Bump to clap 4.4

Cargo.toml

@@ -29,7 +29,7 @@ async-std = "=1.12.0"
 async-trait = "0.1.66"
 bincode = "1.3.3"
 cdr = "0.2.4"
-clap = "3.2.23"
+clap = "4.4.11"
 cyclors = "0.2.0"
 derivative = "2.2.0"
 env_logger = "0.10.0"

zenoh-bridge-ros2dds/Cargo.toml

@@ -28,12 +28,13 @@ dds_shm = ["zenoh-plugin-ros2dds/dds_shm"]
 [dependencies]
 async-std = { workspace = true, features = ["unstable", "attributes"] }
 async-liveliness-monitor = { workspace = true }
-clap = { workspace = true }
+clap = { workspace = true, features = ["derive", "env"] }
 env_logger = { workspace = true }
 lazy_static = { workspace = true }
 log = { workspace = true }
+serde = { workspace = true }
 serde_json = { workspace = true }
-zenoh  = { workspace = true }
+zenoh = { workspace = true }
 zenoh-plugin-rest = { workspace = true }
 zenoh-plugin-trait = { workspace = true }
 zenoh-plugin-ros2dds = { path = "../zenoh-plugin-ros2dds/", default-features = false }

zenoh-bridge-ros2dds/src/bridge_args.rs

@@ -0,0 +1,151 @@
+//
+// Copyright (c) 2022 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <[email protected]>
+//
+use crate::zenoh_args::CommonArgs;
+use clap::builder::FalseyValueParser;
+use zenoh::config::Config;
+use zenoh::prelude::*;
+
+//
+// All Bridge arguments
+//
+#[derive(clap::Parser, Clone, Debug)]
+#[command(version=zenoh_plugin_ros2dds::GIT_VERSION,
+    long_version=zenoh_plugin_ros2dds::LONG_VERSION.as_str(),
+    about="Zenoh bridge for ROS 2 with a DDS RMW",
+)]
+pub struct BridgeArgs {
+    #[command(flatten)]
+    pub session_args: CommonArgs,
+    /// The identifier (as an hexadecimal string, with odd number of chars - e.g.: 0A0B23...) that zenohd must use.
+    /// WARNING: this identifier must be unique in the system and must be 16 bytes maximum (32 chars)!
+    /// If not set, a random UUIDv4 will be used.
+    #[arg(short, long, verbatim_doc_comment)]
+    pub id: Option<String>,
+    /// A ROS 2 namespace to be used by the "zenoh_bridge_dds" node'
+    #[arg(short, long)]
+    pub namespace: Option<String>,
+    /// The DDS Domain ID. Default to $ROS_DOMAIN_ID environment variable if defined, or to 0 otherwise.
+    #[arg(short, long, default_value("0"), env("ROS_DOMAIN_ID"))]
+    pub domain: u32,
+    /// Configure CycloneDDS to use only the localhost interface. If not set, a $ROS_LOCALHOST_ONLY=1 environment variable activates this option.
+    /// When this flag is not active, CycloneDDS will pick the interface defined in "$CYCLONEDDS_URI" configuration, or automatically choose one.
+    #[arg(
+        long,
+        env("ROS_LOCALHOST_ONLY"),
+        value_parser(FalseyValueParser::new()),
+        verbatim_doc_comment
+    )]
+    pub ros_localhost_only: bool,
+    /// Configure CycloneDDS to use Iceoryx shared memory. If not set, CycloneDDS will instead use any shared memory settings defined in "$CYCLONEDDS_URI" configuration.
+    #[cfg(feature = "dds_shm")]
+    #[arg(long)]
+    pub dds_enable_shm: bool,
+    /// Specifies a maximum frequency of publications routing over zenoh for a set of Publishers.
+    /// The string must have the format "<regex>=<float>":
+    ///   - "regex" is a regular expression matching a Publisher interface name
+    ///   - "float" is the maximum frequency in Hertz; if publication rate is higher, downsampling will occur when routing.
+    /// Repeat this option to configure several topics expressions with a max frequency.
+    #[arg(long, value_name = "REGEX=FLOAT", verbatim_doc_comment)]
+    pub pub_max_frequency: Vec<String>,
+    /// A float in seconds that will be used as a timeout when the bridge queries any other remote bridge
+    /// for discovery information and for historical data for TRANSIENT_LOCAL DDS Readers it serves
+    /// (i.e. if the query to the remote bridge exceed the timeout, some historical samples might be not routed to the Readers, but the route will not be blocked forever).
+    /// This value overwrites the value possibly set in configuration file under 'plugins/ros2dds/queries_timeout/default' key [default: 5.0].
+    #[arg(long, value_name = "FLOAT", verbatim_doc_comment)]
+    pub queries_timeout_default: Option<f32>,
+
+    /// Configures HTTP interface for the REST API (disabled by default, setting this option enables it). Accepted values:
+    ///  - a port number
+    ///  - a string with format `<local_ip>:<port_number>` (to bind the HTTP server to a specific interface).
+    #[arg(short, long, value_name = "PORT | IP:PORT", verbatim_doc_comment)]
+    pub rest_http_port: Option<String>,
+    /// Experimental!! Run a watchdog thread that monitors the bridge's async executor and
+    /// reports as error log any stalled status during the specified period [default: 1.0 second]
+    #[arg(short, long, value_name = "FLOAT", default_missing_value = "1.0")]
+    pub watchdog: Option<Option<f32>>,
+}
+
+impl From<BridgeArgs> for Config {
+    fn from(value: BridgeArgs) -> Self {
+        (&value).into()
+    }
+}
+
+impl From<&BridgeArgs> for Config {
+    fn from(args: &BridgeArgs) -> Self {
+        let mut config = (&args.session_args).into();
+
+        insert_json5_option(&mut config, "plugins/ros2dds/id", &args.id);
+        insert_json5_option(&mut config, "plugins/ros2dds/namespace", &args.namespace);
+        insert_json5(&mut config, "plugins/ros2dds/domain", &args.domain);
+        insert_json5(
+            &mut config,
+            "plugins/ros2dds/ros_localhost_only",
+            &args.ros_localhost_only,
+        );
+        #[cfg(feature = "dds_shm")]
+        {
+            insert_json5(
+                &mut config,
+                "plugins/ros2dds/shm_enabled",
+                &args.dds_enable_shm,
+            );
+        }
+        insert_json5_list(
+            &mut config,
+            "plugins/ros2dds/pub_max_frequencies",
+            &args.pub_max_frequency,
+        );
+        insert_json5_option(
+            &mut config,
+            "plugins/ros2dds/queries_timeout/default",
+            &args.queries_timeout_default,
+        );
+
+        insert_json5_option(&mut config, "plugins/rest/http_port", &args.rest_http_port);
+
+        config
+    }
+}
+
+fn insert_json5<T>(config: &mut Config, key: &str, value: &T)
+where
+    T: Sized + serde::Serialize,
+{
+    config
+        .insert_json5(key, &serde_json::to_string(value).unwrap())
+        .unwrap();
+}
+
+fn insert_json5_option<T>(config: &mut Config, key: &str, value: &Option<T>)
+where
+    T: Sized + serde::Serialize,
+{
+    if let Some(v) = value {
+        config
+            .insert_json5(key, &serde_json::to_string(v).unwrap())
+            .unwrap();
+    }
+}
+
+fn insert_json5_list<T>(config: &mut Config, key: &str, values: &Vec<T>)
+where
+    T: Sized + serde::Serialize,
+{
+    if !values.is_empty() {
+        config
+            .insert_json5(key, &serde_json::to_string(values).unwrap())
+            .unwrap();
+    }
+}