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First working version of zenoh's DDS bridge
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| target | ||
| *~ | ||
| *.log | ||
| *.lock |
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| fn main() { | ||
| println!("cargo:rustc-link-search=/usr/local/lib"); | ||
| println!("cargo:rustc-link-lib=cdds-util"); | ||
| } |
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| #![feature(vec_into_raw_parts)] | ||
|
|
||
| use zplugin_dds::*; | ||
| use clap::{App, Arg}; | ||
| use futures::prelude::*; | ||
| use futures::select; | ||
| use zenoh::net::queryable::EVAL; | ||
| use zenoh::net::*; | ||
| use cyclors::*; | ||
| use std::collections::HashMap; | ||
| use log::{debug, info}; | ||
| use std::sync::Arc; | ||
| use async_std::task; | ||
| use async_std::sync::Mutex; | ||
| use std::sync::mpsc::{channel, Receiver, Sender}; | ||
| use std::ffi::CString; | ||
|
|
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| fn parse_args() -> (Config, String) { | ||
| let args = App::new("dzd zenoh router for DDS") | ||
| .arg(Arg::from_usage( | ||
| "-e, --peer=[LOCATOR]... 'Peer locators used to initiate the zenoh session.'", | ||
| )) | ||
| .arg(Arg::from_usage( | ||
| "-l, --listener=[LOCATOR]... 'Locators to listen on.'", | ||
| )) | ||
| .arg(Arg::from_usage( | ||
| "-s, --scope=[String]... 'A string used as prefix to scope DDS traffic.'", | ||
| )) | ||
| .get_matches(); | ||
|
|
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| let scope: String = args.value_of("scope") | ||
| .map(|s| String::from(s)) | ||
| .or_else(|| Some(String::from(""))) | ||
| .unwrap(); | ||
|
|
||
| let config = Config::default() | ||
| .add_peers( | ||
| args.values_of("peer") | ||
| .map(|p| p.collect()) | ||
| .or_else(|| Some(vec![])) | ||
| .unwrap() | ||
| ) | ||
| .add_listeners( | ||
| args.values_of("listener") | ||
| .map(|p| p.collect()) | ||
| .or_else(|| Some(vec![])) | ||
| .unwrap()) | ||
| .local_routing(false); | ||
|
|
||
| (config, scope) | ||
| } | ||
|
|
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|
|
||
| #[async_std::main] | ||
| async fn main() { | ||
| env_logger::init(); | ||
| let mut rid_map = HashMap::<String, ResourceId>::new(); | ||
| let mut rd_map = HashMap::<String, dds_entity_t>::new(); | ||
| let mut wr_map = HashMap::<String, dds_entity_t>::new(); | ||
| let (config, scope) = parse_args(); | ||
| let dp = unsafe { | ||
| dds_create_participant(DDS_DOMAIN_DEFAULT, std::ptr::null(), std::ptr::null()) | ||
| }; | ||
| let z = Arc::new(open(config, None).await.unwrap()); | ||
| let (tx, rx): (Sender<MatchedEntity>, Receiver<MatchedEntity>) = channel(); | ||
| run_discovery(dp, tx); | ||
| while let Ok(me) = rx.recv() { | ||
| match me { | ||
| MatchedEntity::DiscoveredPublication {topic_name, type_name, keyless, partition, qos} => { | ||
| debug!("DiscoveredPublication({}, {}, {:?}", topic_name, type_name, partition); | ||
| // keyless: bool, qos: dds_qos_t, z_key: ResKey, z: Arc<Session>) -> dds_entity_t { | ||
| let key = match partition { | ||
| Some(p) => format!("{}/{}/{}", scope, p, topic_name), | ||
| None => format!("{}/{}", scope, topic_name) | ||
| }; | ||
| debug!("Declaring resource {}", key); | ||
| match rd_map.get(&key) { | ||
| None => { | ||
| let rkey = ResKey::RName(key.clone()); | ||
| let nrid = z.declare_resource(&rkey).await.unwrap(); | ||
| let rid = ResKey::RId(nrid); | ||
| let _ = z.declare_publisher(&rid).await; | ||
| rid_map.insert(key.clone(), nrid); | ||
| debug!("Creating Forwarding Reader for: {}", key); | ||
| let dr: dds_entity_t = unsafe { | ||
| create_forwarding_dds_reader(dp, topic_name, type_name, keyless, qos, rid, z.clone()) | ||
| }; | ||
| rd_map.insert(key, dr); | ||
| }, | ||
| _ => { | ||
| debug!("Already forwarding matching subscription {} -- ignoring", topic_name); | ||
| } | ||
|
|
||
| } | ||
| }, | ||
| MatchedEntity::UndiscoveredPublication {topic_name, type_name, partition} => { | ||
| debug!("UndiscoveredPublication({}, {}, {:?}", topic_name, type_name, partition); | ||
| }, | ||
| MatchedEntity::DiscoveredSubscription {topic_name, type_name, keyless, partition, qos} => { | ||
| debug!("DiscoveredSubscription({}, {}, {:?}", topic_name, type_name, partition); | ||
| let key = match partition { | ||
| Some(p) => format!("{}/{}/{}", scope, p, topic_name), | ||
| None => format!("{}/{}", scope, topic_name) | ||
| }; | ||
| debug!("Creating Subscriber for {}", key); | ||
| let nrid = match rid_map.get(&key) { | ||
| Some(nrid) => *nrid, | ||
| None => { | ||
| let rkey = ResKey::RName(key.clone()); | ||
| z.declare_resource(&rkey).await.unwrap() | ||
| } | ||
| }; | ||
| rid_map.insert(key.clone(), nrid); | ||
| let rkey = ResKey::RId(nrid); | ||
| let sub_info = SubInfo { | ||
| reliability: Reliability::Reliable, | ||
| mode: SubMode::Push, | ||
| period: None, | ||
| }; | ||
| let rsel = rkey.into(); | ||
| let zc = z.clone(); | ||
| task::spawn(async move { | ||
| let wr = create_forwarding_dds_writer(dp, topic_name.clone(), type_name.clone(), keyless, qos); | ||
| let mut sub = zc.declare_subscriber(&rsel, &sub_info).await.unwrap(); | ||
| let stream = sub.stream(); | ||
| while let Some(d) = stream.next().await { | ||
| debug!("Received data on zenoh subscriber for resource {}", d.res_name); | ||
| unsafe { | ||
| let bs = d.payload.to_vec(); | ||
| let (ptr, len, _) = bs.into_raw_parts(); | ||
| let cton = CString::new(topic_name.clone()).unwrap().into_raw(); | ||
| let ctyn = CString::new(type_name.clone()).unwrap().into_raw(); | ||
| let st = cdds_create_blob_sertopic(dp, cton, ctyn, keyless); | ||
| let fwdp = cdds_ddsi_payload_create(st, ddsi_serdata_kind_SDK_DATA, ptr, len as u64); | ||
| dds_writecdr(wr, fwdp as *mut ddsi_serdata); | ||
| }; | ||
|
|
||
| } | ||
| }); | ||
| }, | ||
| MatchedEntity::UndiscoveredSubscription {topic_name, type_name, partition} => { | ||
| debug!("UndiscoveredSubscription({}, {}, {:?}", topic_name, type_name, partition); | ||
| }, | ||
|
|
||
| } | ||
| } | ||
| } |
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