added pub/sub demo

experiments/zenoh/src/main.rs

@@ -0,0 +1,102 @@
+use std::{pin::pin, time::Duration};
+
+use clap::Parser as _;
+use color_eyre::{eyre::WrapErr as _, Result};
+use zenoh::handlers::DefaultHandler;
+
+#[derive(clap::Parser)]
+enum Args {
+    Alice { payload_size: usize },
+    Bob {},
+}
+
+#[tokio::main]
+async fn main() -> color_eyre::Result<()> {
+    orb_telemetry::TelemetryConfig::new().init();
+    tracing::debug!("debug logging is enabled");
+
+    let args = Args::parse();
+
+    match args {
+        Args::Alice { .. } => alice(args).await,
+        Args::Bob {} => bob().await,
+    }
+}
+
+async fn alice(args: Args) -> Result<()> {
+    let Args::Alice { payload_size } = args else {
+        unreachable!()
+    };
+
+    let session = zenoh::open(zenoh::Config::default())
+        .await
+        .expect("failed to open zenoh session");
+
+    let put_key = session.declare_keyexpr("alice/put/a").await.unwrap();
+    let payload: Vec<u8> = (0..payload_size).map(|v| v as u8).collect();
+    let publisher = session
+        .declare_publisher(put_key)
+        .congestion_control(zenoh::qos::CongestionControl::Block)
+        .encoding(zenoh::bytes::Encoding::ZENOH_BYTES)
+        .await
+        .unwrap();
+
+    let i = std::cell::Cell::new(0);
+    let mut send_fut = pin!(async {
+        loop {
+            let () = publisher.put(&payload).await.expect("failed to put");
+            i.set(i.get() + 1);
+        }
+    });
+    let interval_duration = Duration::from_millis(1000);
+    let mut interval = tokio::time::interval(interval_duration);
+    loop {
+        tokio::select! {
+            biased; _ = interval.tick() => {
+                let bytes_per_second = i.replace(0) * interval_duration.as_millis() as u64 * payload_size as u64 / 1000 ;
+                let mib_per_second: u64 = bytes_per_second >> 20;
+                tracing::info!("MiB/s: {mib_per_second}");
+            },
+            _ = &mut send_fut => break,
+        }
+    }
+
+    Ok(())
+}
+
+async fn bob() -> Result<()> {
+    let session = zenoh::open(zenoh::Config::default())
+        .await
+        .expect("failed to open zenoh session");
+
+    let get_key = session.declare_keyexpr("alice/put/a").await.unwrap();
+
+    let subscriber = session
+        .declare_subscriber(get_key)
+        .with(DefaultHandler::default())
+        .await
+        .expect("failed to create subscriber");
+
+    let byte_counter = std::cell::Cell::new(0u64);
+    let mut send_fut = pin!(async {
+        loop {
+            let sample = subscriber.recv_async().await.expect("failed to get");
+            let nbytes = sample.payload().slices().fold(0, |acc, s| acc + s.len());
+            byte_counter.set(byte_counter.get() + nbytes as u64);
+        }
+    });
+    let interval_duration = Duration::from_millis(1000);
+    let mut interval = tokio::time::interval(interval_duration);
+    loop {
+        tokio::select! {
+            biased; _ = interval.tick() => {
+                let bytes_per_second = byte_counter.replace(0) * interval_duration.as_millis() as u64 / 1000 ;
+                let mib_per_second: u64 = bytes_per_second >> 20;
+                tracing::info!("MiB/s: {mib_per_second}");
+            },
+            _ = &mut send_fut => break,
+        }
+    }
+
+    Ok(())
+}