rest_plugin {
use zenoh_plugin_trait::Plugin;
zenoh_plugin_rest::RestPlugin::start("rest", &runtime).unwrap_or_else(|e| {
println!("{e}. Exiting...");
std::process::exit(-1);
});
}

// start DDS plugin
use zenoh_plugin_trait::Plugin;
zenoh_plugin_ros2dds::ROS2Plugin::start("ros2dds", &runtime).unwrap_or_else(|e| {
// create a zenoh session. Plugins are loaded during the open.
let _session = zenoh::open(config).res().await.unwrap_or_else(|e| {
println!("{e}. Exiting...");
std::process::exit(-1);
});

async_std::future::pending::<()>().await;
}

Expand Down