Implement Commanding (#6)

Reviewed-on: #6
Co-authored-by: Sergey Savelyev <sergeysav.nn@gmail.com>
Co-committed-by: Sergey Savelyev <sergeysav.nn@gmail.com>

examples/simple_command/src/main.rs

@@ -0,0 +1,141 @@
+use chrono::DateTime;
+use server::core::client_side_command::Inner;
+use server::core::command_service_client::CommandServiceClient;
+use server::core::telemetry_value::Value;
+use server::core::{
+    ClientSideCommand, Command, CommandDefinitionRequest, CommandParameterDefinition,
+    CommandResponse, TelemetryDataType,
+};
+use std::error::Error;
+use tokio::select;
+use tokio::sync::mpsc;
+use tokio::task::JoinHandle;
+use tokio_util::sync::CancellationToken;
+use tonic::codegen::tokio_stream::wrappers::ReceiverStream;
+use tonic::codegen::tokio_stream::StreamExt;
+use tonic::transport::Channel;
+
+struct CommandHandler {
+    handle: JoinHandle<()>,
+}
+
+impl CommandHandler {
+    pub async fn new<F: Fn(Command) -> CommandResponse + Send + 'static>(
+        cancellation_token: CancellationToken,
+        client: &mut CommandServiceClient<Channel>,
+        command_definition_request: CommandDefinitionRequest,
+        handler: F,
+    ) -> anyhow::Result<Self> {
+        let (tx, rx) = mpsc::channel(4);
+
+        // The buffer size of 4 means this is safe to send immediately
+        tx.send(ClientSideCommand {
+            inner: Some(Inner::Request(command_definition_request)),
+        })
+        .await?;
+        let response = client.new_command(ReceiverStream::new(rx)).await?;
+        let mut cmd_stream = response.into_inner();
+
+        let handle = tokio::spawn(async move {
+            loop {
+                select! {
+                    _ = cancellation_token.cancelled() => break,
+                    Some(msg) = cmd_stream.next() => {
+                        match msg {
+                            Ok(cmd) => {
+                                let uuid = cmd.uuid.clone();
+                                let mut response = handler(cmd);
+                                response.uuid = uuid;
+                                match tx.send(ClientSideCommand {
+                                    inner: Some(Inner::Response(response))
+                                }).await {
+                                    Ok(()) => {},
+                                    Err(e) => {
+                                        println!("SendError: {e}");
+                                        break;
+                                    }
+                                }
+                            }
+                            Err(e) => {
+                                println!("Error: {e}");
+                                break;
+                            }
+                        }
+                    },
+                    else => break,
+                }
+            }
+        });
+
+        Ok(Self { handle })
+    }
+
+    pub async fn join(self) -> anyhow::Result<()> {
+        Ok(self.handle.await?)
+    }
+}
+
+#[tokio::main]
+async fn main() -> Result<(), Box<dyn Error>> {
+    let cancellation_token = CancellationToken::new();
+    {
+        let cancellation_token = cancellation_token.clone();
+        tokio::spawn(async move {
+            let _ = tokio::signal::ctrl_c().await;
+            cancellation_token.cancel();
+        });
+    }
+
+    let mut client = CommandServiceClient::connect("http://[::1]:50051").await?;
+
+    let cmd_handler = CommandHandler::new(
+        cancellation_token,
+        &mut client,
+        CommandDefinitionRequest {
+            name: "simple_command/a".to_string(),
+            parameters: vec![
+                CommandParameterDefinition {
+                    name: "a".to_string(),
+                    data_type: TelemetryDataType::Float32.into(),
+                },
+                CommandParameterDefinition {
+                    name: "b".to_string(),
+                    data_type: TelemetryDataType::Float64.into(),
+                },
+                CommandParameterDefinition {
+                    name: "c".to_string(),
+                    data_type: TelemetryDataType::Boolean.into(),
+                },
+            ],
+        },
+        |command| {
+            let timestamp = command.timestamp.expect("Missing Timestamp");
+            let timestamp = DateTime::from_timestamp(timestamp.secs, timestamp.nanos as u32)
+                .expect("Could not construct date time");
+            let Value::Float32(a) = command.parameters["a"].value.expect("Missing Value a") else {
+                panic!("Wrong Type a");
+            };
+            let Value::Float64(b) = command.parameters["b"].value.expect("Missing Value b") else {
+                panic!("Wrong Type b");
+            };
+            let Value::Boolean(c) = command.parameters["c"].value.expect("Missing Value c") else {
+                panic!("Wrong Type c");
+            };
+
+            println!("Command Received:\n  timestamp: {timestamp}\n  a: {a}\n  b: {b}\n  c: {c}");
+
+            CommandResponse {
+                uuid: command.uuid.clone(),
+                success: true,
+                response: format!(
+                    "Successfully Received Command! timestamp: {timestamp} a: {a} b: {b} c: {c}"
+                ),
+            }
+        },
+    )
+    .await?;
+
+    cmd_handler.join().await?;
+
+    Ok(())
+}