From 37835c79ebf2687cc9b29a1add58b7430a3d80a9 Mon Sep 17 00:00:00 2001 From: Jack Rubacha Date: Sat, 18 Jul 2026 19:12:39 -0400 Subject: [PATCH 1/2] initial --- Cargo.lock | 2654 +++++++++++++++++++++++++++++++++++++++++- Cargo.toml | 1 + src/lib.rs | 3 + src/main.rs | 254 +--- src/mqtt_handler.rs | 149 +++ src/zenoh_handler.rs | 105 ++ 6 files changed, 2928 insertions(+), 238 deletions(-) create mode 100644 src/mqtt_handler.rs create mode 100644 src/zenoh_handler.rs diff --git a/Cargo.lock b/Cargo.lock index d1f009e..a9e3f59 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -2,6 +2,36 @@ # It is not intended for manual editing. version = 4 +[[package]] +name = "adler2" +version = "2.0.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa" + +[[package]] +name = "aes" +version = "0.8.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b169f7a6d4742236a0a00c541b845991d0ac43e546831af1249753ab4c3aa3a0" +dependencies = [ + "cfg-if", + "cipher", + "cpufeatures 0.2.17", +] + +[[package]] +name = "ahash" +version = "0.8.12" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5a15f179cd60c4584b8a8c596927aadc462e27f2ca70c04e0071964a73ba7a75" +dependencies = [ + "cfg-if", + "getrandom 0.3.4", + "once_cell", + "version_check", + "zerocopy", +] + [[package]] name = "aho-corasick" version = "1.1.4" @@ -11,6 +41,21 @@ dependencies = [ "memchr", ] +[[package]] +name = "allocator-api2" +version = "0.2.21" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923" + +[[package]] +name = "android_system_properties" +version = "0.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311" +dependencies = [ + "libc", +] + [[package]] name = "anstream" version = "1.0.0" @@ -67,6 +112,71 @@ version = "1.0.102" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c" +[[package]] +name = "arc-swap" +version = "1.9.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c049c0be4daef0b145cb3555416b3b8ef5b7888a38aea1a3a155801fe7b0810b" +dependencies = [ + "rustversion", +] + +[[package]] +name = "array-init" +version = "2.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3d62b7694a562cdf5a74227903507c56ab2cc8bdd1f781ed5cb4cf9c9f810bfc" + +[[package]] +name = "asn1-rs" +version = "0.7.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b7f43a50ac4fdca5df8e885c21b835997f0a1cdee65494a6847694a98652d9d8" +dependencies = [ + "asn1-rs-derive", + "asn1-rs-impl", + "displaydoc", + "nom", + "num-traits", + "rusticata-macros", + "thiserror 2.0.18", + "time", 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+checksum = "bf88ba1141d185c399bee5288d850d63b8369520c1eafc32a0430b5b6c287bf4" +dependencies = [ + "tinyvec", +] + +[[package]] +name = "bumpalo" +version = "3.20.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "72f5acc6cb2ba439de613abc23857ec3d78374d8ed5ac84e9d11336e87da8649" + [[package]] name = "byteorder" version = "1.5.0" @@ -145,16 +294,17 @@ dependencies = [ "phf", "protobuf", "protobuf-codegen", - "rand", + "rand 0.10.2", "regex", "rumqttc", - "schemars", + "schemars 1.2.1", "serde_json", "socketcan", "tokio", "tokio-util", "tracing", "tracing-subscriber", + "zenoh", ] [[package]] @@ -164,7 +314,7 @@ dependencies = [ "proc-macro2", "quote", "regex", - "schemars", + "schemars 1.2.1", "serde", "serde_json", "serde_path_to_error", @@ -226,7 +376,29 @@ checksum = "6f8d983286843e49675a4b7a2d174efe136dc93a18d69130dd18198a6c167601" dependencies = [ "cfg-if", "cpufeatures 0.3.0", - "rand_core", + "rand_core 0.10.1", +] + +[[package]] +name = "chrono" 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"num-bigint-dig", + "num-integer", + "num-traits", + "pkcs1", + "pkcs8", + "rand_core 0.6.4", + "signature", + "spki", + "subtle", + "zeroize", +] + [[package]] name = "rumqttc" version = "0.25.1" @@ -1170,8 +2456,32 @@ dependencies = [ ] [[package]] -name = "rustix" -version = "0.38.44" +name = "rustc-hash" +version = "2.1.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6b1e7f9a428571be2dc5bc0505c13fb6bf936822b894ec87abf8a08a4e51742d" + +[[package]] +name = "rustc_version" +version = "0.4.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92" +dependencies = [ + "semver", +] + +[[package]] +name = "rusticata-macros" +version = "4.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "faf0c4a6ece9950b9abdb62b1cfcf2a68b3b67a10ba445b3bb85be2a293d0632" +dependencies = [ + "nom", +] + +[[package]] +name = "rustix" +version = "0.38.44" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "fdb5bc1ae2baa591800df16c9ca78619bf65c0488b41b96ccec5d11220d8c154" dependencies = [ @@ -1204,6 +2514,7 @@ dependencies = [ "aws-lc-rs", "log", "once_cell", + "ring", "rustls-pki-types", "rustls-webpki 0.103.13", "subtle", @@ -1237,9 +2548,37 @@ version = "1.14.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "30a7197ae7eb376e574fe940d068c30fe0462554a3ddbe4eca7838e049c937a9" dependencies = [ + "web-time", "zeroize", ] +[[package]] +name = "rustls-platform-verifier" +version = "0.7.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "26d1e2536ce4f35f4846aa13bff16bd0ff40157cdb14cc056c7b14ba41233ba0" +dependencies = [ + "core-foundation", + "core-foundation-sys", + "jni", + "log", + "once_cell", + "rustls", + "rustls-native-certs", + "rustls-platform-verifier-android", + "rustls-webpki 0.103.13", + "security-framework", + "security-framework-sys", + 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-1278,6 +2632,18 @@ dependencies = [ "windows-sys 0.61.2", ] +[[package]] +name = "schemars" +version = "0.9.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4cd191f9397d57d581cddd31014772520aa448f65ef991055d7f61582c65165f" +dependencies = [ + "dyn-clone", + "ref-cast", + "serde", + "serde_json", +] + [[package]] name = "schemars" version = "1.2.1" @@ -1285,6 +2651,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a2b42f36aa1cd011945615b92222f6bf73c599a102a300334cd7f8dbeec726cc" dependencies = [ "dyn-clone", + "either", "ref-cast", "schemars_derive", "serde", @@ -1309,6 +2676,16 @@ version = "1.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49" +[[package]] +name = "secrecy" +version = "0.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = 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+dependencies = [ + "digest", + "keccak", +] + [[package]] name = "sharded-slab" version = "0.1.7" @@ -1423,6 +2872,15 @@ dependencies = [ "lazy_static", ] +[[package]] +name = "shellexpand" +version = "3.1.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "32824fab5e16e6c4d86dc1ba84489390419a39f97699852b66480bb87d297ed8" +dependencies = [ + "dirs", +] + [[package]] name = "shlex" version = "2.0.1" @@ -1439,6 +2897,38 @@ dependencies = [ "libc", ] +[[package]] +name = "signature" +version = "2.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "77549399552de45a898a580c1b41d445bf730df867cc44e6c0233bbc4b8329de" +dependencies = [ + "digest", + "rand_core 0.6.4", +] + +[[package]] +name = "simd-adler32" +version = "0.3.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3a219298ac11a56ea9a6d2120044824d6f01aeb034955e7af7bc16858527deea" + +[[package]] +name = "simd_cesu8" +version = "1.2.0" +source 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decode_data::DECODE_FUNCTION_MAP, encode_data::{ENCODABLE_KEY_LIST, ENCODE_FUNCTION_MAP}, imd_poll::imd_poll_main, + mqtt_handler::{poll_stub, publish_stub, siren_creator}, proto::{ - command_data, + command_data::CommandData, serverdata::{self, ServerData}, }, + zenoh_handler::ZenohProcessor, }; use calypso_cangen::can_types::BidirMode; use clap::Parser; -use protobuf::Message; -use rumqttc::v5::{ - AsyncClient, Event, EventLoop, MqttOptions, - mqttbytes::v5::{Packet, Publish}, -}; use socketcan::{ CanDataFrame, CanError, CanFrame, EmbeddedFrame, Frame, Id, SocketOptions, tokio::CanSocket, }; @@ -32,8 +30,6 @@ use tokio_util::task::TaskTracker; use tracing::{debug, info, level_filters::LevelFilter, trace, warn}; use tracing_subscriber::{EnvFilter, fmt::format::FmtSpan}; -const ENCODER_MAP_SUB: &str = "Calypso/Bidir/Command/#"; - /// Calypso command line arguments #[derive(Parser, Debug)] #[command(version)] @@ -60,13 +56,17 @@ struct CalypsoArgs { )] socketcan_iface: String, - /// Whether to enable MQTT multi-client - #[arg(short = 'm', long, env = "CALYPSO_MQTT_MULTICLIENT")] - mqtt_multiclient: bool, - - /// Whether to enable cyclic IMD polling + /// Whether to use #[arg(long, env = "CALYPSO_CAN_ENCODE")] imd: bool, + + /// Use Zenoh instead of MQTT -- will eventually become default + #[arg(short = 'z', long, env = "CALYPSO_ZENOH")] + zenoh: bool, + + /// Zenoh conf file + #[arg(long, env = "CALYPSO_ZENOH_CONF", default_value_os = "./zenoh.json5")] + zenoh_conf: PathBuf, } /** @@ -246,157 +246,6 @@ async fn pub_frame( } } -/** - * Inits siren communication, returning the main (1st) and priority (2nd) structs - * `pub_path`: The base URL (and port for main) - */ -async fn siren_creator(pub_path: String) -> [(AsyncClient, EventLoop); 2] { - let mut mqtt_opts_main = MqttOptions::new( - format!( - "Calypso-Decoder-{}", - SystemTime::now() - .duration_since(SystemTime::UNIX_EPOCH) - .expect("Time went backwards") - .as_millis() - ), - pub_path.split_once(':').expect("Invalid Siren URL").0, - pub_path - .split_once(':') - .unwrap() - .1 - .parse::() - .expect("Invalid Siren port"), - ); - mqtt_opts_main - .set_keep_alive(Duration::from_secs(20)) - .set_clean_start(false) - .set_connection_timeout(3) - .set_session_expiry_interval(Some(u32::MAX)); - let (main_client, main_eventloop) = rumqttc::v5::AsyncClient::new(mqtt_opts_main, 600); - - let mut mqtt_opts_alt = MqttOptions::new( - format!( - "Calypso-Decoder-{}", - SystemTime::now() - .duration_since(SystemTime::UNIX_EPOCH) - .expect("Time went backwards") - .as_millis() - ), - pub_path.split_once(':').expect("Invalid Siren URL").0, - 1882, - ); - mqtt_opts_alt - .set_keep_alive(Duration::from_secs(20)) - .set_clean_start(false) - .set_connection_timeout(3) - .set_session_expiry_interval(Some(u32::MAX)); - let (alt_client, alt_eventloop) = rumqttc::v5::AsyncClient::new(mqtt_opts_alt, 600); - - // subscribe for bidirectionality - match main_client - .subscribe(ENCODER_MAP_SUB, rumqttc::v5::mqttbytes::QoS::ExactlyOnce) - .await - { - Ok(()) => (), - Err(err) => warn!("Error subscribing: {}", err), - } - - // here we split into two threads, one owns the client the other owns the eventloop - - [(main_client, main_eventloop), (alt_client, alt_eventloop)] -} - -/** - * A thread to publish messages to a MQTT client - * client: The client to publish to - * `recv_messages`: The channel to get the messages to publish - */ -async fn publish_stub( - token: CancellationToken, - client: AsyncClient, - mut recv_messages: Receiver<(String, ServerData)>, -) { - loop { - tokio::select! { - () = token.cancelled() => { - debug!("Shutting down PUB stub!"); - break; - }, - Some(new_msg) = recv_messages.recv() => { - pub_msg(new_msg.0, new_msg.1, &client).await; - } - } - } -} - -/** - * A thread to poll MQTT broker status, and relay incoming subscribed messages - * eventloop: the eventloop to poll - * `send_to_manager`: the channel to send recieved MQTT messages from (optional) - */ -async fn poll_stub( - token: CancellationToken, - mut eventloop: EventLoop, - send_to_manager: Option>, -) { - if let Some(send_to) = send_to_manager { - loop { - tokio::select! { - () = token.cancelled() => { - debug!("Shutting down SIREN manager!"); - break; - }, - msg = eventloop.poll() => match msg { - Ok(Event::Incoming(Packet::Publish(msg))) => { - debug!("Received mqtt message: {:?}", msg); - match send_to.send(msg).await { - Ok(()) => (), - Err(err) => warn!("Could not send MQTT message to bidir manager: {}", err), - } - }, - Err(msg) => trace!("Received mqtt error: {:?}", msg), - _ => trace!("Received misc mqtt: {:?}", msg), - }, - } - } - } else { - loop { - tokio::select! { - () = token.cancelled() => { - debug!("Shutting down SIREN manager!"); - break; - }, - _ = eventloop.poll() => {} - } - } - } -} - -/** - * Helper function to generate bytes and publish a MQTT message - * topic: the topic to send - * data: the data protobuf to send - * client: the client to send data to - */ -async fn pub_msg(topic: String, data: ServerData, client: &AsyncClient) { - let Ok(bytes) = data.write_to_bytes() else { - warn!("Could not generate protobuf!"); - return; - }; - let Ok(()) = client - .publish( - topic, - rumqttc::v5::mqttbytes::QoS::ExactlyOnce, - false, - bytes, - ) - .await - else { - warn!("Could not publish message"); - return; - }; -} - /** * Thread to manage bidirectionality, both sending can messages and receiving MQTT messages from respective channels * `can_push_send`: the channel to send out CAN messages @@ -406,7 +255,7 @@ async fn pub_msg(topic: String, data: ServerData, client: &AsyncClient) { async fn bidir_manager( token: CancellationToken, can_push_send: Sender, - mut siren_recv: Receiver, + mut siren_recv: Receiver<(String, CommandData)>, encode: bool, ) { let mut send_interval = tokio::time::interval(Duration::from_millis(750)); @@ -436,7 +285,7 @@ async fn bidir_manager( } } Some(msg) = siren_recv.recv() => { - if let Some(packet) = parse_msg(&msg, &mut send_map) { match can_push_send.send(packet).await { + if let Some(packet) = parse_msg(msg, &mut send_map) { match can_push_send.send(packet).await { Ok(()) => (), Err(err) => warn!("Error sending can command to can manager {}", err), } } @@ -496,29 +345,21 @@ async fn release_commands(send_map: &HashMap, can_push_send: &S * * Will return the can frame to send immediately, if available */ -fn parse_msg(msg: &Publish, send_map: &mut HashMap) -> Option { - let buf = match command_data::CommandData::parse_from_bytes(&msg.payload) { - Ok(buf) => buf, - Err(err) => { - warn!("Could not decode command: {}", err); - return None; - } - }; - let Ok(topic) = std::str::from_utf8(&msg.topic) else { - warn!("Could not parse topic, topic: {:?}", msg.topic); - return None; - }; - let key = if let Some(key) = topic.split('/').next_back() { +fn parse_msg( + msg: (String, CommandData), + send_map: &mut HashMap, +) -> Option { + let key = if let Some(key) = msg.0.split('/').next_back() { key.to_owned() } else { - warn!("Could not parse the key value in {}", topic); + warn!("Could not parse the key value in {}", msg.0); return None; }; debug!("Parsing message with key {}", key); if let Some(func) = ENCODE_FUNCTION_MAP.get(&key) { - let ret = func.0(buf.data); + let ret = func.0(msg.1.data); if func.1 == BidirMode::Broadcast { send_map.insert(ret.id, ret); None @@ -590,43 +431,28 @@ async fn main() { let (can_push_send, can_push_recv) = mpsc::channel::(100); // a channel to give messages to the bidir manager - let (siren_recv_send, siren_recv_recv) = mpsc::channel::(100); + let (siren_recv_send, siren_recv_recv) = mpsc::channel::<(String, CommandData)>(100); + + if cli.zenoh { + let zenoh = + ZenohProcessor::new(token.clone(), decoder_recv, siren_recv_send, cli.zenoh_conf).await; + task_tracker.spawn(zenoh.process_zenoh()); + } else { + // the actual client and eventloop handlers + let main_broker = siren_creator(cli.siren_host_url).await; - // the actual client and eventloop handlers - let [main_broker, alt_broker] = siren_creator(cli.siren_host_url).await; + task_tracker.spawn(poll_stub(token.clone(), main_broker.1, siren_recv_send)); + task_tracker.spawn(publish_stub(token.clone(), main_broker.0, decoder_recv)); + } - task_tracker.spawn(poll_stub( + task_tracker.spawn(can_manager( token.clone(), - main_broker.1, - Some(siren_recv_send), + cli.socketcan_iface, + decoder_send.clone(), + None, + can_decoder_send, + can_push_recv, )); - task_tracker.spawn(publish_stub(token.clone(), main_broker.0, decoder_recv)); - - // only poll the other client if we are set to do so - if cli.mqtt_multiclient { - // a channel to give protobuf messages to be sent out over MQTT - let (decoder_send_alt, decoder_recv_alt) = mpsc::channel::<(String, ServerData)>(500); - - task_tracker.spawn(poll_stub(token.clone(), alt_broker.1, None)); - task_tracker.spawn(publish_stub(token.clone(), alt_broker.0, decoder_recv_alt)); - task_tracker.spawn(can_manager( - token.clone(), - cli.socketcan_iface, - decoder_send.clone(), - Some(decoder_send_alt), - can_decoder_send, - can_push_recv, - )); - } else { - task_tracker.spawn(can_manager( - token.clone(), - cli.socketcan_iface, - decoder_send.clone(), - None, - can_decoder_send, - can_push_recv, - )); - } task_tracker.spawn(bidir_manager( token.clone(), diff --git a/src/mqtt_handler.rs b/src/mqtt_handler.rs new file mode 100644 index 0000000..c0860bc --- /dev/null +++ b/src/mqtt_handler.rs @@ -0,0 +1,149 @@ +use std::time::{Duration, SystemTime}; + +use protobuf::Message; +use rumqttc::v5::{AsyncClient, Event, EventLoop, MqttOptions, mqttbytes::v5::Packet}; +use tokio::sync::mpsc::{Receiver, Sender}; +use tokio_util::sync::CancellationToken; +use tracing::{debug, trace, warn}; + +use crate::proto::{ + command_data::{self, CommandData}, + serverdata::ServerData, +}; + +const ENCODER_MAP_SUB: &str = "Calypso/Bidir/Command/#"; + +/** + * Inits siren communication, returning the main (1st) and priority (2nd) structs + * `pub_path`: The base URL (and port for main) + * + * # Panics + * Panics if time went backwards + */ +pub async fn siren_creator(pub_path: String) -> (AsyncClient, EventLoop) { + let mut mqtt_opts_main = MqttOptions::new( + format!( + "Calypso-Decoder-{}", + SystemTime::now() + .duration_since(SystemTime::UNIX_EPOCH) + .expect("Time went backwards") + .as_millis() + ), + pub_path.split_once(':').expect("Invalid Siren URL").0, + pub_path + .split_once(':') + .unwrap() + .1 + .parse::() + .expect("Invalid Siren port"), + ); + mqtt_opts_main + .set_keep_alive(Duration::from_secs(20)) + .set_clean_start(false) + .set_connection_timeout(3) + .set_session_expiry_interval(Some(u32::MAX)); + let (main_client, main_eventloop) = rumqttc::v5::AsyncClient::new(mqtt_opts_main, 600); + + // subscribe for bidirectionality + match main_client + .subscribe(ENCODER_MAP_SUB, rumqttc::v5::mqttbytes::QoS::ExactlyOnce) + .await + { + Ok(()) => (), + Err(err) => warn!("Error subscribing: {}", err), + } + + // here we split into two threads, one owns the client the other owns the eventloop + + (main_client, main_eventloop) +} + +/** + * A thread to publish messages to a MQTT client + * client: The client to publish to + * `recv_messages`: The channel to get the messages to publish + */ +pub async fn publish_stub( + token: CancellationToken, + client: AsyncClient, + mut recv_messages: Receiver<(String, ServerData)>, +) { + loop { + tokio::select! { + () = token.cancelled() => { + debug!("Shutting down PUB stub!"); + break; + }, + Some(new_msg) = recv_messages.recv() => { + pub_msg(new_msg.0, new_msg.1, &client).await; + } + } + } +} + +/** + * A thread to poll MQTT broker status, and relay incoming subscribed messages + * eventloop: the eventloop to poll + * `send_to_manager`: the channel to send recieved MQTT messages from (optional) + */ +pub async fn poll_stub( + token: CancellationToken, + mut eventloop: EventLoop, + send_to_manager: Sender<(String, CommandData)>, +) { + loop { + tokio::select! { + () = token.cancelled() => { + debug!("Shutting down SIREN manager!"); + break; + }, + msg = eventloop.poll() => match msg { + Ok(Event::Incoming(Packet::Publish(msg))) => { + debug!("Received mqtt message: {:?}", msg); + let buf = match command_data::CommandData::parse_from_bytes(&msg.payload) { + Ok(buf) => buf, + Err(err) => { + warn!("Could not decode command: {}", err); + continue; + } + }; + let Ok(topic) = std::str::from_utf8(&msg.topic) else { + warn!("Could not parse topic, topic: {:?}", msg.topic); + continue; + }; + match send_to_manager.send((topic.to_string(), buf)).await { + Ok(()) => (), + Err(err) => warn!("Could not send MQTT message to bidir manager: {}", err), + } + }, + Err(msg) => trace!("Received mqtt error: {:?}", msg), + _ => trace!("Received misc mqtt: {:?}", msg), + }, + } + } +} + +/** + * Helper function to generate bytes and publish a MQTT message + * topic: the topic to send + * data: the data protobuf to send + * client: the client to send data to + */ +async fn pub_msg(topic: String, data: ServerData, client: &AsyncClient) { + let Ok(bytes) = data.write_to_bytes() else { + warn!("Could not generate protobuf!"); + return; + }; + let Ok(()) = client + .publish( + topic, + rumqttc::v5::mqttbytes::QoS::ExactlyOnce, + false, + bytes, + ) + .await + else { + warn!("Could not publish message"); + return; + }; +} diff --git a/src/zenoh_handler.rs b/src/zenoh_handler.rs new file mode 100644 index 0000000..31f9b32 --- /dev/null +++ b/src/zenoh_handler.rs @@ -0,0 +1,105 @@ +use std::path::PathBuf; + +use protobuf::Message; +use tokio::sync::mpsc::Receiver; +use tokio::sync::mpsc::Sender; +use tokio_util::sync::CancellationToken; +use tracing::{debug, trace, warn}; +use zenoh::{Config, Session, bytes::Encoding, sample::Sample}; + +use crate::proto::{ + command_data::{self, CommandData}, + serverdata::ServerData, +}; + +/// The chief processor of incoming zenoh data, this handles +/// - zenoh state +/// - reception via mqtt and subsequent parsing +/// Takes in many channels: +/// - `zenoh_sender_rx`: A receiver of any messages, it then publishes them +/// - `zenoh_recv_tx`: Optional, a sender of all zenoh messages, if None no messages sent +pub struct ZenohProcessor { + cancel_token: CancellationToken, + zenoh_sender_rx: Receiver<(String, ServerData)>, + zenoh_recv_tx: Sender<(String, CommandData)>, + session: Session, +} + +impl ZenohProcessor { + /// Creates a new Zenoh receiver and sender + /// # Panics + /// Panics if zenoh conf invalid + pub async fn new( + cancel_token: CancellationToken, + mqtt_sender_rx: Receiver<(String, ServerData)>, + mqtt_recv_tx: Sender<(String, CommandData)>, + conf_path: PathBuf, + ) -> ZenohProcessor { + zenoh::init_log_from_env_or("info"); + + let session = zenoh::open(Config::from_file(conf_path).expect("Could not find Zenoh conf")) + .await + .expect("Invalid zenoh conf"); + + ZenohProcessor { + cancel_token, + zenoh_sender_rx: mqtt_sender_rx, + zenoh_recv_tx: mqtt_recv_tx, + session, + } + } + + fn convert_to_mqtt(sample: &zenoh::sample::Sample) -> Option { + command_data::CommandData::parse_from_reader(&mut sample.payload().reader()).ok() + } + + async fn handle_recv(&self, sample: Sample) { + let Some(msg) = Self::convert_to_mqtt(&sample) else { + warn!("Could not deserialize Zenoh incoming!"); + return; + }; + + if let Err(e) = self + .zenoh_recv_tx + .send((sample.key_expr().to_string(), msg)) + .await + { + warn!("Error putting received command into queue! {}", e); + } + } + + /// This handles the reception of mqtt messages, will not return + /// # Panics + /// Panics if subscription fails + pub async fn process_zenoh(mut self) { + debug!("Subscribing to siren, all topics"); + let subscriber = self + .session + .declare_subscriber("Calypso/Bidir/Command/**") + .await + .expect("Could not subscribe to MQTT"); + + loop { + tokio::select! { + () = self.cancel_token.cancelled() => { + debug!("Shutting down Zenoh processor!"); + break; + }, + Ok(msg) = subscriber.recv_async() => { + self.handle_recv(msg).await; + }, + Some(sendable) = self.zenoh_sender_rx.recv() => { + trace!("Sending {:?}", sendable); + let Ok(bytes) = protobuf::Message::write_to_bytes(&sendable.1) else { + warn!("Failed to serialize protobuf message!"); + continue; + }; + + if let Err(err)= self.session.put(sendable.0, bytes).encoding(Encoding::APPLICATION_PROTOBUF).await { + warn!("Error sending zenoh message: {}", err); + } + } + } + } + } +} From e8982cfbbfcb66e2c483c16c7a54649a7900a09e Mon Sep 17 00:00:00 2001 From: Jack Rubacha Date: Mon, 20 Jul 2026 21:52:35 -0400 Subject: [PATCH 2/2] bump --- Odyssey-Definitions | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Odyssey-Definitions b/Odyssey-Definitions index b3a32f1..6da5146 160000 --- a/Odyssey-Definitions +++ b/Odyssey-Definitions @@ -1 +1 @@ -Subproject commit b3a32f1621076a2169694d947f0668782f5d1301 +Subproject commit 6da514657cb9289c24ee1c3d56773bbd28e29f9a