Implement Commanding (#6)

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

Cargo.lock

@@ -2128,6 +2128,20 @@ dependencies = [
  "rand_core 0.6.4",
 ]
 
+[[package]]
+name = "simple_command"
+version = "0.0.0"
+dependencies = [
+ "anyhow",
+ "chrono",
+ "log",
+ "num-traits",
+ "server",
+ "tokio",
+ "tokio-util",
+ "tonic",
+]
+
 [[package]]
 name = "simple_producer"
 version = "0.0.0"

Cargo.toml

@@ -1,5 +1,5 @@
 [workspace]
-members = ["server", "examples/simple_producer"]
+members = ["server", "examples/simple_producer", "examples/simple_command"]
 resolver = "2"
 
 [profile.dev.package.sqlx-macros]

examples/simple_command/Cargo.toml

@@ -0,0 +1,14 @@
+
+[package]
+name = "simple_command"
+edition = "2021"
+
+[dependencies]
+server = { path = "../../server" }
+tonic = "0.12.3"
+tokio = { version = "1.43.0", features = ["rt-multi-thread", "signal"] }
+chrono = "0.4.39"
+tokio-util = "0.7.13"
+num-traits = "0.2.19"
+log = "0.4.29"
+anyhow = "1.0.100"

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(())
+}

frontend/src/components/CommandInput.vue

@@ -0,0 +1,40 @@
+<script setup lang="ts">
+import { computed, onMounted } from 'vue';
+import {
+    type AnyTypeId,
+    type DynamicDataType,
+    isBooleanType,
+    isNumericType,
+} from '@/composables/dynamic.ts';
+
+const props = defineProps<{
+    type: AnyTypeId;
+}>();
+
+const model = defineModel<DynamicDataType>();
+
+const is_numeric = computed(() => {
+    return isNumericType(props.type);
+});
+
+const is_boolean = computed(() => {
+    return isBooleanType(props.type);
+});
+
+// Initialize the parameter to some value:
+onMounted(() => {
+    if (is_numeric.value) {
+        model.value = 0.0;
+    } else if (is_boolean.value) {
+        model.value = false;
+    }
+});
+</script>
+
+<template>
+    <input v-if="is_numeric" type="number" v-model="model" />
+    <input v-else-if="is_boolean" type="checkbox" v-model="model" />
+    <span v-else>UNKNOWN INPUT</span>
+</template>
+
+<style scoped lang="scss"></style>

frontend/src/components/CommandList.vue

@@ -0,0 +1,70 @@
+<script setup lang="ts">
+import { type CommandDefinition, useAllCommands } from '@/composables/command';
+import { computed } from 'vue';
+
+const props = defineProps<{
+    search?: string;
+}>();
+
+const selected = defineModel<CommandDefinition | null>();
+
+const search_value = computed(() => (props.search || '').toLowerCase());
+
+const { data: command_data } = useAllCommands();
+
+const sorted_cmd_data = computed(() => {
+    const cmd_data = command_data.value;
+    if (cmd_data != null) {
+        return cmd_data
+            .filter((entry) =>
+                entry.name.toLowerCase().includes(search_value.value),
+            )
+            .sort((a, b) => a.name.localeCompare(b.name));
+    }
+    return [];
+});
+
+function onClick(cmd_entry: CommandDefinition) {
+    selected.value = cmd_entry;
+}
+</script>
+
+<template>
+    <template v-if="sorted_cmd_data.length > 0">
+        <div
+            v-for="cmd_entry in sorted_cmd_data"
+            :class="`row data ${selected?.name == cmd_entry.name ? 'selected' : ''}`"
+            :key="cmd_entry.name"
+            @click="() => onClick(cmd_entry)"
+        >
+            <span>
+                {{ cmd_entry.name }}
+            </span>
+        </div>
+    </template>
+    <template v-else>
+        <div class="row">
+            <span> No Matches Found </span>
+        </div>
+    </template>
+</template>
+
+<style scoped lang="scss">
+@use '@/assets/variables';
+div {
+    padding: 0.3em;
+    border: 0;
+    border-bottom: variables.$gray-3 solid 1px;
+    border-top: 0;
+}
+
+.data.selected:has(~ .data:hover),
+.data:hover ~ .data.selected {
+    background-color: variables.$light-background-color;
+}
+
+.data.selected,
+.data:hover {
+    background-color: variables.$light2-background-color;
+}
+</style>

frontend/src/components/CommandParameter.vue

@@ -0,0 +1,23 @@
+<script setup lang="ts">
+import type { CommandParameterDefinition } from '@/composables/command.ts';
+import { type DynamicDataType } from '@/composables/dynamic.ts';
+import CommandInput from '@/components/CommandInput.vue';
+
+defineProps<{
+    parameter: CommandParameterDefinition;
+}>();
+
+const model = defineModel<DynamicDataType>();
+</script>
+
+<template>
+    <div class="row">
+        <label> {{ parameter.name }} </label>
+        <CommandInput
+            :type="parameter.data_type"
+            v-model="model"
+        ></CommandInput>
+    </div>
+</template>
+
+<style scoped lang="scss"></style>

frontend/src/components/CommandParameterDataConfigurator.vue

@@ -0,0 +1,29 @@
+<script setup lang="ts">
+import { type CommandParameterData } from '@/composables/dynamic.ts';
+import { type CommandParameterDefinition } from '@/composables/command.ts';
+import CommandInput from '@/components/CommandInput.vue';
+
+defineProps<{
+    param: CommandParameterDefinition;
+}>();
+
+const model = defineModel<CommandParameterData>({
+    required: true,
+});
+</script>
+
+<template>
+    <div v-if="model.type == 'constant'" class="row">
+        <label>Value:</label>
+        <CommandInput
+            :type="param.data_type"
+            v-model="model.value"
+        ></CommandInput>
+    </div>
+    <div v-if="model.type == 'input'" class="row">
+        <label>ID:</label>
+        <input type="text" v-model="model.id" />
+    </div>
+</template>
+
+<style scoped lang="scss"></style>

frontend/src/components/CommandParameterListConfigurator.vue

@@ -0,0 +1,99 @@
+<script setup lang="ts">
+import {
+    type CommandParameterData,
+    type DynamicDataType,
+    isBooleanType,
+    isNumericType,
+} from '@/composables/dynamic.ts';
+import { useCommand } from '@/composables/command.ts';
+import { watch } from 'vue';
+import FlexDivider from '@/components/FlexDivider.vue';
+import CommandParameterDataConfigurator from '@/components/CommandParameterDataConfigurator.vue';
+
+const props = defineProps<{
+    command_name: string;
+}>();
+
+const model = defineModel<{ [key: string]: CommandParameterData }>({
+    required: true,
+});
+
+const { data: command_info } = useCommand(props.command_name);
+
+watch([command_info], ([cmd_info]) => {
+    if (cmd_info == null) {
+        return;
+    }
+    const model_value = model.value;
+    for (const key in model_value) {
+        const is_valid_param = cmd_info.parameters.some(
+            (param) => param.name == key,
+        );
+        if (!is_valid_param) {
+            delete model_value[key];
+        }
+    }
+    for (const param of cmd_info.parameters) {
+        let model_param_value: CommandParameterData | undefined =
+            model_value[param.name];
+        if (model_param_value) {
+            switch (model_param_value.type) {
+                case 'constant':
+                    if (
+                        typeof model_param_value.value == 'number' &&
+                        !isNumericType(param.data_type)
+                    ) {
+                        model_param_value = undefined;
+                    } else if (
+                        typeof model_param_value.value == 'boolean' &&
+                        !isBooleanType(param.data_type)
+                    ) {
+                        model_param_value = undefined;
+                    }
+                    break;
+                case 'input':
+                    // Nothing to do
+                    break;
+            }
+        }
+        if (!model_param_value) {
+            let default_value: DynamicDataType = 0;
+            if (isNumericType(param.data_type)) {
+                default_value = 0;
+            } else if (isBooleanType(param.data_type)) {
+                default_value = false;
+            }
+            model_param_value = {
+                type: 'constant',
+                value: default_value,
+            };
+        }
+        model_value[param.name] = model_param_value;
+    }
+    model.value = model_value;
+});
+</script>
+
+<template>
+    <template v-if="command_info">
+        <template v-for="param in command_info.parameters" :key="param.name">
+            <FlexDivider></FlexDivider>
+            <div class="row">
+                <label>{{ param.name }}</label>
+                <select v-model="model[param.name].type">
+                    <option value="constant">Constant</option>
+                    <option value="input">Input</option>
+                </select>
+            </div>
+            <CommandParameterDataConfigurator
+                :param="param"
+                v-model="model[param.name]"
+            ></CommandParameterDataConfigurator>
+        </template>
+    </template>
+    <template v-else>
+        <span> Loading... </span>
+    </template>
+</template>
+
+<style scoped lang="scss"></style>

frontend/src/components/CommandSender.vue

@@ -0,0 +1,68 @@
+<script setup lang="ts">
+import type { CommandDefinition } from '@/composables/command.ts';
+import { ref } from 'vue';
+import CommandParameter from '@/components/CommandParameter.vue';
+import FlexDivider from '@/components/FlexDivider.vue';
+import type { DynamicDataType } from '@/composables/dynamic.ts';
+
+const props = defineProps<{
+    command: CommandDefinition | null;
+}>();
+
+const parameters = ref<{ [key: string]: DynamicDataType }>({});
+const busy = ref(false);
+const result = ref('');
+
+async function sendCommand() {
+    const command = props.command;
+    const params = parameters.value;
+    if (!command) {
+        return;
+    }
+    busy.value = true;
+    result.value = 'Loading...';
+
+    const response = await fetch(`/api/cmd/${command.name}`, {
+        method: 'POST',
+        headers: {
+            'Content-Type': 'application/json',
+        },
+        body: JSON.stringify(params),
+    });
+    if (response.ok) {
+        result.value = await response.json();
+    } else {
+        result.value = await response.text();
+    }
+    busy.value = false;
+}
+</script>
+
+<template>
+    <div class="row" v-if="!command">
+        <span> No Command Selected </span>
+    </div>
+    <template v-else>
+        <div class="row">
+            <span>
+                {{ command.name }}
+            </span>
+        </div>
+        <FlexDivider></FlexDivider>
+        <CommandParameter
+            v-for="param in command.parameters"
+            :key="param.name"
+            :parameter="param"
+            v-model="parameters[param.name]"
+        ></CommandParameter>
+        <div class="row">
+            <button :disabled="busy" @click.stop.prevent="sendCommand">
+                Send
+            </button>
+        </div>
+        <div class="row shrink grow"></div>
+        <div class="row">{{ result }}</div>
+    </template>
+</template>
+
+<style scoped lang="scss"></style>

frontend/src/components/DynamicComponent.vue

@@ -1,6 +1,12 @@
 <script setup lang="ts">
-import type { OptionalDynamicComponentData } from '@/composables/dynamic.ts';
+import {
-import { computed, defineAsyncComponent } from 'vue';
+    AnyTypes,
+    type CommandParameterData,
+    type DynamicDataType,
+    type OptionalDynamicComponentData,
+} from '@/composables/dynamic.ts';
+import { computed, defineAsyncComponent, inject, type Ref, ref } from 'vue';
+import CommandParameterListConfigurator from '@/components/CommandParameterListConfigurator.vue';
 
 const TelemetryValue = defineAsyncComponent(
     () => import('@/components/TelemetryValue.vue'),
@@ -8,6 +14,9 @@ const TelemetryValue = defineAsyncComponent(
 const GridLayout = defineAsyncComponent(
     () => import('@/components/layout/GridLayout.vue'),
 );
+const CommandInput = defineAsyncComponent(
+    () => import('@/components/CommandInput.vue'),
+);
 
 const model = defineModel<OptionalDynamicComponentData>('data', {
     required: true,
@@ -19,13 +28,26 @@ const props = defineProps<{
     editable: boolean;
 }>();
 
+const busy = ref(false);
+
+// Provide a fallback option
+const inputs = inject<Ref<{ [id: string]: DynamicDataType }>>(
+    'inputs',
+    ref({}),
+);
+
 const thisSymbol = Symbol();
 
 const isSelected = computed(() => {
     return selection.value == thisSymbol && props.editable;
 });
 
-function selectThis() {
+function selectThis(e: Event) {
+    if (props.editable) {
+        // Only do this when we are editable
+        e.stopPropagation();
+        e.preventDefault();
+    }
     selection.value = thisSymbol;
 }
 
@@ -100,6 +122,54 @@ function deleteColumn() {
         model.value = grid;
     }
 }
+
+function makeInput() {
+    model.value = {
+        type: 'input',
+        id: [...Array(32)]
+            .map(() => Math.floor(Math.random() * 16).toString(16))
+            .join(''),
+        data_type: 'Float32',
+    };
+}
+
+function makeCommandButton() {
+    model.value = {
+        type: 'command_button',
+        text: 'Button Text',
+        command_name: '',
+        parameters: {},
+    };
+}
+
+async function sendCommand(command: {
+    command_name: string;
+    parameters: { [key: string]: CommandParameterData };
+}) {
+    busy.value = true;
+
+    const params: { [key: string]: DynamicDataType } = {};
+    for (const param_name in command.parameters) {
+        const parameter = command.parameters[param_name];
+        switch (parameter.type) {
+            case 'constant':
+                params[param_name] = parameter.value;
+                break;
+            case 'input':
+                params[param_name] = inputs.value[parameter.id];
+                break;
+        }
+    }
+
+    await fetch(`/api/cmd/${command.command_name}`, {
+        method: 'POST',
+        headers: {
+            'Content-Type': 'application/json',
+        },
+        body: JSON.stringify(params),
+    });
+    busy.value = false;
+}
 </script>
 
 <template>
@@ -123,20 +193,30 @@ function deleteColumn() {
             <button v-if="model.type != 'grid'" @click.stop.prevent="makeGrid">
                 Make Grid
             </button>
+            <button
+                v-if="model.type != 'input'"
+                @click.stop.prevent="makeInput"
+            >
+                Make Input
+            </button>
+            <button
+                v-if="model.type != 'command_button'"
+                @click.stop.prevent="makeCommandButton"
+            >
+                Make Command Button
+            </button>
         </div>
     </Teleport>
     <template v-if="model.type == 'none'">
-        <!-- Intentionally Left Empty -->
         <span
-            v-if="editable"
             :class="`${editable ? 'editable' : ''} ${isSelected ? 'selected' : ''}`"
-            @click.stop.prevent="selectThis"
+            @click="selectThis"
         ></span>
     </template>
     <template v-else-if="model.type == 'text'">
         <span
             :class="`${model.justify_right ? 'justify-right' : ''} ${editable ? 'editable' : ''} ${isSelected ? 'selected' : ''}`"
-            @click.stop.prevent="selectThis"
+            @click="selectThis"
         >
             {{ model.text }}
         </span>
@@ -155,7 +235,7 @@ function deleteColumn() {
         <span
             v-if="editable"
             :class="`${editable ? 'editable' : ''} ${isSelected ? 'selected' : ''}`"
-            @click.stop.prevent="selectThis"
+            @click="selectThis"
         >
             {{ '{' }} {{ model.data }} {{ '}' }}
         </span>
@@ -163,7 +243,7 @@ function deleteColumn() {
             v-else
             :class="`${editable ? 'editable' : ''} ${isSelected ? 'selected' : ''}`"
             :data="model.data"
-            @click.stop.prevent="selectThis"
+            @click="selectThis"
         ></TelemetryValue>
         <Teleport v-if="isSelected" to="#inspector">
             <label>Telemetry Item: </label>
@@ -175,7 +255,7 @@ function deleteColumn() {
             :class="`${editable ? 'editable' : ''} ${isSelected ? 'selected' : ''}`"
             :cols="model.columns"
             :equal_col_width="model.equal_width"
-            @click.stop.prevent="selectThis"
+            @click="selectThis"
         >
             <template v-for="x in model.cells.length" :key="x">
                 <template v-for="y in model.columns" :key="y">
@@ -210,6 +290,60 @@ function deleteColumn() {
             </div>
         </Teleport>
     </template>
+    <template v-else-if="model.type == 'input'">
+        <span
+            v-if="editable"
+            :class="`${editable ? 'editable' : ''} ${isSelected ? 'selected' : ''}`"
+            @click="selectThis"
+        >
+            {{ '[' }} {{ model.id }} {{ ']' }}
+        </span>
+        <CommandInput
+            v-else
+            :type="model.data_type"
+            v-model="inputs[model.id]"
+        ></CommandInput>
+        <Teleport v-if="isSelected" to="#inspector">
+            <div class="row">
+                <label>Input ID: </label>
+                <input v-model="model.id" />
+            </div>
+            <div class="row">
+                <label>Data Type: </label>
+                <select v-model="model.data_type">
+                    <option v-for="type in AnyTypes" :key="type" :value="type">
+                        {{ type }}
+                    </option>
+                </select>
+            </div>
+        </Teleport>
+    </template>
+    <template v-else-if="model.type == 'command_button'">
+        <button
+            :disabled="busy"
+            :class="`${editable ? 'editable' : ''} ${isSelected ? 'selected' : ''}`"
+            @click.stop.prevent="
+                (e) => (editable ? selectThis(e) : sendCommand(model as any))
+            "
+        >
+            {{ model.text }}
+        </button>
+        <Teleport v-if="isSelected" to="#inspector">
+            <div class="row">
+                <label>Button Text: </label>
+                <input v-model="model.text" />
+            </div>
+            <div class="row">
+                <label>Command: </label>
+                <input v-model="model.command_name" />
+            </div>
+            <CommandParameterListConfigurator
+                :key="model.command_name"
+                :command_name="model.command_name"
+                v-model="model.parameters"
+            ></CommandParameterListConfigurator>
+        </Teleport>
+    </template>
     <template v-else> ERROR: Unknown data: {{ model }} </template>
 </template>
 

frontend/src/components/TelemetryLine.vue

@@ -23,6 +23,11 @@ import { AXIS_DATA, type AxisData } from '@/graph/axis';
 import ValueLabel from '@/components/ValueLabel.vue';
 import { type Point, PointLine } from '@/graph/line';
 import TooltipDialog from '@/components/TooltipDialog.vue';
+import {
+    type DynamicDataType,
+    isBooleanType,
+    isNumericType,
+} from '@/composables/dynamic.ts';
 
 const props = defineProps<{
     data: string;
@@ -98,13 +103,9 @@ watch([value], ([val]) => {
         if (val_t >= min_x) {
             const raw_item_val = val.value[telemetry_data.value!.data_type];
             let item_val = 0;
-            if (
+            if (isNumericType(telemetry_data.value!.data_type)) {
-                ['Float32', 'Float64'].some(
-                    (e) => e == telemetry_data.value!.data_type,
-                )
-            ) {
                 item_val = raw_item_val as number;
-            } else if (telemetry_data.value!.data_type == 'Boolean') {
+            } else if (isBooleanType(telemetry_data.value!.data_type)) {
                 item_val = (raw_item_val as boolean) ? 1 : 0;
             }
             const new_item = {
@@ -140,15 +141,13 @@ watch(
                 const response = (await res.json()) as TelemetryDataItem[];
                 for (const data_item of response) {
                     const val_t = Date.parse(data_item.timestamp);
-                    const raw_item_val = data_item.value[type];
+                    const raw_item_val = data_item.value[
+                        type
+                    ] as DynamicDataType;
                     let item_val = 0;
-                    if (
+                    if (isNumericType(type)) {
-                        ['Float32', 'Float64'].some(
-                            (e) => e == telemetry_data.value!.data_type,
-                        )
-                    ) {
                         item_val = raw_item_val as number;
-                    } else if (type == 'Boolean') {
+                    } else if (isBooleanType(type)) {
                         item_val = (raw_item_val as boolean) ? 1 : 0;
                     }
                     const new_item = {

frontend/src/composables/command.ts

@@ -0,0 +1,53 @@
+import { ref, toValue, watchEffect } from 'vue';
+import { type MaybeRefOrGetter } from 'vue';
+import type { AnyTypeId } from '@/composables/dynamic.ts';
+
+export interface CommandParameterDefinition {
+    name: string;
+    data_type: AnyTypeId;
+}
+
+export interface CommandDefinition {
+    name: string;
+    parameters: CommandParameterDefinition[];
+}
+
+export function useAllCommands() {
+    const data = ref<CommandDefinition[] | null>(null);
+    // eslint-disable-next-line @typescript-eslint/no-explicit-any
+    const error = ref<any | null>(null);
+
+    watchEffect(async () => {
+        try {
+            const res = await fetch(`/api/cmd`);
+            data.value = await res.json();
+            error.value = null;
+        } catch (e) {
+            data.value = null;
+            error.value = e;
+        }
+    });
+
+    return { data, error };
+}
+
+export function useCommand(name: MaybeRefOrGetter<string>) {
+    const data = ref<CommandDefinition | null>(null);
+    // eslint-disable-next-line @typescript-eslint/no-explicit-any
+    const error = ref<any | null>(null);
+
+    watchEffect(async () => {
+        const name_value = toValue(name);
+
+        try {
+            const res = await fetch(`/api/cmd/${name_value}`);
+            data.value = await res.json();
+            error.value = null;
+        } catch (e) {
+            data.value = null;
+            error.value = e;
+        }
+    });
+
+    return { data, error };
+}

frontend/src/composables/dynamic.ts

@@ -1,3 +1,29 @@
+export const NumericTypes = ['Float32', 'Float64'] as const;
+export type NumericTypeId = (typeof NumericTypes)[number];
+export const BooleanTypes = ['Boolean'] as const;
+export type BooleanTypeId = (typeof BooleanTypes)[number];
+export const AnyTypes = [...NumericTypes, ...BooleanTypes] as const;
+export type AnyTypeId = (typeof AnyTypes)[number];
+
+export function isNumericType(type: AnyTypeId): type is NumericTypeId {
+    return NumericTypes.some((it) => it == type);
+}
+export function isBooleanType(type: AnyTypeId): type is BooleanTypeId {
+    return BooleanTypes.some((it) => it == type);
+}
+
+export type DynamicDataType = number | boolean;
+
+export type CommandParameterData =
+    | {
+          type: 'constant';
+          value: DynamicDataType;
+      }
+    | {
+          type: 'input';
+          id: string;
+      };
+
 export type DynamicComponentData =
     | { type: 'text'; text: string; justify_right: boolean }
     | { type: 'telemetry'; data: string }
@@ -6,6 +32,17 @@ export type DynamicComponentData =
           columns: number;
           equal_width: boolean;
           cells: OptionalDynamicComponentData[][];
+      }
+    | {
+          type: 'input';
+          id: string;
+          data_type: AnyTypeId;
+      }
+    | {
+          type: 'command_button';
+          text: string;
+          command_name: string;
+          parameters: { [key: string]: CommandParameterData };
       };
 
 export type OptionalDynamicComponentData =

frontend/src/composables/telemetry.ts

@@ -1,10 +1,11 @@
 import { ref, toValue, watchEffect } from 'vue';
 import { type MaybeRefOrGetter } from 'vue';
+import type { AnyTypeId } from '@/composables/dynamic.ts';
 
 export interface TelemetryDefinition {
     uuid: string;
     name: string;
-    data_type: string;
+    data_type: AnyTypeId;
 }
 
 export function useAllTelemetry() {

frontend/src/panels/panel.ts

@@ -34,7 +34,12 @@ export function usePanelHeirarchy(): Ref<PanelHeirarchyChildren> {
             },
             {
                 name: 'Telemetry Elements',
-                to: { name: 'list' },
+                to: { name: 'tlm' },
+                type: PanelHeirarchyType.LEAF,
+            },
+            {
+                name: 'Commands',
+                to: { name: 'cmd' },
                 type: PanelHeirarchyType.LEAF,
             },
             {

frontend/src/router/index.ts

@@ -14,10 +14,15 @@ const router = createRouter({
             component: () => import('../views/GraphView.vue'),
         },
         {
-            path: '/list',
+            path: '/tlm',
-            name: 'list',
+            name: 'tlm',
             component: () => import('../views/TelemetryListView.vue'),
         },
+        {
+            path: '/cmd',
+            name: 'cmd',
+            component: () => import('../views/CommandListView.vue'),
+        },
         {
             path: '/chart',
             name: 'chart',

frontend/src/views/CommandListView.vue

@@ -0,0 +1,61 @@
+<script setup lang="ts">
+import TextInput from '@/components/TextInput.vue';
+import { ref } from 'vue';
+import FlexDivider from '@/components/FlexDivider.vue';
+import ScreenLayout from '@/components/layout/ScreenLayout.vue';
+import { Direction } from '@/composables/Direction.ts';
+import { ScreenType } from '@/composables/ScreenType.ts';
+import LinearLayout from '@/components/layout/LinearLayout.vue';
+import CommandList from '@/components/CommandList.vue';
+import type { CommandDefinition } from '@/composables/command.ts';
+import CommandSender from '@/components/CommandSender.vue';
+
+const searchValue = ref('');
+
+const selected = ref<CommandDefinition | null>(null);
+</script>
+
+<template>
+    <ScreenLayout :type="ScreenType.Standard" limit>
+        <LinearLayout
+            :direction="Direction.Row"
+            stretch
+            class="grow no-min-height no-basis"
+        >
+            <div class="column grow2 stretch no-min-height no-basis">
+                <div class="row">
+                    <TextInput
+                        autofocus
+                        class="grow"
+                        v-model="searchValue"
+                        placeholder="Search"
+                    ></TextInput>
+                </div>
+
+                <div class="row scroll no-min-height">
+                    <div class="column grow stretch">
+                        <CommandList
+                            :search="searchValue"
+                            v-model="selected"
+                        ></CommandList>
+                    </div>
+                </div>
+            </div>
+            <FlexDivider></FlexDivider>
+            <div class="column grow stretch no-basis command-sender">
+                <CommandSender
+                    :command="selected"
+                    :key="selected?.name || ''"
+                ></CommandSender>
+            </div>
+        </LinearLayout>
+    </ScreenLayout>
+</template>
+
+<style lang="scss">
+@use '@/assets/variables';
+
+.command-sender {
+    row-gap: 4px;
+}
+</style>

frontend/src/views/PanelView.vue

@@ -1,7 +1,10 @@
 <script setup lang="ts">
 import DynamicComponent from '@/components/DynamicComponent.vue';
-import type { OptionalDynamicComponentData } from '@/composables/dynamic.ts';
+import type {
-import { computed, ref, watchEffect } from 'vue';
+    DynamicDataType,
+    OptionalDynamicComponentData,
+} from '@/composables/dynamic.ts';
+import { computed, provide, ref, watchEffect } from 'vue';
 import { useRoute } from 'vue-router';
 
 const route = useRoute();
@@ -12,6 +15,10 @@ const panel = ref<OptionalDynamicComponentData>({
     type: 'none',
 });
 
+const inputs = ref<{ [id: string]: DynamicDataType }>({});
+
+provide('inputs', inputs);
+
 watchEffect(async () => {
     const panel_data = await fetch(`/api/panel/${id.value}`);
     const panel_json_value = await panel_data.json();

frontend/src/views/TelemetryListView.vue

@@ -6,7 +6,6 @@ import type { TelemetryDefinition } from '@/composables/telemetry';
 import TelemetryInfo from '@/components/TelemetryInfo.vue';
 import FlexDivider from '@/components/FlexDivider.vue';
 import ScreenLayout from '@/components/layout/ScreenLayout.vue';
-import { Direction } from '@/composables/Direction.ts';
 import { ScreenType } from '@/composables/ScreenType.ts';
 
 const searchValue = ref('');
@@ -16,7 +15,8 @@ const mousedover = ref<TelemetryDefinition | null>(null);
 </script>
 
 <template>
-    <ScreenLayout :direction="Direction.Row" :type="ScreenType.Standard" limit>
+    <ScreenLayout :type="ScreenType.Standard" limit>
+        <div class="row grow stretch no-min-height no-basis">
             <div class="column grow2 stretch no-min-height no-basis">
                 <div class="row">
                     <TextInput
@@ -47,6 +47,7 @@ const mousedover = ref<TelemetryDefinition | null>(null);
                     :selection="selected"
                 ></TelemetryInfo>
             </div>
+        </div>
     </ScreenLayout>
 </template>
 

server/proto/core.proto

@@ -48,3 +48,36 @@ service TelemetryService {
     rpc NewTelemetry (TelemetryDefinitionRequest) returns (TelemetryDefinitionResponse);
     rpc InsertTelemetry (stream TelemetryItem) returns (stream TelemetryInsertResponse);
 }
+
+message CommandParameterDefinition {
+    string name = 1;
+    TelemetryDataType data_type = 2;
+}
+
+message CommandDefinitionRequest {
+    string name = 1;
+    repeated CommandParameterDefinition parameters = 2;
+}
+
+message Command {
+    UUID uuid = 1;
+    Timestamp timestamp = 2;
+    map<string, TelemetryValue> parameters = 3;
+}
+
+message CommandResponse {
+    UUID uuid = 1;
+    bool success = 2;
+    string response = 3;
+}
+
+message ClientSideCommand {
+    oneof inner {
+        CommandDefinitionRequest request = 1;
+        CommandResponse response = 2;
+    }
+}
+
+service CommandService {
+    rpc NewCommand (stream ClientSideCommand) returns (stream Command);
+}

server/src/command/definition.rs

@@ -0,0 +1,36 @@
+use crate::command::service::RegisteredCommand;
+use crate::core::TelemetryDataType;
+use crate::telemetry::data_type::tlm_data_type_deserializer;
+use crate::telemetry::data_type::tlm_data_type_serializer;
+use serde::{Deserialize, Serialize};
+
+#[derive(Clone, Debug, Serialize, Deserialize)]
+pub struct CommandParameterDefinition {
+    pub name: String,
+    #[serde(serialize_with = "tlm_data_type_serializer")]
+    #[serde(deserialize_with = "tlm_data_type_deserializer")]
+    pub data_type: TelemetryDataType,
+}
+
+#[derive(Clone, Debug, Serialize, Deserialize)]
+pub struct CommandDefinition {
+    pub name: String,
+    pub parameters: Vec<CommandParameterDefinition>,
+}
+
+impl From<RegisteredCommand> for CommandDefinition {
+    fn from(value: RegisteredCommand) -> Self {
+        Self {
+            name: value.name,
+            parameters: value
+                .definition
+                .parameters
+                .into_iter()
+                .map(|param| CommandParameterDefinition {
+                    data_type: param.data_type(),
+                    name: param.name,
+                })
+                .collect(),
+        }
+    }
+}

server/src/command/error.rs

@@ -0,0 +1,42 @@
+use crate::core::TelemetryDataType;
+use actix_web::http::StatusCode;
+use actix_web::ResponseError;
+use thiserror::Error;
+
+#[derive(Error, Debug)]
+pub enum Error {
+    #[error("Command Not Found {0}")]
+    CommandNotFound(String),
+    #[error("Incorrect Number of Parameters Specified. {expected} expected. {actual} found.")]
+    IncorrectParameterCount { expected: usize, actual: usize },
+    #[error("Missing Parameter {0}.")]
+    MisingParameter(String),
+    #[error("Incorrect Parameter Type for {name}. {expected_type:?} expected.")]
+    WrongParameterType {
+        name: String,
+        expected_type: TelemetryDataType,
+    },
+    #[error("No Command Receiver")]
+    NoCommandReceiver,
+    #[error("Failed to Send")]
+    FailedToSend,
+    #[error("Failed to Receive Command Response")]
+    FailedToReceiveResponse,
+    #[error("Command Failure: {0}")]
+    CommandFailure(String),
+}
+
+impl ResponseError for Error {
+    fn status_code(&self) -> StatusCode {
+        match *self {
+            Error::CommandNotFound(_) => StatusCode::NOT_FOUND,
+            Error::IncorrectParameterCount { .. } => StatusCode::BAD_REQUEST,
+            Error::MisingParameter(_) => StatusCode::BAD_REQUEST,
+            Error::WrongParameterType { .. } => StatusCode::BAD_REQUEST,
+            Error::NoCommandReceiver => StatusCode::SERVICE_UNAVAILABLE,
+            Error::FailedToSend => StatusCode::INTERNAL_SERVER_ERROR,
+            Error::FailedToReceiveResponse => StatusCode::INTERNAL_SERVER_ERROR,
+            Error::CommandFailure(_) => StatusCode::BAD_REQUEST,
+        }
+    }
+}

server/src/command/mod.rs

@@ -0,0 +1,3 @@
+mod definition;
+pub mod error;
+pub mod service;

server/src/command/service.rs

@@ -0,0 +1,165 @@
+use crate::command::definition::CommandDefinition;
+use crate::command::error::Error as CmdError;
+use crate::command::error::Error::{
+    CommandFailure, CommandNotFound, FailedToReceiveResponse, FailedToSend,
+    IncorrectParameterCount, MisingParameter, NoCommandReceiver, WrongParameterType,
+};
+use crate::core::telemetry_value::Value;
+use crate::core::{
+    Command, CommandDefinitionRequest, CommandResponse, TelemetryDataType, TelemetryValue,
+    Timestamp, Uuid,
+};
+use chrono::{DateTime, Utc};
+use log::error;
+use papaya::HashMap;
+use std::collections::HashMap as StdHashMap;
+use tokio::sync::mpsc;
+use tokio::sync::oneshot;
+
+#[derive(Clone)]
+pub(super) struct RegisteredCommand {
+    pub(super) name: String,
+    pub(super) definition: CommandDefinitionRequest,
+    tx: mpsc::Sender<Option<(Command, oneshot::Sender<CommandResponse>)>>,
+}
+
+pub struct CommandManagementService {
+    registered_commands: HashMap<String, RegisteredCommand>,
+}
+
+impl CommandManagementService {
+    pub fn new() -> Self {
+        Self {
+            registered_commands: HashMap::new(),
+        }
+    }
+
+    pub fn get_commands(&self) -> anyhow::Result<Vec<CommandDefinition>> {
+        let mut result = vec![];
+
+        let registered_commands = self.registered_commands.pin();
+        for registration in registered_commands.values() {
+            result.push(registration.clone().into());
+        }
+
+        Ok(result)
+    }
+
+    pub fn get_command_definition(&self, name: &String) -> Option<CommandDefinition> {
+        self.registered_commands
+            .pin()
+            .get(name)
+            .map(|registration| registration.clone().into())
+    }
+
+    pub async fn register_command(
+        &self,
+        command: CommandDefinitionRequest,
+    ) -> anyhow::Result<mpsc::Receiver<Option<(Command, oneshot::Sender<CommandResponse>)>>> {
+        let (tx, rx) = mpsc::channel(1);
+
+        let registered_commands = self.registered_commands.pin_owned();
+        if let Some(previous) = registered_commands.insert(
+            command.name.clone(),
+            RegisteredCommand {
+                name: command.name.clone(),
+                definition: command,
+                tx,
+            },
+        ) {
+            // If the receiver was already closed, we don't care (ignore error)
+            let _ = previous.tx.send(None).await;
+        }
+
+        Ok(rx)
+    }
+
+    pub async fn send_command(
+        &self,
+        name: impl Into<String>,
+        parameters: serde_json::Map<String, serde_json::Value>,
+    ) -> Result<String, CmdError> {
+        let timestamp = Utc::now();
+        let offset_from_unix_epoch =
+            timestamp - DateTime::from_timestamp(0, 0).expect("Could not get Unix epoch");
+
+        let name = name.into();
+        let registered_commands = self.registered_commands.pin();
+        let Some(registration) = registered_commands.get(&name) else {
+            return Err(CommandNotFound(name));
+        };
+
+        if parameters.len() != registration.definition.parameters.len() {
+            return Err(IncorrectParameterCount {
+                expected: registration.definition.parameters.len(),
+                actual: parameters.len(),
+            });
+        }
+        let mut result_parameters = StdHashMap::new();
+        for parameter in &registration.definition.parameters {
+            let Some(param_value) = parameters.get(&parameter.name) else {
+                return Err(MisingParameter(parameter.name.clone()));
+            };
+            let Some(param_value) = (match parameter.data_type() {
+                TelemetryDataType::Float32 => {
+                    param_value.as_f64().map(|v| Value::Float32(v as f32))
+                }
+                TelemetryDataType::Float64 => param_value.as_f64().map(Value::Float64),
+                TelemetryDataType::Boolean => param_value.as_bool().map(Value::Boolean),
+            }) else {
+                return Err(WrongParameterType {
+                    name: parameter.name.clone(),
+                    expected_type: parameter.data_type(),
+                });
+            };
+            result_parameters.insert(
+                parameter.name.clone(),
+                TelemetryValue {
+                    value: Some(param_value),
+                },
+            );
+        }
+
+        // Clone & Drop lets us use a standard pin instead of an owned pin
+        let tx = registration.tx.clone();
+        drop(registered_commands);
+
+        if tx.is_closed() {
+            return Err(NoCommandReceiver);
+        }
+
+        let uuid = Uuid::random();
+        let (response_tx, response_rx) = oneshot::channel();
+        if let Err(e) = tx
+            .send(Some((
+                Command {
+                    uuid: Some(uuid),
+                    timestamp: Some(Timestamp {
+                        secs: offset_from_unix_epoch.num_seconds(),
+                        nanos: offset_from_unix_epoch.subsec_nanos(),
+                    }),
+                    parameters: result_parameters,
+                },
+                response_tx,
+            )))
+            .await
+        {
+            error!("Failed to Send Command: {e}");
+            return Err(FailedToSend);
+        }
+
+        response_rx
+            .await
+            .map_err(|e| {
+                error!("Failed to Receive Command Response: {e}");
+                FailedToReceiveResponse
+            })
+            .and_then(|response| {
+                if response.success {
+                    Ok(response.response)
+                } else {
+                    Err(CommandFailure(response.response))
+                }
+            })
+    }
+}

server/src/grpc/cmd.rs

@@ -0,0 +1,150 @@
+use crate::command::service::CommandManagementService;
+use crate::core::client_side_command::Inner;
+use crate::core::command_service_server::CommandService;
+use crate::core::{ClientSideCommand, Command, CommandResponse, Uuid};
+use log::{error, trace};
+use std::collections::HashMap;
+use std::pin::Pin;
+use std::sync::Arc;
+use tokio::select;
+use tokio::sync::mpsc;
+use tokio::sync::oneshot;
+use tokio_util::sync::CancellationToken;
+use tonic::codegen::tokio_stream::wrappers::ReceiverStream;
+use tonic::codegen::tokio_stream::{Stream, StreamExt};
+use tonic::{Request, Response, Status, Streaming};
+
+pub struct CoreCommandService {
+    pub command_service: Arc<CommandManagementService>,
+    pub cancellation_token: CancellationToken,
+}
+
+#[tonic::async_trait]
+impl CommandService for CoreCommandService {
+    type NewCommandStream = Pin<Box<dyn Stream<Item = Result<Command, Status>> + Send>>;
+
+    async fn new_command(
+        &self,
+        request: Request<Streaming<ClientSideCommand>>,
+    ) -> Result<Response<Self::NewCommandStream>, Status> {
+        trace!("CoreCommandService::new_command");
+
+        let cancel_token = self.cancellation_token.clone();
+        let mut in_stream = request.into_inner();
+
+        let cmd_request = select! {
+            _ = cancel_token.cancelled() => return Err(Status::internal("Shutting Down")),
+            Some(message) = in_stream.next() => {
+                match message {
+                    Ok(ClientSideCommand {
+                        inner: Some(Inner::Request(cmd_request))
+                    }) => cmd_request,
+                    Err(err) => {
+                        error!("Error in Stream: {err}");
+                        return Err(Status::cancelled("Error in Stream"));
+                    },
+                    _ => {
+                        return Err(Status::invalid_argument("First message must be request"));
+                    },
+                }
+            },
+            else => return Err(Status::internal("Shutting Down")),
+        };
+
+        let mut cmd_rx = match self.command_service.register_command(cmd_request).await {
+            Ok(rx) => rx,
+            Err(e) => {
+                error!("Failed to register command: {e}");
+                return Err(Status::internal("Failed to register command"));
+            }
+        };
+
+        let (tx, rx) = mpsc::channel(128);
+
+        tokio::spawn(async move {
+            let mut result = Status::resource_exhausted("End of Command Stream");
+            let mut in_progress = HashMap::<String, oneshot::Sender<CommandResponse>>::new();
+            loop {
+                select! {
+                    _ = cancel_token.cancelled() => break,
+                    _ = tx.closed() => break,
+                    Some(message) = cmd_rx.recv() => {
+                        match message {
+                            None => break,
+                            Some(message) => {
+                                let key = message.0.uuid.clone().unwrap().value;
+                                in_progress.insert(key.clone(), message.1);
+                                match tx.send(Ok(message.0)).await {
+                                    Ok(()) => {},
+                                    Err(e) => {
+                                        error!("Failed to send command data: {e}");
+                                        if in_progress.remove(&key).unwrap().send(CommandResponse {
+                                            uuid: Some(Uuid::from(key)),
+                                            success: false,
+                                            response: "Failed to send command data.".to_string(),
+                                        }).is_err() {
+                                            error!("Failed to send command response on failure to send command data");
+                                        }
+                                        break;
+                                    }
+                                }
+                            }
+                        }
+                    },
+                    Some(message) = in_stream.next() => {
+                        match message {
+                            Ok(message) => {
+                                match message.inner {
+                                    Some(Inner::Response(response)) => {
+                                        if let Some(uuid) = &response.uuid {
+                                            match in_progress.remove(&uuid.value) {
+                                                Some(sender) => {
+                                                    if sender.send(response).is_err() {
+                                                        error!("Failed to send command response on success")
+                                                    }
+                                                }
+                                                None => {
+                                                    result = Status::invalid_argument("Invalid Command UUID");
+                                                    break;
+                                                }
+                                            }
+                                        }
+                                    }
+                                    _ => {
+                                        result = Status::invalid_argument("Subsequent Message Must Be Command Responses");
+                                        break;
+                                    }
+                                }
+                            }
+                            Err(e) => {
+                                error!("Received error from command handler {e}");
+                                break
+                            },
+                        }
+                    }
+                    else => break,
+                }
+            }
+            cmd_rx.close();
+            if !tx.is_closed() {
+                match tx.send(Err(result)).await {
+                    Ok(()) => {}
+                    Err(e) => {
+                        error!("Failed to close old command sender {e}");
+                    }
+                }
+            }
+            for (key, sender) in in_progress.drain() {
+                if sender.send(CommandResponse {
+                    uuid: Some(Uuid::from(key)),
+                    success: false,
+                    response: "Command Handler Shut Down".to_string(),
+                }).is_err() {
+                    error!("Failed to send command response on shutdown");
+                }
+            }
+        });
+
+        Ok(Response::new(Box::pin(ReceiverStream::new(rx))))
+    }
+}

server/src/grpc/mod.rs

@@ -0,0 +1,44 @@
+mod cmd;
+mod tlm;
+
+use crate::command::service::CommandManagementService;
+use crate::core::command_service_server::CommandServiceServer;
+use crate::core::telemetry_service_server::TelemetryServiceServer;
+use crate::grpc::cmd::CoreCommandService;
+use crate::grpc::tlm::CoreTelemetryService;
+use crate::telemetry::management_service::TelemetryManagementService;
+use log::{error, info};
+use std::sync::Arc;
+use tokio::task::JoinHandle;
+use tokio_util::sync::CancellationToken;
+use tonic::transport::Server;
+
+pub fn setup(
+    token: CancellationToken,
+    telemetry_management_service: Arc<TelemetryManagementService>,
+    command_service: Arc<CommandManagementService>,
+) -> anyhow::Result<JoinHandle<()>> {
+    let addr = "[::1]:50051".parse()?;
+    Ok(tokio::spawn(async move {
+        let tlm_service = CoreTelemetryService {
+            tlm_management: telemetry_management_service,
+            cancellation_token: token.clone(),
+        };
+
+        let cmd_service = CoreCommandService {
+            command_service,
+            cancellation_token: token.clone(),
+        };
+
+        info!("Starting gRPC Server");
+        let result = Server::builder()
+            .add_service(TelemetryServiceServer::new(tlm_service))
+            .add_service(CommandServiceServer::new(cmd_service))
+            .serve_with_shutdown(addr, token.cancelled_owned())
+            .await;
+
+        if let Err(err) = result {
+            error!("gRPC Server Encountered An Error: {err}");
+        }
+    }))
+}

server/src/grpc/tlm.rs

@@ -1,4 +1,4 @@
-use crate::core::telemetry_service_server::{TelemetryService, TelemetryServiceServer};
+use crate::core::telemetry_service_server::TelemetryService;
 use crate::core::telemetry_value::Value;
 use crate::core::{
     TelemetryDataType, TelemetryDefinitionRequest, TelemetryDefinitionResponse,
@@ -9,16 +9,14 @@ use crate::telemetry::data_value::TelemetryDataValue;
 use crate::telemetry::history::TelemetryHistory;
 use crate::telemetry::management_service::TelemetryManagementService;
 use chrono::{DateTime, SecondsFormat};
-use log::{error, info, trace};
+use log::trace;
 use std::pin::Pin;
 use std::sync::Arc;
 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::{Stream, StreamExt};
-use tonic::transport::Server;
 use tonic::{Request, Response, Status, Streaming};
 
 pub struct CoreTelemetryService {
@@ -141,26 +139,3 @@ impl CoreTelemetryService {
         Ok(TelemetryInsertResponse {})
     }
 }
-
-pub fn setup(
-    token: CancellationToken,
-    telemetry_management_service: Arc<TelemetryManagementService>,
-) -> anyhow::Result<JoinHandle<()>> {
-    let addr = "[::1]:50051".parse()?;
-    Ok(tokio::spawn(async move {
-        let tlm_service = CoreTelemetryService {
-            tlm_management: telemetry_management_service,
-            cancellation_token: token.clone(),
-        };
-
-        info!("Starting gRPC Server");
-        let result = Server::builder()
-            .add_service(TelemetryServiceServer::new(tlm_service))
-            .serve_with_shutdown(addr, token.cancelled_owned())
-            .await;
-
-        if let Err(err) = result {
-            error!("gRPC Server Encountered An Error: {err}");
-        }
-    }))
-}

server/src/http/api/cmd.rs

@@ -0,0 +1,34 @@
+use crate::command::service::CommandManagementService;
+use crate::http::error::HttpServerResultError;
+use actix_web::{get, post, web, Responder};
+use std::sync::Arc;
+
+#[post("/cmd/{name:[\\w\\d/_-]+}")]
+pub(super) async fn send_command(
+    command_service: web::Data<Arc<CommandManagementService>>,
+    name: web::Path<String>,
+    parameters: web::Json<serde_json::Map<String, serde_json::Value>>,
+) -> Result<impl Responder, HttpServerResultError> {
+    let result = command_service
+        .send_command(name.to_string(), parameters.into_inner())
+        .await?;
+
+    Ok(web::Json(result))
+}
+
+#[get("/cmd")]
+pub(super) async fn get_all(
+    command_service: web::Data<Arc<CommandManagementService>>,
+) -> Result<impl Responder, HttpServerResultError> {
+    Ok(web::Json(command_service.get_commands()?))
+}
+
+#[get("/cmd/{name:[\\w\\d/_-]+}")]
+pub(super) async fn get_one(
+    command_service: web::Data<Arc<CommandManagementService>>,
+    name: web::Path<String>,
+) -> Result<impl Responder, HttpServerResultError> {
+    Ok(web::Json(
+        command_service.get_command_definition(&name.to_string()),
+    ))
+}

server/src/http/api/mod.rs

@@ -1,3 +1,4 @@
+mod cmd;
 mod panels;
 mod tlm;
 
@@ -11,5 +12,8 @@ pub fn setup_api(cfg: &mut web::ServiceConfig) {
         .service(panels::get_all)
         .service(panels::get_one)
         .service(panels::set)
-        .service(panels::delete);
+        .service(panels::delete)
+        .service(cmd::send_command)
+        .service(cmd::get_all)
+        .service(cmd::get_one);
 }

server/src/http/error.rs

@@ -2,7 +2,6 @@ use actix_web::error::ResponseError;
 use actix_web::http::header::ContentType;
 use actix_web::http::StatusCode;
 use actix_web::HttpResponse;
-use anyhow::Error;
 use thiserror::Error;
 
 #[derive(Error, Debug)]
@@ -16,31 +15,28 @@ pub enum HttpServerResultError {
     #[error("Timed out")]
     Timeout,
     #[error("Internal Error")]
-    InternalError(anyhow::Error),
+    InternalError(#[from] anyhow::Error),
     #[error("Panel Uuid Not Found: {uuid}")]
     PanelUuidNotFound { uuid: String },
+    #[error(transparent)]
+    Command(#[from] crate::command::error::Error),
 }
 
 impl ResponseError for HttpServerResultError {
     fn status_code(&self) -> StatusCode {
-        match *self {
+        match self {
             HttpServerResultError::TlmNameNotFound { .. } => StatusCode::NOT_FOUND,
             HttpServerResultError::TlmUuidNotFound { .. } => StatusCode::NOT_FOUND,
             HttpServerResultError::InvalidDateTime { .. } => StatusCode::BAD_REQUEST,
             HttpServerResultError::Timeout => StatusCode::GATEWAY_TIMEOUT,
             HttpServerResultError::InternalError { .. } => StatusCode::INTERNAL_SERVER_ERROR,
             HttpServerResultError::PanelUuidNotFound { .. } => StatusCode::NOT_FOUND,
+            HttpServerResultError::Command(inner) => inner.status_code(),
         }
     }
     fn error_response(&self) -> HttpResponse {
         HttpResponse::build(self.status_code())
-            .insert_header(ContentType::html())
+            .insert_header(ContentType::plaintext())
             .body(self.to_string())
     }
 }
-
-impl From<anyhow::Error> for HttpServerResultError {
-    fn from(value: Error) -> Self {
-        Self::InternalError(value)
-    }
-}

server/src/http/mod.rs

@@ -2,6 +2,7 @@ mod api;
 mod error;
 mod websocket;
 
+use crate::command::service::CommandManagementService;
 use crate::http::api::setup_api;
 use crate::http::websocket::setup_websocket;
 use crate::panels::PanelService;
@@ -16,10 +17,12 @@ pub async fn setup(
     cancellation_token: CancellationToken,
     telemetry_definitions: Arc<TelemetryManagementService>,
     panel_service: PanelService,
+    command_service: Arc<CommandManagementService>,
 ) -> anyhow::Result<()> {
     let data = web::Data::new(telemetry_definitions);
     let cancel_token = web::Data::new(cancellation_token);
     let panel_service = web::Data::new(Arc::new(panel_service));
+    let command_service = web::Data::new(command_service);
 
     info!("Starting HTTP Server");
     HttpServer::new(move || {
@@ -27,6 +30,7 @@ pub async fn setup(
             .app_data(data.clone())
             .app_data(cancel_token.clone())
             .app_data(panel_service.clone())
+            .app_data(command_service.clone())
             .service(web::scope("/ws").configure(setup_websocket))
             .service(web::scope("/api").configure(setup_api))
             .wrap(Logger::default())

server/src/lib.rs

@@ -1,3 +1,4 @@
+mod command;
 mod grpc;
 mod http;
 mod panels;
@@ -9,6 +10,7 @@ pub mod core {
     tonic::include_proto!("core");
 }
 
+use crate::command::service::CommandManagementService;
 use crate::panels::PanelService;
 use crate::telemetry::history::TelemetryHistoryService;
 use crate::telemetry::management_service::TelemetryManagementService;
@@ -49,11 +51,13 @@ pub async fn setup() -> anyhow::Result<()> {
         TelemetryHistoryService::new(telemetry_folder)?,
     )?);
 
-    let grpc_server = grpc::setup(cancellation_token.clone(), tlm.clone())?;
+    let cmd = Arc::new(CommandManagementService::new());
+
+    let grpc_server = grpc::setup(cancellation_token.clone(), tlm.clone(), cmd.clone())?;
 
     let panel_service = PanelService::new(sqlite.clone());
 
-    let result = http::setup(cancellation_token.clone(), tlm.clone(), panel_service).await;
+    let result = http::setup(cancellation_token.clone(), tlm.clone(), panel_service, cmd).await;
     cancellation_token.cancel();
     result?; // result is dropped
     grpc_server.await?; //grpc server is dropped