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Add Actions routing #4

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merged 5 commits into from
Oct 3, 2023
Merged

Add Actions routing #4

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359bdd3
Add actions routing
JEnoch Oct 3, 2023
aef42b0
Fix actions liveliness
JEnoch Oct 3, 2023
70d3af2
Make rustfmt happy
JEnoch Oct 3, 2023
c10f86c
Fix action route (status msg type)
JEnoch Oct 3, 2023
bd10f25
Code polishing
JEnoch Oct 3, 2023
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2 changes: 1 addition & 1 deletion zenoh-plugin-ros2dds/src/discovered_entities.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -436,7 +436,7 @@ impl DiscoveredEntities {
) {
match self.get_entity_json_value(entity_ref) {
Ok(Some(v)) => {
let admin_keyexpr = admin_keyexpr_prefix / &key_expr;
let admin_keyexpr = admin_keyexpr_prefix / key_expr;
if let Err(e) = query
.reply(Ok(Sample::new(admin_keyexpr, v)))
.res_async()
Expand Down
4 changes: 2 additions & 2 deletions zenoh-plugin-ros2dds/src/gid.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ impl From<[u8; 16]> for Gid {

impl From<&[u8; 16]> for Gid {
fn from(key: &[u8; 16]) -> Self {
Self(key.clone())
Self(*key)
}
}

Expand All @@ -54,7 +54,7 @@ impl Serialize for Gid {
{
if serializer.is_human_readable() {
// serialize as an hexadecimal String
Serialize::serialize(&hex::encode(&self.0), serializer)
Serialize::serialize(&hex::encode(self.0), serializer)
} else {
// serialize as a little-endian [u8; 16]
Serialize::serialize(&self.0, serializer)
Expand Down
39 changes: 34 additions & 5 deletions zenoh-plugin-ros2dds/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,8 @@ mod node_info;
mod qos_helpers;
mod ros2_utils;
mod ros_discovery;
mod route_action_cli;
mod route_action_srv;
mod route_publisher;
mod route_service_cli;
mod route_service_srv;
Expand All @@ -57,10 +59,7 @@ use config::Config;
use crate::dds_utils::get_guid;
use crate::discovery_mgr::DiscoveryMgr;
use crate::events::ROS2DiscoveryEvent;
use crate::liveliness_mgt::{
ke_liveliness_all, ke_liveliness_plugin, parse_ke_liveliness_pub,
parse_ke_liveliness_service_cli, parse_ke_liveliness_service_srv, parse_ke_liveliness_sub,
};
use crate::liveliness_mgt::*;
use crate::ros_discovery::RosDiscoveryInfoMgr;
use crate::routes_mgr::RoutesMgr;

Expand Down Expand Up @@ -387,7 +386,7 @@ impl<'a> ROS2PluginRuntime<'a> {
log::warn!("Error updating route: {e}");
}
} else {
log::info!("{evt} - Denied per config");
log::debug!("{evt} - Denied per config");
}
}
Err(e) => log::error!("Internal Error: received from DiscoveryMgr: {e}")
Expand Down Expand Up @@ -524,6 +523,36 @@ impl<'a> ROS2PluginRuntime<'a> {
plugin_id,
zenoh_key_expr,
}),
("AS/", SampleKind::Put) => parse_ke_liveliness_action_srv(liveliness_ke)
.map_err(|e| format!("Received invalid liveliness token: {e}"))
.map(
|(plugin_id, zenoh_key_expr, ros2_type)| AnnouncedActionSrv {
plugin_id,
zenoh_key_expr,
ros2_type,
},
),
("AS/", SampleKind::Delete) => parse_ke_liveliness_action_srv(liveliness_ke)
.map_err(|e| format!("Received invalid liveliness token: {e}"))
.map(|(plugin_id, zenoh_key_expr, ..)| RetiredActionSrv {
plugin_id,
zenoh_key_expr,
}),
("AC/", SampleKind::Put) => parse_ke_liveliness_action_cli(liveliness_ke)
.map_err(|e| format!("Received invalid liveliness token: {e}"))
.map(
|(plugin_id, zenoh_key_expr, ros2_type)| AnnouncedActionCli {
plugin_id,
zenoh_key_expr,
ros2_type,
},
),
("AC/", SampleKind::Delete) => parse_ke_liveliness_action_cli(liveliness_ke)
.map_err(|e| format!("Received invalid liveliness token: {e}"))
.map(|(plugin_id, zenoh_key_expr, ..)| RetiredActionCli {
plugin_id,
zenoh_key_expr,
}),
_ => Err(format!("invalid ROS2 interface kind: {iface_kind}")),
}
}
Expand Down
85 changes: 75 additions & 10 deletions zenoh-plugin-ros2dds/src/liveliness_mgt.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,8 @@ zenoh::kedefine!(
pub(crate) ke_liveliness_sub: "@ros2_lv/${plugin_id:*}/MS/${ke:*}/${typ:*}/${qos_ke:*}",
pub(crate) ke_liveliness_service_srv: "@ros2_lv/${plugin_id:*}/SS/${ke:*}/${typ:*}",
pub(crate) ke_liveliness_service_cli: "@ros2_lv/${plugin_id:*}/SC/${ke:*}/${typ:*}",
pub(crate) ke_liveliness_action_srv: "@ros2_lv/${plugin_id:*}/AS/${ke:*}/${typ:*}",
pub(crate) ke_liveliness_action_cli: "@ros2_lv/${plugin_id:*}/AC/${ke:*}/${typ:*}",
);

pub(crate) fn new_ke_liveliness_pub(
Expand Down Expand Up @@ -55,16 +57,16 @@ pub(crate) fn parse_ke_liveliness_pub(
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no plugin_id"))?;
let zenoh_key_expr = parsed
.ke()
.map(|ke| unescape_slashes(ke))
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no ke"))?;
let ros2_type = parsed
.typ()
.map(|ke| unescape_slashes(ke))
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))?;
let (keyless, qos) = parsed
.qos_ke()
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))
.and_then(|ke| key_expr_to_qos(ke))
.and_then(key_expr_to_qos)
.map_err(|e| format!("failed to parse liveliness keyexpr {ke}: {e}"))?;
Ok((
plugin_id,
Expand Down Expand Up @@ -100,16 +102,16 @@ pub(crate) fn parse_ke_liveliness_sub(
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no plugin_id"))?;
let zenoh_key_expr = parsed
.ke()
.map(|ke| unescape_slashes(ke))
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no ke"))?;
let ros2_type = parsed
.typ()
.map(|ke| unescape_slashes(ke))
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))?;
let (keyless, qos) = parsed
.qos_ke()
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))
.and_then(|ke| key_expr_to_qos(ke))
.and_then(key_expr_to_qos)
.map_err(|e| format!("failed to parse liveliness keyexpr {ke}: {e}"))?;
Ok((
plugin_id,
Expand Down Expand Up @@ -142,11 +144,11 @@ pub(crate) fn parse_ke_liveliness_service_srv(
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no plugin_id"))?;
let zenoh_key_expr = parsed
.ke()
.map(|ke| unescape_slashes(ke))
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no ke"))?;
let ros2_type = parsed
.typ()
.map(|ke| unescape_slashes(ke))
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))?;
Ok((plugin_id, zenoh_key_expr, ros2_type.to_string()))
}
Expand All @@ -173,11 +175,74 @@ pub(crate) fn parse_ke_liveliness_service_cli(
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no plugin_id"))?;
let zenoh_key_expr = parsed
.ke()
.map(|ke| unescape_slashes(ke))
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no ke"))?;
let ros2_type = parsed
.typ()
.map(|ke| unescape_slashes(ke))
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))?;
Ok((plugin_id, zenoh_key_expr, ros2_type.to_string()))
}

/////////
pub(crate) fn new_ke_liveliness_action_srv(
plugin_id: &keyexpr,
zenoh_key_expr: &keyexpr,
ros2_type: &str,
) -> Result<OwnedKeyExpr, String> {
let ke = escape_slashes(zenoh_key_expr);
let typ = escape_slashes(ros2_type);
zenoh::keformat!(ke_liveliness_action_srv::formatter(), plugin_id, ke, typ)
.map_err(|e| e.to_string())
}

pub(crate) fn parse_ke_liveliness_action_srv(
ke: &keyexpr,
) -> Result<(OwnedKeyExpr, OwnedKeyExpr, String), String> {
let parsed = ke_liveliness_action_srv::parse(ke)
.map_err(|e| format!("failed to parse liveliness keyexpr {ke}: {e}"))?;
let plugin_id = parsed
.plugin_id()
.map(ToOwned::to_owned)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no plugin_id"))?;
let zenoh_key_expr = parsed
.ke()
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no ke"))?;
let ros2_type = parsed
.typ()
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))?;
Ok((plugin_id, zenoh_key_expr, ros2_type.to_string()))
}

pub(crate) fn new_ke_liveliness_action_cli(
plugin_id: &keyexpr,
zenoh_key_expr: &keyexpr,
ros2_type: &str,
) -> Result<OwnedKeyExpr, String> {
let ke = escape_slashes(zenoh_key_expr);
let typ = escape_slashes(ros2_type);
zenoh::keformat!(ke_liveliness_action_cli::formatter(), plugin_id, ke, typ)
.map_err(|e| e.to_string())
}

pub(crate) fn parse_ke_liveliness_action_cli(
ke: &keyexpr,
) -> Result<(OwnedKeyExpr, OwnedKeyExpr, String), String> {
let parsed = ke_liveliness_action_cli::parse(ke)
.map_err(|e| format!("failed to parse liveliness keyexpr {ke}: {e}"))?;
let plugin_id = parsed
.plugin_id()
.map(ToOwned::to_owned)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no plugin_id"))?;
let zenoh_key_expr = parsed
.ke()
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no ke"))?;
let ros2_type = parsed
.typ()
.map(unescape_slashes)
.ok_or_else(|| format!("failed to parse liveliness keyexpr {ke}: no typ"))?;
Ok((plugin_id, zenoh_key_expr, ros2_type.to_string()))
}
Expand Down
11 changes: 0 additions & 11 deletions zenoh-plugin-ros2dds/src/node_info.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -447,11 +447,6 @@ impl NodeInfo {
})
}

#[inline]
pub fn id(&self) -> &str {
&self.id
}

#[inline]
pub fn fullname(&self) -> &str {
&self.id[self.fullname.clone()]
Expand All @@ -472,12 +467,6 @@ impl NodeInfo {
ke_for_sure!(&self.id)
}

#[inline]
pub fn fullname_as_keyexpr(&self) -> &keyexpr {
// fullname always start with '/' - remove it
ke_for_sure!(&self.fullname()[1..])
}

pub fn update_with_reader(&mut self, entity: &DdsEntity) -> Option<ROS2DiscoveryEvent> {
let topic_prefix = &entity.topic_name[..3];
let topic_suffix = &entity.topic_name[2..];
Expand Down
18 changes: 0 additions & 18 deletions zenoh-plugin-ros2dds/src/qos_helpers.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -27,24 +27,6 @@ pub fn get_durability_service_or_default(qos: &Qos) -> DurabilityService {
}
}

pub fn partition_is_empty(partition: &Option<Vec<String>>) -> bool {
partition
.as_ref()
.map_or(true, |partition| partition.is_empty())
}

pub fn partition_contains(partition: &Option<Vec<String>>, name: &String) -> bool {
partition
.as_ref()
.map_or(false, |partition| partition.contains(name))
}

pub fn is_writer_reliable(reliability: &Option<Reliability>) -> bool {
reliability.as_ref().map_or(true, |reliability| {
reliability.kind == ReliabilityKind::RELIABLE
})
}

pub fn is_reader_reliable(reliability: &Option<Reliability>) -> bool {
reliability.as_ref().map_or(false, |reliability| {
reliability.kind == ReliabilityKind::RELIABLE
Expand Down
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